JP4295074B2 - Transmission control device - Google Patents

Description

  The present invention relates to a transmission control device that controls the operation of a selection actuator that moves a shift arm of a transmission in a selection direction.

  As a transmission mounted on a vehicle, a manual transmission (MT) selection operation and a shift operation that perform power transmission between an input shaft and an output shaft by a manual selection operation and a shift operation by a driver, an actuator such as a motor There is known an automatic manual transmission (AMT) configured to perform the above.

  And in this application (Japanese Patent Application No. 2002-378413), this inventor has proposed the control apparatus which performs the shift operation of an automatic manual transmission using response designation type | mold control. In such a control device, the coupling sleeve that rotates integrally with the input shaft is moved to contact the synchronized gear via the synchronizer ring, and the coupling sleeve and the synchronized gear are rotationally synchronized to perform a shift operation.

  The response designation type control determines the operation amount for driving the actuator so that the value of the switching function defined by the linear function based on the deviation between the target position and the actual position of the coupling sleeve converges to zero. When the coupling sleeve is in contact with the synchronizer ring, the coefficient of operation of the linear function is set so as to reduce the disturbance suppression capability, thereby generating compliance (elasticity like rubber), thereby To reduce the impact.

In addition, when identifying model parameters in model equations of controlled objects that change due to secular changes or disturbances, by limiting the model parameter identification range, the occurrence of model parameter drift is suppressed, and the stability of sliding mode control There has also been proposed a control device that improves the above (see, for example, Patent Document 1).
JP 2003-15703 A

  The control device for the automatic manual transmission calculates a target value Psl_cmd of the select direction position Psl and a target value Psc_cmd of the shift direction position Psc of the shift arm that performs the select operation and the shift operation based on the shift command, and selects an actuator for selection. Position control is performed so that Psl matches Psl_cmd by a select controller that controls the operation of the above, and positioning control is performed so that Psc matches Psc_cmd by a shift controller that controls the operation of the shift actuator.

  In the conventional automatic manual transmission control device, the control of the selection actuator by the select controller is performed by using the response designation type control, thereby suppressing the occurrence of overshoot in positioning in the select direction as much as possible. The time required for the select operation was reduced.

  However, due to variations in friction characteristics of automatic manual transmissions, fluctuations in power supply voltage, individual variations in mechanism parts, etc., due to changes in torque characteristics of shift actuators (motors, etc.), the selection mechanism of the transmission to be controlled In some cases, the dynamic characteristics of the above are out of the range of the standard dynamic characteristics assumed in advance.

  Here, in FIG. 27A and FIG. 27B, the vertical axis is set to the target position Psl_cmd and the actual position Psl in the selection direction of the shift arm, and the horizontal axis is set to the common time axis t. It shows the displacement of the shift arm during operation. FIG. 27A shows the displacement of the shift arm when the characteristics of the select mechanism are within the standard characteristic range, and FIG. 27B shows the dynamic characteristics of the select mechanism from the standard characteristic range. The displacement of the shift arm when it is detached is shown.

In FIG. 27 (a), the target position Psl_cmd the select direction t ₆₁ is changed to the Psl_cmd61 from Psl_cmd60, when the select operation is started, the shift arm is moved to Psl_cmd61 without causing vibration and overshoot . The selection operation completion determination conditions are (1) ΔPsl (= Psl−Psl_cmd) <D_Psl (change rate determination value) and (2) | Psl−Psl_cmd61 | <E_Pslf (deviation determination value), There select operation is completed at t ₆₂ was established.

On the other hand, in FIG. 27 (b), the when the select operation is initiated at t _61, the shift arm overshoots beyond Psl_cmd61, vibration occurs. By this vibration, the at t ₆₃ (1), the select operation completion determination condition is satisfied time required to select operation is completed (2), is longer than in FIG. 27 (a). For this reason, there is a disadvantage in that the start of the shift operation executed following the select operation is delayed, and the time required for the shift process becomes long.

  Therefore, the present invention eliminates such inconvenience and allows the speed change process to be completed quickly even when the dynamic characteristics of the transmission select mechanism deviate from the standard dynamic characteristics range. An object of the present invention is to provide a control device.

  The present invention has been made to achieve the above-described object, and includes a shift arm that is provided in a transmission, performs a select operation and a shift operation, and is displaced from a neutral position by the shift operation to establish each predetermined shift stage. The present invention relates to an improvement in a transmission control device including a select controller that controls the operation of a selection actuator that moves in a selection direction and positions the shift arm at a selection position of each shift stage.

  Then, the position of the shift arm in the select direction for each predetermined control cycle, in which the select mechanism of the transmission is modeled, is a position component term related to the position of the shift arm in the select direction in the previous control cycle, and The model expression is expressed by the control input component term relating to the control input to the selection actuator in the control cycle and the disturbance component term, and using the coefficients of the position component term and the control input component term and the disturbance component term as model parameters. Using the output of a virtual plant that outputs an expression consisting of component terms related to non-identified model parameters not to be identified among the model parameters, and the identified model parameters to be identified among the model parameters. In order to minimize the difference with the model plant output of the virtual plant consisting of such component terms, A partial parameter identifying means for identifying a constant model parameter, wherein the select controller determines a control input to the selection actuator using the identified model parameter identified by the partial parameter identifying means and the non-identified model parameter; It is characterized by doing.

  According to the present invention, the partial parameter identifying means identifies only the identified model parameter among the model parameters of the model formula, and does not identify the non-identified model parameter. Here, for example, when model parameters are identified using the least square method, it is theoretically known that the convergence time of model parameters increases in proportion to the number of model parameters.

  Therefore, by limiting the number of model parameters to be identified in this way, the convergence time of the model parameters can be shortened, and this causes overshoot and vibration of the shift arm with respect to the target position during the select operation. The selection operation can be completed promptly. The partial parameter identifier uses a difference between the output of the virtual plant and the output of the model expression of the virtual plant composed of component terms related to the identification model parameter to be identified among the model parameters. Thus, the identification model parameter can be easily identified.

  Further, the identification model parameter is a coefficient of the control input component term and the disturbance component term, and the non-identification parameter is a coefficient of the position component term.

  According to the present invention, among the model parameters of the model equation, the coefficient of the control input component term and the disturbance component term are highly linked to the change in the dynamic characteristics of the transmission select mechanism. Therefore, by using the coefficient of the control input component term and the disturbance component term as identification model parameters to be identified, the model parameters of the model equation can be identified efficiently according to the change in the dynamic characteristics of the select mechanism. Can be.

  The select controller may determine a control input to the select actuator using response designating control.

  According to the present invention, by determining the control input to the selection actuator using response designation type control, when the dynamic characteristic of the selection mechanism of the transmission deviates from the standard characteristic, the response designation type The robustness with respect to the modeling error of the control and the response designating characteristic can suppress the overshoot and vibrational behavior of the shift arm with respect to the target position, and can complete the select operation in a short time.

  In addition, a non-identification parameter changing means for changing the non-identification model parameter according to the position of the shift arm is provided.

  In the present invention, the transmission generally converts the rotation of the shift / select shaft to which the shift arm is attached into a substantially linear movement by a crank mechanism, and moves the shift arm in the select direction. For this reason, the movement amount of the shift arm in the select direction becomes non-linear with respect to the rotation angle of the shift / select shaft, and the effective inertia changes depending on the bending state of the crank mechanism. Therefore, by changing the non-identified model parameter according to the position of the shift arm by the non-identified parameter changing means, the modeling error due to the nonlinear characteristic of the shift arm is suppressed and the non-identified model parameter is changed. Can be set.

  The identification parameter reference value setting means for setting a reference value of the identification model parameter according to the position of the shift arm, the partial parameter identifier, the output of the virtual plant and the virtual plant The identification model parameter is identified by correcting according to a difference from the model formula of the virtual plant.

  According to the present invention, since the reference value of the identification model parameter is set according to the position of the shift arm, the modeling error of the identification model parameter due to the nonlinear characteristic of the shift arm is suppressed. The time required for identifying the identification model parameter can be shortened.

  Embodiments of the present invention will be described with reference to FIGS. 1 is a configuration diagram of a transmission, FIG. 2 is a detailed diagram of a shift / select mechanism of the transmission, FIG. 3 is an operation explanatory diagram of the transmission, FIG. 4 is a configuration diagram of the control device shown in FIG. 4 is a block diagram of the select controller shown in FIG. 4, FIG. 6 is a block diagram of the virtual plant relating to the identification model parameter identification processing method, FIG. 7 is a graph showing the displacement of the shift arm during the select operation, and FIG. FIG. 9 is a graph showing the displacement of the shift arm during the shift operation in the manual transmission, FIG. 10 is an explanatory diagram of the shift operation in the automatic manual transmission, and FIG. FIG. 12 is a graph showing a change in disturbance suppression capability. FIG. 12 is an explanatory diagram of a shift operation when a response designation parameter is changed in an automatic manual transmission. Is a graph showing the displacement of the shift arm and setting of the response designation parameter during the shift operation, FIG. 14 is an explanatory diagram of the select operation in the automatic manual transmission, FIG. 15 is a main flowchart of the control device, and FIG. FIGS. 17 and 18 are flowcharts of the shift operation, FIG. 19 is a flowchart of the shift / select operation, FIGS. 20 and 21 are flowcharts of the target value calculation during the rotation synchronization operation, FIG. 22 is a flowchart of the clutch control, and FIG. FIG. 24 is a flowchart of slip ratio control, FIG. 25 is a block diagram of a select controller in another embodiment, and FIG. 26 is a model parameter setting map in the select controller shown in FIG. .

  Referring to FIG. 1, a transmission 80 is mounted on a vehicle and transmits an output of an engine 81 via a clutch 82 and a connection gear 90. The connecting gear 90 meshes with the gear 91 of the differential 93, whereby the output of the engine 81 is transmitted to the driving wheel 94 via the driving shaft 92.

  The operation of the transmission 80 is controlled by the control device 1 (corresponding to the transmission control device of the present invention) which is an electronic unit composed of a microcomputer, a memory, and the like. The control device 1 includes an accelerator pedal 95, Depending on the states of the fuel supply control unit 96, the change lever 97, the clutch pedal 98, and the brake pedal 99, the selection motor 12 (corresponding to the selection actuator of the present invention), the shift motor 13, and the clutch actuator 16 Is controlled to control the speed change operation of the transmission 80.

  The transmission 80 includes an input shaft 5, an output shaft 4, forward 1st to 6th gear pairs 7a to 7f and 9a to 9f, a reverse gear shaft 84, and reverse gear trains 83, 85, and 86. Here, the input shaft 5, the output shaft 4, and the reverse gear shaft 84 are arranged in parallel to each other.

  The forward 1st to 6th gear pairs 7a to 7f and 9a to 9f are set to different gear ratios. The input side forward first speed gear 7a and the input side forward second speed gear 7b are provided integrally with the input shaft 5, and the corresponding output side forward first speed gear 9a and output side forward second speed gear 9b are output shafts 4 respectively. It consists of idle gears that can rotate freely. The first and second speed synchronization mechanism 2a selectively connects the output-side forward first-speed gear 9a and the output-side forward second-speed gear 9b to the output shaft 4 (transmission established state), and both gears 9a, 9b can be switched to a state (neutral state) where both are disconnected from the output shaft 4.

  The input side forward third gear 7c and the input side forward fourth gear 7d are idle gears that are rotatable with respect to the input shaft 5, and the corresponding output side forward third gear 9c and output side forward fourth gear. 9 d is provided integrally with the output shaft 4. The third and fourth speed synchronization mechanism 2b selectively connects the input side forward third gear 7c and the input side forward fourth speed gear 7d to the input shaft 5 (shift established state), and both gears 7c, 7d is switched to a state (neutral state) where both are disconnected from the input shaft 5.

  Similarly, the input side forward fifth gear 7e and the input side forward sixth gear 7f are constituted by idle gears that are rotatable with respect to the input shaft 5, and the corresponding output side forward fifth gear 9e and output side forward sixth speed. The gear 7 f is provided integrally with the output shaft 4. Then, a state in which the input side forward fifth speed gear 7e and the input side forward sixth speed gear 7f are selectively connected to the input shaft 5 (shift established state), and both gears 7e, 7f is switched to a state (neutral state) in which both are disconnected from the input shaft 5.

  Further, the reverse gear trains 83, 85, and 86 include a first reverse gear 85 attached to the reverse gear shaft 84, a second reverse gear 83 provided integrally with the input shaft 5, and the output shaft 4. It is comprised by the 3rd reverse gear 86 integral with the speed synchronous mechanism 2a. The first reverse gear 85 is attached to the reverse gear shaft 84 by spline fitting. As a result, the first reverse gear 85 rotates integrally with the reverse gear shaft 84, and is engaged with both the second reverse gear 83 and the third reverse gear 86, and is disengaged from these positions ( (The neutral position) is slidable in the axial direction of the reverse gear shaft 84.

  And each fork mechanism 10a, 10b, 10c, 10d is connected to each synchronous mechanism 2a, 2b, 2c and the 1st reverse gear 85, respectively, and the shift piece (refer FIG. 2) provided in the front-end | tip of each shift fork , Selectively engaged with the shift arm 11. The shift arm 11 is rotated by a selection motor 12, and each shift fork is provided substantially in parallel in a circular arc direction (select direction) in which the shift arm 11 rotates. The shift arm 11 is selectively positioned at a position where it engages with each shift piece.

  The shift arm 11 is moved in the axial direction (shift direction) parallel to the input shaft 5 by the shift motor 13 while being engaged with one of the shift pieces. The shift arm 11 is positioned at the neutral position and the established position (shift position) of each gear position.

  Next, FIG. 2A shows the configuration of the synchronization mechanism 2b shown in FIG. The configuration of the synchronization mechanism 2c is the same as that of the synchronization mechanism 2b. The synchronization mechanism 2a is different from the synchronization mechanisms 2b and 2c in that it is provided on the output shaft 4, but the basic configuration and operation contents are common.

  The synchronization mechanism 2 b includes a coupling sleeve 22 that rotates integrally with the input shaft 5, and the input shaft 5 between the coupling sleeve 22 and the input side forward third speed gear 7 c is rotatable and movable in the axial direction of the input shaft 5. A synchronizer ring 23a, a synchronizer ring 23b rotatably provided on the input shaft 5 between the coupling sleeve 22 and the input side forward fourth gear 7d and movable in the axial direction of the input shaft 5, and a coupling A shift fork 10b connected to the sleeve 22 is provided.

  Then, the shift piece 21 fixed to the tip of the shift fork 10 b engages with the shift arm 11 fixed to the shift / select shaft 20. The shift / select shaft 20 rotates according to the operation of the selection motor 12 (select operation) and moves in the axial direction according to the operation of the shift motor 13 (shift operation). When the shift arm 11 is engaged with the shift piece 21 by the selection operation, the coupling sleeve 22 moves from the neutral position to the input side forward third gear 7c (when the third gear is selected) or input. Displaces in the direction of the side forward fourth-speed gear 7d (when the fourth speed is selected).

  Both ends of the coupling sleeve 22 have a hollow structure, and splines 30a and 30b are formed on the inner peripheral surface of the hollow portion. A spline 31a that can be engaged with the spline 30a of the coupling sleeve 22 is formed on the outer peripheral surface of the synchronizer ring 23a, and the coupling sleeve is also formed on the outer peripheral surface of the portion facing the synchronizer ring 23a of the input side forward third gear 7c. Splines 32a that can be engaged with the 22 splines 30a are formed.

  Similarly, a spline 31b that can be engaged with the spline 30b of the coupling sleeve 22 is formed on the outer peripheral surface of the synchronizer ring 23b, and the coupling is also performed on the outer peripheral surface of the portion of the input side forward fourth gear 7d facing the synchronizer ring 23b. A spline 32b that can be engaged with the spline 30b of the sleeve 22 is formed.

  Then, when the coupling sleeve 22 rotated together with the input shaft 5 is moved by the shift fork 10b in the direction of the input side third speed forward gear 7c, the coupling sleeve 22 and the synchronizer ring 23a come into contact with each other, and the synchronizer ring 23a and the input side advance The third speed gear 7c is also in contact. At this time, the rotational force of the coupling sleeve 22 and the input side forward third speed gear 7c is synchronized via the synchronizer ring 23a due to the frictional force generated by the contact.

  In this way, when the coupling sleeve 22 is further moved in the direction of the input side third speed gear 7c in a state where the rotation speeds of the coupling sleeve 22 and the input side forward third speed gear 7c are synchronized, the coupling sleeve 22 is formed. The spline 30a thus formed passes through the spline 31a formed on the synchronizer ring 23a and engages with the spline 32a formed on the input side forward third gear 7c. As a result, power is transmitted between the input shaft 5 and the output shaft 4 (shift established state).

  Similarly, when the coupling sleeve 22 rotated together with the input shaft 5 is moved in the direction of the input side forward fourth gear 7d by the shift fork 10b, the coupling sleeve 22 and the input side forward fourth gear 7d via the synchronizer ring 23b. The rotation speed is synchronized. Then, the spline 30b formed on the coupling sleeve 22 passes through the spline 31b formed on the synchronizer ring 23b and engages with the spline 32b formed on the input side forward fourth gear 7d.

  FIG. 2B is a view of the shift pieces 21a, 21b, 21c, and 21d that are linearly arranged from the shift arm 11 side. In the select operation, the shift arm 11 is in the Psl direction ( The shift piece 21a is positioned in any of the 1st and 2nd speed selection position Psl_12, the 3rd and 4th speed selection position Psl_34, the 5th and 6th speed selection position Psl_56, and the reverse (reverse) selection position Psl_r. , 21b, 21c, 21d. Further, during the shift operation, the shift arm 11 moves in the Psc direction (shift direction) in the figure, and the gear position (1st to 6th speed, reverse) is established.

  FIG. 3 illustrates the operation of the shift arm 11 when the third gear is established from the state where the second gear is established. (A) → (b) → (c) → (d ), The positioning process of the shift arm 11 is executed. (A) is a state in which the second gear is established, and the shift arm 11 is engaged with the shift piece 21a. The select direction position Psl of the shift arm 11 is positioned at the first / second speed selection position Psl_12, and the shift position direction position P_sc of the shift arm 11 is positioned at the first speed shift position Psc_1.

  In (b), the shift direction position Psc of the shift arm 11 is set to the neutral position 0, and the select operation is enabled. In (c), the shift arm 11 is positioned at the 3rd and 4th speed selection position Psc_34 by the select operation. Thereby, the shift arm 11 and the shift piece 21b are engaged. Then, in (d), the shift arm 11 is positioned from the neutral position to the third speed shift position Psc_3 by the shift operation to establish the third speed gear stage.

  Next, referring to FIG. 4, the control device 1 includes a target position calculation unit 52 that sets a target position Psc_cmd in the shift direction of the shift arm 11 and a target position Psl_cmd in the select direction, and the shift direction of the shift arm 11. The actual position Psc of the shift arm 11 and the target position Psl_cmd coincide with the target position Psl_cmd so that the actual position Psc of the shift arm 11 matches the target position Psc_cmd. Thus, a select controller 51 is provided for controlling the voltage Vsl applied to the select motor 12 (corresponding to a control input for the select actuator of the present invention).

  The shift controller 50 includes a sliding mode controller 53 that determines an output voltage Vsc to the shifting motor 13 using sliding mode control, and a VPOLE_sc calculator 54 that sets a response designation parameter VPOLE_sc in the sliding mode controller 53. It has been.

  Further, the select controller 51 uses a sliding mode control (corresponding to the response designation type control of the present invention) to determine a voltage Vsl applied to the selection motor 12 and a response in the sliding mode control. A VPOLE_sl calculation unit 56 that sets a designated parameter VPOLE_sl and a partial parameter identifier 57 that identifies model parameters b1_sl, b2_sl, and c1_sl (corresponding to the identification model parameters of the present invention) in sliding mode control are provided.

  Referring to FIG. 5, the sliding mode controller 55 of the select controller 51 transfers the select mechanism 40 of the transmission 80 that moves the shift arm 11 in the select direction, and the position Psl of the shift arm 11 in the select direction to the select motor 12. Is modeled by the following equation (1) expressed by the applied voltage Vsl (corresponding to the control input to the selection actuator of the present invention).

但し、Ｐsl(k+1)，Ｐsl(k)，Ｐsl(k-1)：ｋ＋１番目，ｋ番目，ｋ−１番目の制御サイクルにおけるシフトアームの位置、Ｖsl(k)，Ｖsl(k-1)：ｋ番目，ｋ−１番目の制御サイクルにおけるセレクト用モータに対する印加電圧、ａ１_sl，ａ２_sl：モデルパラメータ、ｂ１_sl(k)，ｂ２_sl(k)，ｃ１_sl(k)：ｋ番目の制御サイクルにおけるモデルパラメータの同定値。

However, Psl (k + 1), Psl (k), Psl (k-1): the position of the shift arm in the (k + 1) th, kth, and k-1th control cycles, Vsl (k), Vsl (k-1) ): Applied voltage to the selection motor in the kth and (k-1) th control cycle, a1_sl, a2_sl: model parameters, b1_sl (k), b2_sl (k), c1_sl (k): model parameters in the kth control cycle Identification value.

  The partial parameter identifier 57 applies the applied voltage Vsl to the selection motor 12 that is highly related to the change in the dynamic characteristics of the selection mechanism 40 among the model parameters a1_sl, a2_sl, b1_sl, b2_sl, c1_sl in the above equation (1). Identification processing is performed only for b1_sl and b2_sl, which are coefficients of the control input component term, and c1_sl, which is a disturbance component term.

  Note that b1_sl, b2_sl, and c1_sl that are identification targets correspond to the identification model parameters of the present invention, and a1_sl and a2_sl that are not identification targets correspond to the non-identification model parameters of the present invention.

  Here, when the above equation (1) is delayed by one control cycle, the component terms related to the identification model parameters b1_sl, b2_sl, and c1_sl are grouped on the right side, and the other component terms are grouped on the left side, the following equation (2) Can be organized into shapes.

そして、上記式（２）の左辺を以下の式（３）に示したようにＷ(k)と定義し、右辺を以下の式（４）に示したようにＷ_hat(k)と定義すると、Ｗ(k)は図６に示した仮想プラント１１０の仮想出力となる。そのため、Ｗ(k)は仮想プラント１１０のモデル出力、Ｗ_hat(k)は仮想プラント１１０のモデル式と考えることができる。

Then, if the left side of the above equation (2) is defined as W (k) as shown in the following equation (3) and the right side is defined as W_hat (k) as shown in the following equation (4), W (k) is a virtual output of the virtual plant 110 shown in FIG. Therefore, W (k) can be considered as a model output of the virtual plant 110, and W_hat (k) can be considered as a model expression of the virtual plant 110.

但し、Ｗ(k)：ｋ番目の制御サイクルにおける仮想プラントのモデル出力。

Where W (k): model output of the virtual plant in the kth control cycle.

但し、Ｗ_hat(k)：ｋ番目の制御サイクルにおける仮想プラントのモデル式。

Where W_hat (k) is a model formula of the virtual plant in the kth control cycle.

The virtual plant 110 shown in FIG. 6 is a component obtained by delaying Psl (k) by one control cycle by the Z ⁻¹ conversion unit 111 and multiplying by a1_sl by the multiplication unit 113 from the component at the position Psl (k) of the shift arm 11. And a component obtained by delaying Psl (k) by two control cycles by the Z ⁻¹ converters 111 and 114 and multiplying by a2_sl by the multiplier 115 is subtracted by the subtractor 116 and output as W (k). is there.

  And the model formula of the virtual plant 110 of said Formula (4) is comprised only from the component term regarding identification model parameter b1_sl (k), b2_sl (k), c1_sl (k). Therefore, if the model parameters of the virtual plant 110 are calculated using a sequential identification algorithm so that the output W (k) of the virtual plant 110 matches the model output W_hat (k), the identification model parameter b1_sl (k) , B2_sl (k), c1_sl (k) can be sequentially identified.

  Therefore, the partial parameter identifier 57 executes identification processing of the identification model parameters b1_sl (k), b2_sl (k), and c1_sl (k) according to the following equations (5) to (11). First, ζ_sl (k) is defined by the following equation (5), θ_sl (k) is defined by the following equation (6), and model parameters b1_sl (k) and b2_sl (k) of the above equation (4) are defined. , C1_sl (k), instead of the output using the model parameters b1_sl (k-1), b2_sl (k-1), and c1_sl (k-1) that have been calculated one control cycle before, As shown in (7), W_hat ′ (k).

そして、仮想プラント１１０の出力Ｗ(k)に対するモデル出力Ｗ_hat’(k)の偏差Ｅ_id_sl(k)を、上記式（７）のモデル化誤差を表すものとして、以下の式（８）により算出する（以下、偏差Ｅ_id_sl(k)を同定誤差Ｅ_id_sl(k)という）。

Then, the deviation E_id_sl (k) of the model output W_hat ′ (k) with respect to the output W (k) of the virtual plant 110 is calculated by the following equation (8), which represents the modeling error of the above equation (7). (Hereinafter, deviation E_id_sl (k) is referred to as identification error E_id_sl (k)).

但し、Ｅ_id_sl(k)：ｋ番目の制御サイクルにおける仮想プラントの出力Ｗ(k)とモデル出力Ｗ_hat’(k)との偏差。

However, E_id_sl (k): Deviation between the output W (k) of the virtual plant and the model output W_hat ′ (k) in the k-th control cycle.

  Further, the partial parameter identifier 57 calculates “P_sl” which is a cubic square matrix by the recurrence formula of the following formula (9) and responds to the identification error E_id_sl (k) by the following formula (10). A tertiary vector “KP_sl”, which is a gain coefficient vector that defines the degree of change, is calculated.

但し、Ｉ：３×３の単位行列、λ₁_sl，λ₂_sl：同定重みパラメータ。

Where I: 3 × 3 unit matrix, λ ₁ _sl, λ ₂ _sl: identification weight parameters.

なお、上記式（９）における同定重みパラメータλ₁_sl，λ₂_slの設定は、以下の表（１）に示した意味を持つ。

The setting of the identification weight parameters λ ₁ _sl and λ ₂ _sl in the above equation (9) has the meaning shown in the following table (1).

そして、部分パラメータ同定器５７は、以下の式（１１）により、新たなモデルパラメータの同定値θ_sl^T(k)＝［ｂ１_sl(k) ｂ２_sl(k) ｃ1_sl(k)］を算出する。

Then, the partial parameter identifier 57 calculates a new model parameter identification value θ_sl ^T (k) = [b1_sl (k) b2_sl (k) c1_sl (k)] by the following equation (11).

また、図５を参照して、スライディングモードコントローラ５５には、シフトアーム１１のセレクト方向の実位置Ｐslと目標位置Ｐsl_cmdとの差Ｅ_slを算出する減算器４１、切換関数σ_slの値を算出する切換関数値算出部４２、到達則入力Ｕrch_slを算出する到達則入力算出部４３、等価制御入力Ｕeq_srを算出する等価制御入力算出部４４、及び等価制御入力Ｕeq_srと到達則制御入力Ｕrch_srとを加算してセレクト機構４０のセレクト用モータ１２への印加電圧の制御値Ｖslを算出する加算器４５が備えられている。

Referring to FIG. 5, the sliding mode controller 55 includes a subtractor 41 that calculates the difference E_sl between the actual position Psl in the select direction of the shift arm 11 and the target position Psl_cmd, and a switch that calculates the value of the switching function σ_sl. The function value calculation unit 42, the reaching law input calculation unit 43 that calculates the reaching law input Urch_sl, the equivalent control input calculation unit 44 that calculates the equivalent control input Ueq_sr, and the equivalent control input Ueq_sr and the reaching law control input Urch_sr are added. An adder 45 for calculating a control value Vsl of the voltage applied to the selection motor 12 of the selection mechanism 40 is provided.

  The switching function value calculation unit 42 calculates the switching function value σ_sl (k) from the deviation E_sl (k) calculated by the following formula (12) by the subtractor 41 by the following formula (13).

但し、Ｅ_sl(k)：ｋ番目の制御サイクルにおけるシフトアームのセレクト方向の実位置と目標位置との偏差。

However, E_sl (k): Deviation between the actual position and the target position in the select direction of the shift arm in the k-th control cycle.

但し、σ_sl(k)：ｋ番目の制御サイクルにおける切換関数値、ＶＰＯＬＥ_sl：切換関数設定パラメータ（−１＜ＶＰＯＬＥ_sl＜０）。

Where σ_sl (k): switching function value in the kth control cycle, VPOLE_sl: switching function setting parameter (−1 <VPOLE_sl <0).

  The reaching law input calculating unit 43 calculates the reaching law input Urch_sl (k) by the following equation (14). The reaching law input Urch_sl (k) is an input for placing the deviation state quantity (E_sl (k), E_sl (k-1)) on the switching line with the switching function σ_sl set to 0 (σ_sl (k) = 0). is there.

但し、Ｕrch_sl(k)：ｋ番目の制御サイクルにおける到達則入力、Ｋrch_sl：フィードバックゲイン。

Where Urch_sl (k): reaching law input in the k-th control cycle, and Krch_sl: feedback gain.

  The equivalent control input calculation unit 44 calculates the equivalent control input Ueq_sl (k) by the following equation (15). Expression (15) is expressed as σ_sl (k + 1) = σ_sl (k), and the control value Vsl (k) of the voltage applied to the selection motor 12 when the above expressions (12) and (1) are substituted. Is calculated as an equivalent control input Ueq_sl (k).

但し、Ｕeq_sl(k)：ｋ番目の制御サイクルにおける等価制御入力。

However, Ueq_sl (k): equivalent control input in the kth control cycle.

  Then, the adder 45 calculates the control value Vsl of the voltage applied to the selection motor 12 of the selection mechanism 40 by the following equation (16).

以上説明したように、部分パラメータ同定器５７は、上記式（１）におけるモデルパラメータａ１_sl，ａ２_sl，ｂ１_sl，ｂ２_sl，ｃ１_slのうち、セレクト機構４０の動特性の変化との連動性が高いｂ１_sl，ｂ２_sl，ｃ1_slについてのみ同定処理を行う。そして、セレクトコントローラ５１のスライディングモードコントローラ５５は、部分パラメータ同定器５７により同定されたｂ１_sl(k)，ｂ２_sl(k)，ｃ1_sl(k)を用いて、セレクト用モータ１２に対する印加電圧の制御値Ｖslを算出する。

As described above, the partial parameter identifier 57 includes the b1_sl and b2_sl that are highly linked to the change in the dynamic characteristics of the select mechanism 40 among the model parameters a1_sl, a2_sl, b1_sl, b2_sl, and c1_sl in the above equation (1). , C1_sl is subjected to identification processing only. Then, the sliding mode controller 55 of the select controller 51 uses the b1_sl (k), b2_sl (k), and c1_sl (k) identified by the partial parameter identifier 57 to control the voltage Vsl applied to the selection motor 12. Is calculated.

  In this case, by reducing the number of model parameters to be identified, the convergence time of the model parameters to the optimum value can be shortened. Further, since the calculation amount is reduced and the calculation time is shortened compared to the case where the identification process is performed for all model parameters, the control cycle of the select controller 51 can be set short to improve the controllability of the select controller 51. .

FIG. 7 is a graph showing the displacement of the shift arm 11 during the select operation. The vertical axis is set to the actual position Psl and the target position Psl_cmd in the select direction of the shift arm 11, and the horizontal axis is set to time t. Yes. Then, when the select operation is changed target position in Psl_cmd71 from Psl_cmd70 was started with t _71, the model parameter b1_sl by the partial parameter identifier 57 (k), the process of identifying the b2_sl (k), c1_sl (k ) Modeling errors are quickly absorbed.

Therefore, the position Psl of the shift arm 11 converges to the target position Psl_cmd71 without causing overshoot or vibration with respect to the target position Psl_cmd71. The selection operation completion determination conditions are (1) ΔPsl (= Psl−Psl_cmd) <D_Pslf (change rate determination value) and (2) | Psl−Psl_cmd61 | <E_Pslf (deviation determination value), There select operation in the t ₇₂ was established has been completed in a short period of time.

  Next, the sliding mode controller 53 (see FIG. 4) provided in the shift controller 50 models the configuration for positioning the shift arm 11 in the shift direction by the following equation (17), and the following equations (17) to (17): The control value V_sc (k) of the voltage applied to the shift motor 13 is calculated by (24), and positioning control in the shift direction with respect to the shift arm 11 is performed.

但し、a1_sc，a2_sc，b1_sc，b2_sc：モデルパラメータ。

However, a1_sc, a2_sc, b1_sc, b2_sc: model parameters.

  The deviation E_sc (k) between the actual position Psc (k) in the shift direction of the shift arm 11 in the kth control cycle by the sliding mode controller 53 and the target position Psc_cmd (k-1) in the k-1th control cycle is The switching function σ_sc (k) that regulates the convergence behavior of the deviation E_sc (k) in the sliding mode is represented by the following formula (18).

但し、Ｅ_sc(k)：ｋ番目の制御サイクルにおけるシフト方向偏差、Ｐsc(k)：ｋ番目の制御サイクルにおけるシフトアーム１１のシフト方向の実位置、Ｐsc_cmd(k)：k-1番目の制御サイクルにおけるシフトアーム１１のシフト方向の目標位置。

Where E_sc (k): shift direction deviation in the kth control cycle, Psc (k): actual position in the shift direction of the shift arm 11 in the kth control cycle, Psc_cmd (k): k−1th control cycle The target position in the shift direction of the shift arm 11 at.

但し、ＶＰＯＬＥ_sc：切換関数設定パラメータ（−１＜ＶＰＯＬＥ_sc＜１）。

However, VPOLE_sc: switching function setting parameter (-1 <VPOLE_sc <1).

  Further, the switching function integral value SUM_σsc (k) is calculated by the following equation (20).

但し、ＳＵＭ_σsc(k)：ｋ番目の制御サイクルにおける切換関数積分値。

However, SUM_σsc (k): switching function integral value in the k-th control cycle.

  Then, assuming that the switching function of the above equation (19) is σ_sc (k + 1) = σ_sc (k), and by substituting the above equations (18) and (17), the equivalent control of the following equation (21) An input Ueq_sc (k) is obtained.

但し、Ｕeq_sc(k)：ｋ番目の制御サイクルにおける等価制御入力。

Where Ueq_sc (k): equivalent control input in the kth control cycle.

  Then, the reaching law input Urch_sc (k) is calculated by the following expression (22), the adaptive law input Uadp_sc (k) is calculated by the following expression (23), and the shift motor 13 is calculated by the following expression (24). The command value Vsc (k) of the voltage applied to is calculated.

但し、Ｕrch_sc(k)：ｋ番目の制御サイクルにおける到達則入力、Ｋrch_sc：フィードバックゲイン。

Where Urch_sc (k): reaching law input in the k-th control cycle, and Krch_sc: feedback gain.

但し、Ｕadp_sc(k)：ｋ番目の制御サイクルにおける適応則入力、Ｋadp_sc：フィードバックゲイン。

Where Uadp_sc (k): adaptive law input in the kth control cycle, Kadp_sc: feedback gain.

但し、Ｖsc(k)：ｋ番目の制御サイクルにおけるシフト用モータ１３に対する印加電圧の指令値。

Where Vsc (k) is a command value of the applied voltage to the shift motor 13 in the kth control cycle.

Here, in the transmission 80, a target value Psl_cmd of a selection position of each gear set in advance and a target value Psl_cmd ^* corresponding to a true selection position due to mechanical play, individual variations of parts, and the like. There may be a gap between them. FIG. 8 shows a case where such a deviation occurs at the 3rd and 4th speed selection position.

In FIG. 8A, the target value Psl_cmd34 at the 3rd and 4th speed selection position is shifted to the shift piece 21a side with respect to the true target value Psl_cmd34 ^* . Therefore, when the shift arm 11 is positioned at Psl_cmd34 and the shift operation is performed from the neutral position to the third speed shift position, the shift arm 11 and the shift piece 21a interfere with each other and the shift operation is hindered.

  Here, the shift arm 11 and the shift pieces 21a to 21d are chamfered. Therefore, in the manual transmission (MT) in which the shift operation and the select operation are performed not by an actuator such as a motor but by the operation force of the driver, the driver who feels interference with the shift arm 11 slightly relaxes the holding force in the select direction. As a result, as shown in FIG. 8B, the shift arm 11 can be shifted to the true target value Psl_cmd34 along the chamfered portion to perform the shift operation.

  FIG. 9 is a graph showing the transition of the actual position Psc in the shift direction and the actual position Psl in the select direction of the shift arm 11 during the shift operation in the MT described above. In FIG. 9A, the vertical axis indicates the shift direction. It is a graph in which Psc is set and the horizontal axis is set at time t. FIG. 9B is a graph in which the vertical axis is set to the actual position Psl in the select direction, and the horizontal axis is set to the time axis t common to FIG. 9A.

Figure 9 (a), 9 (b ) shift operation at t ₁₀ is started, the shift arm 11 as shown in Fig. 9 (a) starts to move toward the target value Psc_cmd3 third speed shift position. Then, a time when the interference occurs between t ₁₁ is the shift arm 11 and the shift piece 21a, as shown in FIG. 9 (b), the shift arm 11 from t ₁₁ toward t ₁₂ is 3-fourth speed select position The target value Psl_cmd34 is shifted to the true target value Psl_cmd34 ^* . Thereby, the shift arm 11 can be moved to the target value Psc_cmd3 of the third speed shift position as shown in FIG. 9A while avoiding the interference between the shift arm 11 and the shift piece 21a.

  On the other hand, in the automatic manual transmission (AMT) of the present embodiment in which the shift operation and the select operation are performed by the shift motor 13 and the select motor 12, the shift arm 11 is held at the target value Psl_cmd34 at the 3rd and 4th speed selection position. When positioning is performed, the shift arm 11 cannot be shifted in the select direction when the shift arm 11 and the shift piece 21a interfere with each other. Therefore, the shift operation becomes impossible.

  FIG. 10A shows the interference with the shift piece 21a when the AMT is moved to the target value Psc_cmd3 at the third speed shift position while being positioned at the target value Psl_cmd34 at the third / fourth speed selection position. Thus, the case where the shift arm 11 is slightly shifted in the select direction is shown. In this case, the select controller 51 determines the output voltage Vsl to the selection motor 12 so as to eliminate the shift E_sl and return the selection direction position of the shift arm 11 to Psl_cmd34. Therefore, a force Fsl in the select direction is generated.

  Here, the component in the tangential α direction of the chamfered portion of the shift arm 11 of the Fsl and the shift piece 21a is Fsl1, the component in the normal β direction of the tangent α is Fsl2, and the tangential α direction of the force Fsc in the shift direction generated by the shift operation. This component is Fsc1, and the component in the normal β direction is Fsc2. At this time, when Fsc1 and Fsl1 are balanced, the shift operation is stopped.

FIG. 10B shows the displacement of the shift arm 11 during the shift operation described above. The vertical axis of the upper graph is set to the actual position Psc in the shift direction of the shift arm 11, and the lower graph. Is set to the actual position Psl in the select direction of the shift arm 11, and the horizontal axis is set to the common time axis t. shift operation at t ₂₀ is started, for 3-fourth speed select position target value Psl_cmd34 is misaligned with respect to the true target value Psl_cmd34 ^*, begin to interfere the shift arm 11 and the shift piece 21a is at t ₂₁ .

Then, by the action of the chamfered portion, the shift arm 11 is slightly shifted in the selecting direction, with the movement of the selecting direction commensurate is Fsc1 and the Fsl1 at t ₂₂ is stopped, also stopping moving the shift direction. As a result, the shift operation is interrupted and the shift arm 11 cannot be moved to the target value Psc_cmd3 of the third speed shift position.

  At this time, the shift controller 50 increases the control value Vsc of the voltage applied to the shift motor 13 in order to move the shift arm 11 to the target value Psc_cmd3 of the third speed shift position. Further, the select controller 51 increases the control value Vsl of the voltage applied to the selection motor 12 in order to move the shift arm 11 to the target value Psl_cmd34 at the 3rd and 4th speed selection position. Therefore, the applied voltage to the shift motor 13 and the applied voltage to the select motor 12 become excessive, and the shift motor 13 and the select motor 12 may break down.

  Therefore, the select controller 51 changes the switching function setting parameter VPOLE_sl in the above equation (10) between the select operation and the shift operation, and performs control to change the disturbance suppression capability. FIG. 11 shows the response specifying characteristics of the sliding mode controller 55 of the select controller 51. The VPOLE_sl is set to -0.5, -0.8, -0.99, -1.0, and It is the graph which showed the response of the control system at the time of giving the step disturbance d in the state where the switching function σ_sl = 0 in the equation (13) and the deviation E_sl = 0 in the above equation (12). E_sl, switching function σ_sl, disturbance d, and the horizontal axis as time k.

  As is clear from FIG. 11, the smaller the absolute value of VPOLE_sl is, the smaller the influence of the disturbance d on the deviation E_sl is. On the contrary, the sliding mode controller 55 increases as the absolute value of VPOLE_sl is made closer to 1. There is a characteristic that the allowable deviation E_sl increases. At this time, since the behavior of the switching function σ_sl is the same regardless of the value of VPOLE_sl, it can be seen that the ability to suppress the disturbance d can be specified by VPOLE_sl.

  Therefore, the VPOLE_sl calculator 56 of the select controller 51 changes the value of VOLE_sl between the shift operation and other than the shift operation (during the select operation) as shown in the following equation (25).

但し、｜ＶＰＯＬＥ_sl_l｜＞｜ＶＰＯＬＥ_sl_h｜となるように、例えばＶＰＯＬＥ_sl_l＝-0.95、ＶＰＯＬＥ_sl_h＝-0.7に設定される。

However, for example, VPOLE_sl_l = −0.95 and VPOLE_sl_h = −0.7 so that | VPOLE_sl_l |> | VPOLE_sl_h |.

  Note that the select controller 51 determines that the shift operation is being performed when the following expressions (26) and (27) are both satisfied.

但し、Ｐsc_cmd：シフト方向の目標値、Ｐsc_cmd_vp：予め設定されたニュートラル位置（Ｐsc_cmd＝０）からの変位量の基準値（例えば0.3mm）。

However, Psc_cmd: target value in the shift direction, Psc_cmd_vp: reference value of displacement from a preset neutral position (Psc_cmd = 0) (for example, 0.3 mm).

但し、ΔＰsl：前回の制御サイクルからのセレクト方向の変位量、dpsl_vp：予め設定された制御サイクルにおける変位量の基準値（例えば0.1mm／step）。

However, ΔPsl: displacement amount in the selection direction from the previous control cycle, dpsl_vp: reference value of displacement amount in a preset control cycle (for example, 0.1 mm / step).

  According to the above equation (25), VPOLE_sl at the time of the shift operation is set to VPOLE_sl_l, and the ability to suppress disturbance is set lower than at the time of the select operation. The displacement of the shift arm 11 is shown in FIG.

  In FIG. 12A, since the disturbance suppression capability of the sliding controller 55 of the select controller 51 is low, the shift arm 11 is at the 3rd and 4th speed selected position due to interference between the shift arm 11 and the shift piece 21a. When the deviation E_sl from the target position Psl_cmd34 is shifted in the selection direction and the deviation E_sl from the Psl_cmd34 occurs, the voltage Vsl applied to the selection motor 12 to reduce the deviation E_sl is lowered.

Therefore, the force Fsl in the select direction generated by driving the select motor 12 is smaller, and the component Fsc1 in the tangential α direction of the force Fsc in the shift direction generated by driving the shift motor 13 than the component Fsl1 in the tangential α direction of Fsl. Becomes larger, and a force Ft in the tangential α direction is generated. Then, the shift arm 11 moves in the tangential α direction due to the Ft, and the position of the shift arm 11 in the select direction is displaced from Psl_cmd to Psl_cmd ^* . Thereby, interference with the shift arm 11 and the shift piece 21a is avoided, and the shift arm 11 can be moved in the shift direction.

  FIG. 12B is a graph showing the displacement of the shift arm 11 in FIG. 12A described above. The vertical axis indicates the actual position Psc in the shift direction of the shift arm 11 from the top, and the actual position Psl in the select direction. , The switching function setting parameter VPOLE_sl, and the horizontal axis is a common time t.

When the shift operation is started at t ₃₁ , the VPOLE_sl calculation unit 56 of the select controller 51 switches the setting of VPOLE_sl in the sliding mode controller 55 from VPOLE_sl_h to VPOLE_sl_l, and the disturbance suppression capability by the sliding mode controller 55 decreases. .

When the shift arm 11 and the shift piece 21a interfere with t _32, the shift arm 11 is shifted from the 3-fourth speed select target position Psl_cms34 in the select direction, 3-select direction position is true of the shift arm 11 at t ₃₃ The fourth speed selection target position Psl_cmd34 ^* is reached. Thus, the shift arm 11 is displaced in the select direction, thereby preventing the shift operation by the shift piece 21a, and the shift arm 11 moves in the shift direction from the neutral position to the third speed shift target position Psc_cmd3. .

  Next, referring to FIG. 13, shift controller 50 executes the following four modes (Mode 1 to Mode 4) during the shift operation to establish each gear position. Then, the shift controller 50 switches the switching function setting parameter VPOLE_sc as shown in the following equation (28) in each mode. As described above, by switching the switching function setting parameter VPOLE_sc, the disturbance suppression capability of the shift controller 50 can be changed as in the case of the select controller 51 described above.

但し、Ｐsc_def：シンクロナイザリングの待機位置、Ｐsc_scf：カップリングスリーブとシンクロナイザリングとの接触位置。

Psc_def: standby position for synchronizer ring, Psc_scf: contact position between coupling sleeve and synchronizer ring.

FIG. 13A is a graph in which the vertical axis is set to the actual position Psc and the target position Psc_cmd of the shift arm 11 in the shift direction, and the horizontal axis is set to time t. FIG. FIG. 14 is a graph in which the setting parameter VPOLE_sc is set and the horizontal axis is set to a time t common to FIG.
(1) Mode 1 (t _{40 to} t ₄₂ : target value tracking & compliance mode)
The shift operation is started from the neutral position, and until the actual position Psc of the shift arm 11 (see FIG. 2A) reaches the standby position Psc_def of the synchronizer ring 23 (Psc <Psc_def), the VPOLE_sc calculation unit 54 of the shift controller 50 (See FIG. 4) sets VPOLE_sc to VPOLE_sc11 (= −0.8). As a result, the disturbance suppressing force of the shift controller 50 is increased to improve the followability of the shift arm 11 with respect to the target position Psc_cmd.

Then, at time t ₄₁ when the actual position Psc of the shift arm 11 reaches the standby position Psc_def of the synchronizer ring 22, the VPOLE_sc calculation unit 54 sets VPOLE_sc to VPOLE_sc12 (= −0.98). As a result, the disturbance control capability of the shift controller 50 is reduced, and when the sleeve ring 22 and the synchronizer ring 23 are brought into contact with each other, a buffering effect is generated to suppress the generation of an impact sound and the excessive pressing of the synchronizer ring 23. can do.
_{(2) Mode2 (t 42 ~t} 43: synchronizing control mode)
After satisfying the condition of Psc_def ≦ Psc ≦ Psc_scf and ΔPsc <ΔPsc_sc (ΔPsc_sc: contact determination value between the coupling sleeve 22 and the synchronizer ring 22b), the synchronizer is set with the target value Psc_cmd as Psc_sc and VPOLE_sc as VPOLE_sc2 (= −0.85). An appropriate pressing force is applied to the ring 22b. Thus, the rotation speeds of the coupling sleeve 22 and the input side forward third speed gear 7c are synchronized.
_{(3) Mode3 (t 43 ~t} 44: static mode)
Psc_scf <in t ₄₃ where Psc conditions are satisfied, the target value shift completion time target value Psc_cmd Psc_end, (overshoot occurs, collision noise between the stopper member (not shown) is generated) overshoots for Psc_cmd of Psc a In order to prevent this, the switching function integral value SUM_σsc is reset, and VPOLE_sc is set to VPOLE_sc3 (= −0.7) to increase the disturbance suppression capability. Thus, the coupling sleeve 22 moves through the synchronizer ring 22b and engages with the input-side forward third speed gear 7c.
_{(4) Mode4 (t 44 ~} : hold mode)
After the shift operation is completed and during the select operation, in order to save power by reducing the power applied to the shift motor 13, VPOLE_sc is set to VPOLE_sc4 (= −0.9), and the disturbance suppression capability in the shift controller 50 is reduced. Further, as shown in FIG. 14 (a), the shift arm 11 is selected from the 5-6 speed selection position to the 1st or 2nd speed in a state where the displacement E_Psc is generated between the shift piece 21b and the shift piece 21c. When the select operation is performed by moving to the position, the chamfered portions of the shift arm 11 and the shift piece 21b come into contact with each other.

  At this time, if the disturbance suppressing capability of the shift controller 50 is kept high, the tangential component Fsl ′ of the chamfered portion of the select direction force Fsl generated by driving the select motor 12 and the shift motor 13 are driven. The shift operation of the shift arm 11 stops due to interference with the tangential component Fsc ′ of the chamfered portion of the generated force Fsc in the shift direction. Further, the voltage applied to the selection motor 12 and the shift motor 13 is increased by the positioning control to the target position by the shift controller 50 and the select controller 51, and the temperatures of the selection motor 12 and the shift motor 13 are abnormally increased. However, due to the reduction in motor torque, the next shift operability may be significantly reduced.

  Therefore, by setting VPOLE_sc to VPOLE_sc4 (= −0.9) during the select operation and reducing the disturbance suppression capability of the shift controller 50, the force Fsc in the shift direction can be reduced as shown in FIG. 14B. . As a result, as indicated by the path indicated by y in the figure, the shift arm 11 easily shifts in the shift direction, avoids interference with the shift piece 21b, and quickly moves the shift arm 11 to the 1st and 2nd speed selection position. Can be moved to.

  Next, the execution procedure of the control of the transmission 80 by the control device 1 will be described according to the flowcharts shown in FIGS.

  FIG. 15 is a main flowchart of the control device 1, and the control device 1 responds to the operation contents when the accelerator pedal 95 (see FIG. 1) or the brake pedal 99 is operated by the driver of the vehicle in STEP1. The driving force index Udrv for determining the driving force applied to the driving wheel 94 is determined by the following equation (29).

但し、Ｕdrv：駆動力インデックス、ＡＰ：アクセルペダル開度、ＢＫ：ブレーキ踏力、Ｋbk：ブレーキ踏力（０〜最大）をアクセルペダル開度（０〜−９０度）に変換する係数。

However, Udrv: Driving force index, AP: Accelerator pedal opening, BK: Brake pedaling force, Kbk: Brake pedaling force (0 to maximum) is a coefficient for converting the accelerator pedal opening (0 to -90 degrees).

  Then, the control device 1 determines whether or not to perform the gear shifting operation of the transmission 80 in STEP 2 based on the driving force index Udrv, and when performing the gear shifting operation, determines the gear stage of the gear shift destination and performs the gear shifting operation. “Transmission control” is performed. In subsequent STEP 3, the control device 1 executes “clutch control” for controlling the slip ratio of the clutch 82 (see FIG. 1).

  Next, the execution procedure of “transmission control” by the control device 1 will be described according to the flowcharts shown in FIGS. First, at STEP 10 in FIG. 16, the control device 1 determines whether or not a reverse request is made by the vehicle driver. If a reverse request has been made, the process branches to STEP 20, the gear selection target value NGEAR_cmd is set to -1 (reverse), and the process proceeds to STEP12.

  On the other hand, when the reverse request is not made in STEP 10, the process proceeds to STEP 11, and the control device 1 applies the driving force index Udrv and the vehicle speed VP of the vehicle to the illustrated “Udrv, VP / NGEAR_cmd map” to select the gear. A target value NGEAR_cmd is obtained. The relationship between the gear selection target value NGEAR_cmd and the selected gear is as shown in the following table (2).

続くＳＴＥＰ１２で、制御装置１は、変速機８０の現在のギヤ選択位置ＮＧＥＡＲがギヤ選択目標値ＮＧＥＡＲ_cmdと一致しているか否かを判断する。そして、ギヤ選択位置ＮＧＥＡＲがギヤ選択目標値ＮＧＥＡＲ_cmdと一致しているときはＳＴＥＰ１５に分岐し、変速機８０の変速操作を実行することなく『変速機制御』を終了する。

In subsequent STEP 12, the control device 1 determines whether or not the current gear selection position NGEAR of the transmission 80 matches the gear selection target value NGEAR_cmd. When the gear selection position NGEAR coincides with the gear selection target value NGEAR_cmd, the process branches to STEP 15, and the “transmission control” is terminated without executing the transmission operation of the transmission 80.

  On the other hand, when the gear selection position NGEAR of the transmission 80 does not coincide with the gear selection target value NGEAR_cmd in STEP 12, the process proceeds to STEP 13 and the control device 1 performs the timing of each process in the “shift operation” executed in the next STEP 14. A shift operation reference timer for determining is started. Then, “speed change operation” is executed in STEP 14, the process proceeds to STEP 13, and “transmission control” is terminated.

  Here, the “shift operation” includes a “clutch off process” in which the clutch 82 (see FIG. 1) is in the “clutch off state” to enable the shift / select operation of the transmission 80, and the transmission in the “clutch off” state. The gear selection position NGEAR is changed to the gear selection target value NGEAR_cmd by performing the shift / select operation 80, and after the completion of the “gear position changing process”, the clutch 82 is returned to the “clutch ON” state. It is executed by three processes called “clutch ON process”.

  Then, in order to grasp the timing from the start of the speed change operation reference timer in STEP 13 to the end of each process, a clutch OFF completion time TM_CLOFF, a gear position change completion time TM_SCHG, and a clutch ON completion time TM_CLON are set in advance. (TM_CLOFF <TM_SCHG <TM_CLON).

  The control device 1 starts the shift operation reference timer in STEP 13 and simultaneously starts the “clutch OFF” process to turn off the clutch 82, and when the time tm_shift of the shift operation reference timer exceeds the clutch OFF completion time TM_CLOFF. The “gear position changing process” is started. When the time tm_shift of the shift operation reference timer has elapsed the gear position change completion time TM_SCHG, the control device 1 starts the “clutch ON process” and turns on the clutch 82.

  The flowcharts shown in FIGS. 17 to 18 show the execution procedure of the “shift operation” of the transmission 80 by the control device 1 after starting the “clutch OFF process”. First, in STEP 30 of FIG. 17, the control device 1 determines whether or not the current gear selection position NGEAR of the transmission 80 matches the gear selection target value NGEAR_cmd.

  When the gear selection position NGEAR matches the gear selection target value NGEAR_cmd and it can be determined that the “shift operation” has been completed, the process branches to STEP 45, where the control device 1 counts the time measured by the shift operation reference timer. The tm_shift is cleared, and the gear removal completion flag F_SCN that is set when the gear removal processing of the transmission 80 is completed in the next STEP 46 is reset (F_SCN = 0), and the selection completion that is set when the selection operation of the transmission 80 is completed The flag F_SLF is reset (F_SLF = 0).

  Then, proceeding to STEP 61, the control device 1 maintains the target position Psc_cmd in the shift direction of the shift arm 11 by the shift controller 50 and the target position Psl_cmd in the select direction of the shift arm 11 by the select controller 51 at the current values. The current gear selection position is held, and the process proceeds to STEP 33 in FIG.

  At this time, the VPOLE_sc calculation unit 54 of the shift controller 50 sets the response designation parameter VPOLE_sc in the sliding mode controller 53 of the shift controller 50 to VPOLE_sc4 (= −0.9). Thereby, the disturbance suppression capability of the shift controller 50 is reduced, and power saving of the shift motor 13 is achieved.

  Further, the response designation parameter VPOLE_sl in the sliding mode controller 55 of the select controller 51 is set to VPOLE_sl_l (= −0.95) by the VPOLE_sl calculator 56 of the select controller 51. Thereby, the disturbance suppression capability of the shift controller 55 is reduced, and the power saving of the selection motor 12 is achieved.

  On the other hand, when the current gear selection position NGEAR of the transmission 80 does not coincide with the gear selection target value NGEAR_cmd in STEP 30 and it can be determined that the “shift operation” of the transmission 80 is being executed, the process proceeds to STEP 31.

  In STEP 31, the control device 1 determines whether or not the time measured tm_shift of the speed change operation reference timer exceeds the clutch OFF time TM_CLOFF. When the time tm_shift of the shift operation reference timer does not exceed the clutch OFF completion time TM_CLOFF and it can be determined that the “clutch OFF process” has not ended, the process proceeds to STEP 32 and the control device 1 is the same as STEP 61. Processing is performed to maintain the current gear selection position.

  On the other hand, when the time tm_shift of the shift operation reference timer exceeds the clutch OFF completion time TM_CLOFF in STEP 31 and it can be determined that the “clutch OFF process” has ended, the process branches to STEP 50, and the control device 1 It is determined whether the time tm_shiht exceeds the gear position change completion time TM_SCHG.

  When it is determined in STEP 50 that the time tm_shift of the shift operation reference timer does not exceed the gear position change completion time TM_SCHG) and it can be determined that the “gear position change process” is being executed, the process proceeds to STEP 51 and the control device 1 Executes “shift / select operation” and proceeds to STEP 33 in FIG.

  On the other hand, when the time tm_shift of the shift operation reference timer exceeds the gear position change completion time TM_SCHG in STEP 50 and it can be determined that the “gear position change process” has been completed, the process branches to STEP 60 to shift to the shift operation reference timer. It is determined whether the measured time tm_shift exceeds the clutch ON completion time TM_CLON.

  When the time tm_shift of the shift operation reference timer does not exceed the clutch ON completion time TM_CLON in STEP 60 and it can be determined that the “clutch ON process” is being executed, the processing of STEP 61 described above is performed. Proceed to 18 STEP33.

  On the other hand, when the time tm_shift of the shift operation reference timer exceeds the clutch ON completion time TM_CLON in Step 60 (TM_CLON <tm_shift) and it can be determined that the “clutch ON process” has ended, the process branches to STEP 70 to control. The apparatus 1 sets the current gear selection position NGEAR to the gear selection target value NGEAR_cmd, proceeds to STEP 61, performs the processing of STEP 61 described above, and proceeds to STEP 33 in FIG.

  Steps 33 to 37 and STEP 80 in FIG. 18 are processes performed by the sliding mode controller 53 of the shift controller 50. In STEP33, the sliding mode controller 53 calculates E_sc (k) from the above equation (18), and calculates σ_sc (k) from the above equation (19).

  In subsequent STEP 34, when the mode 3 transition flag F_Mode2to3 that is set at the time of transition from Mode2 to Mode3 is set (F_Mode2to3 = 1), the process proceeds to STEP 35 and the switching function calculated by the above equation (20) is obtained. The integrated value SUM_σsc (k) is reset (SUM_σsc = 0). On the other hand, when the mode 3 transition flag F_Mode2to3 is reset in STEP34 (F_Mode2to3 = 0), the process branches to STEP80, updates the switching function integral value SUM_σsc (k) by the above equation (20), and proceeds to STEP36.

  Then, the sliding mode controller 53 calculates the equivalent control input Ueq_sc (k), the reaching law input Urch_sc (k), and the adaptive law control input Uadp_sc (k) in STEP36 according to the above equations (21) to (23), and STEP37. Then, the control input Vsc (k) of the applied voltage to the shift motor 13 is calculated by the above equation (24), and the shift motor 13 is controlled.

  Further, the following STEP 38 to STEP 40 are processes by the sliding mode controller 55 and the partial parameter identifier 57 of the select controller 51. In STEP 38, the sliding mode controller 55 calculates E_sl (k) by the above equation (12), and calculates σ_sl (k) by the above equation (13).

  Further, in the next STEP 139, the partial parameter identifier 57 performs identification processing according to the above equations (7) to (11) to calculate model parameters b1_sl (k), b2_sl (k), and c1_sl (k). The sliding mode controller 55 calculates the reaching law input Urch_sl (k) from the above equation (14), and calculates the equivalent control input Ueq_sl (k) from the above equation (15). Then, the sliding mode controller 55 calculates the control input Vsl (k) of the applied voltage to the selection motor 12 by the above equation (16) in the following STEP 41, and proceeds to the next STEP 41, where the control device 1 performs the “shift operation”. Exit.

  FIG. 19 is a flowchart of the “shift / select operation” in STEP 51 of FIG. If it is determined in STEP 90 that the gear removal completion flag F_SCN that is set when the gear removal processing of the transmission 80 is completed (F_SCN = 0) and it can be determined that the gear removal operation is being performed, the process proceeds to STEP 91.

  STEP 91 to STEP 92 are processes by the target position calculation unit 52 (see FIG. 4). The target position calculation unit 52 holds the target position Psl_cmd in the select direction of the shift arm 11 at the current position at STEP 91, and the shift arm 11 at STEP 92. The target position Psc_cmd in the shift direction is set to 0 (neutral position). STEP 93 is processing by the VPOLE_sc calculation unit 54 (see FIG. 4) and the VPOLE_sl calculation unit 56. The VPOLE_sl calculation unit 56 sets VPOLE_sl to VPOLE_sl_l (-0.95), and the VPOLE_sc calculation unit 54 sets VPOLE_sc to VPOLE_sc11 (VPOLE_sc11). 0.8).

  As a result, the disturbance suppressing capability of the select controller 51 is reduced, and the allowable width of shift of the shift arm 11 in the select direction is increased. Therefore, the influence of interference between the shift arm 11 and the shift piece 21 is reduced, and the shift arm 11 is reduced. Can be smoothly moved in the shift direction.

  In subsequent STEP 94, when the position (absolute value) of the shift arm 11 in the shift direction becomes less than a preset neutral determination value Psc_N (for example, 0.15 mm), it is determined that the gear removal processing has ended. Proceeding to STEP 95, the control device 1 sets the gear removal completion flag F_SCN (F_SCN = 1), and proceeds to STEP 96 to end the “shift / select operation”.

  On the other hand, if the gear disengagement completion flag F_SCN is set (F_SCN = 1) in STEP 90 and it can be determined that the gear disengagement process has been completed, the process branches to STEP 100. STEP 100 to STEP 103 and STEP 110 are processes by the target position calculation unit 52, and the target position calculation unit 52 determines whether or not the selection completion flag F_SLF is set in STEP 100.

  Then, when the selection completion flag F_SLF is reset (F_SLF = 0) and it can be determined that the selection operation is being performed, the process proceeds to STEP 101, and the target position calculation unit 52 searches the map for the illustrated NGEAR_cmd / Psl_cmd_table map. A set value Psl_cmd_table in the select direction of each gear position corresponding to NGER_cmd is acquired.

  In subsequent STEP 103, the target position calculation unit 52 holds the target value Psc_cmd in the shift direction of the shift arm 11 at the current value, and sets Psc_cmd_tmp that specifies the increase amount of the target value in the shift direction to zero. The next STEP 104 is processing by the VPOLE_sc calculation unit 54 and the VPOLE_sl calculation unit 56. The VPOLE_sl calculation unit 56 sets VPOLE_sl to VPOLE_sl_h (= −0.7), and the VPOLE_sc calculation unit 54 sets VPOLE_sc to VPOLE_sc4 (= −0.9). Set.

  Thereby, the disturbance suppression capability by the shift controller 50 is reduced, and the shift arm 11 is easily displaced in the shift direction during the select operation. Therefore, as described above with reference to FIG. 14B, the select operation can be performed smoothly even when the shift arm 11 and the shift piece 21 interfere with each other.

  In STEP 105, the absolute value | Psl−Psl_cmd | of the difference between the current position in the select direction of the shift arm 11 and the target position becomes less than the selection completion determination value E_Pslf (for example, 0.15 mm). When the moving speed ΔPsl in the select direction becomes less than the select speed convergence determination value D_Pslf (for example, 0.1 mm / step), it is determined that the select operation is completed, and the process proceeds to STEP 107. Then, the control device 1 sets the selection completion flag F_SLF (F_SLF = 1), proceeds to STEP 96, and ends the “shift / select operation”.

  On the other hand, if the selection completion flag F_SLF is set in STEP 100 and it can be determined that the selection operation is completed, the process branches to STEP 110. STEP 110 to STEP 111 are processes by the target position calculation unit 52. The target position calculation unit 52 holds the target position Psl_cmd in the shift direction of the shift arm 11 at the current value at STEP 110, and executes “target value calculation at the time of rotation synchronization operation” to be described later at STEP 111.

  The next STEP 112 is processing by the VPOLE_sl calculation unit 56, and the VPOLE_sl calculation unit 56 sets VPOLE_sl to VPOLE_sl_l (= −0.95). Thereby, even if the disturbance suppression capability of the select controller 51 is reduced and the shift arm 11 and the shift piece 21 interfere with each other, the shift operation of the shift arm 11 is smoothly performed as described above with reference to FIG. It can be carried out. Then, the process proceeds from STEP 112 to STEP 96, and the control device 1 ends the “shift / select operation”.

  Next, FIG. 20 is a flowchart of “target value calculation during rotation synchronization operation” in STEP 111 of FIG. The “target value calculation during rotation synchronous operation” is mainly executed by the target position calculation unit 52.

  In STEP 120, the target position calculation unit 52 searches the illustrated NGEAR_cmd / Psc_def, _scf, _end, _table map, and each transmission mechanism 2a to 2c and the reverse gear trains 83, 85, 86 corresponding to the gear selection target value NEGAR_cmd. Synchronizer ring stand-by position Psc_def, and through the synchronizer ring, the coupling sleeve and the synchronized gear (output side forward 1st gear 9a, output side forward 2nd gear 9b, input side forward 3rd gear 7c, input side forward 4th gear) Position Psc__scf at which rotation synchronization with the gear 7d, input side forward fifth gear 7e, input side forward sixth gear 7f, second reverse gear 83 and third reverse gear 86) is started, and position Psc_sc at which the rotation synchronization ends. , And the end position Psc_end of the shift operation is acquired.

  In subsequent STEP 121, the target position calculation unit 52 acquires the displacement speed D_Psc_cmd_table of the shift operation according to the gear selection target value NGEAR_cmd. In this way, by changing the displacement speed D_Psc_cmd_table in accordance with the gear position, the generation of contact noise between the shift shock, the synchronizer ring, and the coupling sleeve in the low gear is suppressed.

Then, in the next STEP 122, the target position calculation unit 52 uses the Psc_def_table, Psc_scf_table, Psc_sc_table, Psc_end_table, D_Psc_cmd_table acquired by the map search described above as the corresponding target values Psc_def, Psc_scf, Psc_sc, Psc_end, D_Psc_cmd.
Set to each. Further, in subsequent STEP 123, the midway target position Psc_cmd_tmp of the shift arm 11 in the shift operation is set.

  21 and subsequent steps are processing by Mode 1 to Mode 4 described above. In STEP 124, the shift direction position Psc of the shift arm 11 does not exceed Psc_scf, and it can be determined that the rotation synchronization between the coupling sleeve and the synchronizer ring is not completed. If so, go to STEP125.

  In STEP125, the control device 1 sets the mode 1 • 2 flag F_mode12 indicating that the processing of Mode1 or Mode2 is being executed (F_mode12 = 1). When the shift direction position Psc of the shift arm 11 does not exceed Psc_def in the next STEP 126, that is, when the shift arm 11 does not exceed the standby position of the synchronizer, the process proceeds to STEP 127.

  STEP 127 is processing by Mode 1, and VPOLE_sc is set to VPOLE_sc_ 11 (= −0.8) by the VPOLE_sc calculation unit 54 of the shift controller 50. Thereby, the disturbance suppression capability of the shift controller 50 is increased, and the followability to the target position Psc_cmd is improved.

  On the other hand, when the shift direction position Psc of the shift arm 11 exceeds Psc_def in STEP 126 and it can be determined that the shift arm 11 has reached the standby position for the synchronizer ring, the process branches to STEP 160 and the change amount of the shift arm 11 in the shift direction position. It is determined whether or not ΔPsc exceeds a contact determination value ΔPsc_sc between the coupling sleeve and the synchronizer ring.

  When ΔPsc is less than ΔPsc_sc and the coupling sleeve and the synchronizer ring are not yet in contact, the process proceeds to STEP 161, and ΔPsc exceeds ΔPsc_sc, and the coupling sleeve and the synchronizer ring are in contact with each other. If so, branch to STEP170.

  STEP 161 is processing by Mode 1 and the VPOLE_sc calculation unit 54 sets VPOL_sc to VPOLE_sc12 (= −0.98). Thereby, the disturbance suppression capability of the shift controller 50 is reduced, and the impact at the time of contact between the coupling sleeve and the synchronizer ring can be reduced.

  Further, STEP 170 is processing by Mode 2, and the VPOLE_sc calculation unit 54 sets VPOLE_sc to VPOLE_sc2 (−0.85). Thereby, the disturbance control capability of the shift controller 50 is enhanced, and an appropriate pressing force is applied to the synchronizer ring, so that the rotation speeds of the coupling sleeve and the synchronized gear can be synchronized.

  In STEP 171, the target position calculation unit 52 sets Psc_sc to the shift direction target position Psc_cmd of the shift arm 11, proceeds to STEP 130, and ends the “rotation synchronous operation target value calculation” process.

  On the other hand, when the shift direction position Psc of the shift arm 11 exceeds Psc_scf in STEP 124, that is, when the synchronization of the rotational speed between the coupling sleeve and the synchronized gear is completed, the process branches to STEP140. Then, in STEP 140, it is determined whether or not the mode 1 and 2 flag F_mode12 is set.

  When the mode 1 and 2 flag F_mode12 is set (F_mode12 = 1) in STEP140, that is, when the Mode1 or Mode2 is being executed, the process branches to STEP150, and the control device 1 sets the mode 3 transition flag F_mode2to3. Set (F_mode2to3 = 1) and reset the mode 1 and 2 flags F_mode1 and 2 (F_mode1 and 2 = 0), and proceed to STEP142. On the other hand, when the mode 1 and 2 flags are reset (F_mode12 = 0) in STEP 140, that is, when Mode 2 has already ended, the process proceeds to STEP 141, and the control device 1 resets the mode 3 transition flag F_mode2to3 (F_mode2to3 = 0) and go to STEP142.

  In STEP 142, the VPOLE_sc calculation unit 54 of the shift controller 50 sets VPOLE_sc to VPOLE_sc3 (= −0.7), and in the next STEP 143, the target position calculation unit 52 sets the target value Psc_cmd in the shift direction of the shift arm 11 to Psc_end. Set to. This enhances the disturbance suppressing capability of the shift controller 50 and prevents the shift arm 11 from overrunning from the shift completion position Psc_end. Then, the process proceeds from STEP 143 to STEP 130, and the control device 1 ends the “rotation synchronous operation target value calculation” process.

  Next, FIG. 22 is a flowchart of “clutch control” in STEP 3 of FIG. First, in STEP 190, the control device 1 determines whether or not the current gear selection position NGEAR matches the gear selection target value NGEAR_cmd.

  When the current gear selection position NGEAR does not coincide with the gear selection target value NGEAR_cmd, that is, when the transmission 80 is shifting (shifting / selecting), the process proceeds to STEP 191 and the control device 1 It is determined whether or not the time tm_shift of the operation reference timer exceeds the clutch OFF completion time TM_CLOFF.

  When the time tm_shift of the shift operation reference timer is less than the clutch OFF completion time TM_CLOFF and the clutch 82 is in the OFF operation, the process proceeds from STEP 191 to STEP 192, and the control device 1 sets the clutch slip ratio target value SR_cmd to 100%. To do. Then, the process proceeds to STEP 193 to perform “slip rate control”, and proceeds to STEP 194 to end the “clutch control”.

  On the other hand, when the time tm_shift of the shift operation reference timer exceeds the clutch OFF time TM_CLOFF in STEP 191 and the clutch OFF operation is completed, the process branches to STEP 210, and the control device 1 shifts the time tm_shift of the shift operation reference timer. It is determined whether or not the time TM_SCHG is exceeded. When the time tm_shift of the shift operation reference timer exceeds the shift time TM_SCHG and it can be determined that the shift / select operation of the transmission 80 is completed, the process branches to STEP 220, and the control device 1 sets the clutch slip ratio SR_cmd. Set to 0%. Then, the process proceeds to STEP 193 to perform “slip rate control”, and proceeds to STEP 194 to end the “clutch control”.

  On the other hand, when the current gear selection position NGEAR coincides with the gear selection target value NGEAR_cmd in STEP 190 and the transmission operation of the transmission 80 is completed, the process branches from STEP 190 to STEP 200. Then, the control device 1 applies the driving force index Udrv and the vehicle speed VP of the vehicle to the “Udrv, VP / SR_cmd_dr map” shown in the figure to obtain the target slip ratio SR_cmd_dr during travel.

  In subsequent STEP 201, the control device 1 sets the target slip ratio SR_cmd_dr during travel to the target slip ratio SR_cmd, proceeds to STEP 193 to perform “slip ratio control”, proceeds to STEP 194, and ends “clutch control”.

  Next, the control device 1 has the configuration shown in FIG. 23 in order to perform “slip rate control”. Referring to FIG. 23, the slip ratio controller 60 controls the clutch mechanism 61 including the clutch actuator 16 (see FIG. 1) and the clutch 82, and the clutch rotational speed NC of the clutch mechanism 61 is the clutch rotational speed target value. The clutch stroke Pcl of the clutch 82 changed by the clutch actuator 16 is determined so as to coincide with NC_cmd.

  Here, the slip ratio SR between the clutch plates (not shown) of the clutch 82 changes according to the clutch stroke Pcl, and the driving force transmitted from the engine 81 (see FIG. 1) to the input shaft 5 via the clutch 82. Increase or decrease. Therefore, the clutch rotational speed NC can be controlled by changing the clutch stroke Pcl.

  The slip ratio controller 60 performs a filtering operation on the clutch rotational speed target value NC_cmd to calculate a filtering target value NC_cmd_f, and a clutch stroke Pcl that is a control input value to the clutch mechanism 61 using response designation control. And a response designation control unit 63 for determining.

  The response designation control unit 63 treats the clutch mechanism 61 by modeling with the following equation (30), and calculates the equivalent control input Ueq_sr. Deviation Enc between the filtering target value NC_cmd_f and the clutch rotational speed NC The subtractor 64 for calculating the value, the switching function value calculating unit 65 for calculating the value of the switching function σ_sr, the reaching law input calculating unit 66 for calculating the reaching law input Urch_sr, and the equivalent control input Ueq_sr and the reaching law input Urch_sr are added. And an adder 68 for calculating the clutch stroke Pcl.

但し、ａ１_sr(k)，ｂ１_sr(k)，ｃ１_sr(k)：ｋ番目の制御サイクルにおけるモデルパラメータ。

However, a1_sr (k), b1_sr (k), c1_sr (k): model parameters in the kth control cycle.

  The target value filter 62 calculates a filtering target value NC_cmd_f by subjecting the clutch rotational speed target value NC_cmd to a filtering operation according to the following equation (31).

但し、ｋ：制御サイクルの番数、ＮＣ_cmd_f(k)：ｋ番目の制御サイクルにおけるフィルタリング目標値、ＰＯＬＥ_F_sr：目標値フィルタ係数。

Where k: number of control cycles, NC_cmd_f (k): filtering target value in the kth control cycle, POLE_F_sr: target value filter coefficient.

  The above equation (31) is a first-order lag filter, and the filtering target value NC_cmd_f is a value that converges to the changed clutch rotational speed target value NC_cmd with a response delay when the clutch rotational speed target value NC_cmd changes. Become. The degree of response delay of the filtering target value NC_cmd_f with respect to the clutch rotational speed target value NC_cmd changes according to the set value of the target value filter coefficient POLE_F_sr. When the clutch rotational speed target value NC_cmd is constant, the filtering target value NC_cmd_f is equal to the clutch rotational speed target value NC_cmd.

  The switching function value calculation unit 65 calculates the switching function value σ_sr from the deviation Enc_sr calculated by the following formula (32) by the subtractor 64 using the following formula (33).

但し、σ_sr(k)：ｋ番目の制御サイクルにおける切換関数値、ＰＯＬＥ_sr：切換関数設定パラメータ（−１＜ＰＯＬＥ_sr＜０）。

Where σ_sr (k): switching function value in the kth control cycle, POLE_sr: switching function setting parameter (−1 <POLE_sr <0).

  The equivalent control input calculation unit 64 calculates the equivalent control input Ueq_sr by the following equation (34). The expression (34) is obtained by substituting the clutch stroke Pcl when the above expression (33), expression (30), and expression (31) are substituted, with σ_sr (k + 1) = σ_sr (k) as the equivalent control input Ueq_sr ( k) is calculated.

但し、ＰＯＬＥ_sr：切換関数設定パラメータ（−１＜ＰＯＬＥ_sr＜０）、ａ１_sr(k)，ｂ１_sr(k)，ｃ１_sr(k)：ｋ番目の制御サイクルにおけるモデルパラメータ。

Where POLE_sr: switching function setting parameter (-1 <POLE_sr <0), a1_sr (k), b1_sr (k), c1_sr (k): model parameters in the kth control cycle.

  The reaching law input calculation unit 66 calculates the reaching law input Urch_sr (k) by the following equation (35). The reaching law input Urch_sr (k) is an input for placing the deviation state quantity (Enc_sr (k), Enc_sr (k-1)) on the switching line with the switching function σ_sr set to 0 (σ_sr (k) = 0). is there.

但し、Ｕrch_sr(k)：ｋ番目の制御サイクルにおける到達則入力、Ｋrch_sr：フィードバックゲイン。

Where Urch_sr (k): reaching law input in the k-th control cycle, and Krch_sr: feedback gain.

  Then, the adder 68 calculates a clutch stroke Pcl that is a control input to the clutch mechanism 61 by the following equation (36).

ここで、以下の式（３７）に示したように、切換関数設定パラメータＰＯＬＥ_sr（フィルタリング目標値ＮＣ_cmd_fと実際のクラッチ回転数ＮＣとの偏差の収束速度を決定する演算係数）の絶対値は、目標フィルタ係数ＰＯＬＥ_F_sr（フィルタリング演算において、フィルタリング目標値ＮＣ_cmd_fのクラッチ回転数目標値ＮＣ_cmdへの収束速度を決定する演算係数）の絶対値よりも小さい値に設定される。

Here, as shown in the following equation (37), the absolute value of the switching function setting parameter POLE_sr (the calculation coefficient that determines the convergence speed of the deviation between the filtering target value NC_cmd_f and the actual clutch rotational speed NC) is the target value. It is set to a value smaller than the absolute value of the filter coefficient POLE_F_sr (calculation coefficient for determining the convergence speed of the filtering target value NC_cmd_f to the clutch rotational speed target value NC_cmd in the filtering calculation).

これにより、クラッチ回転数目標値ＮＣ_cmdが変化したときのクラッチ回転数ＮＣの追従速度を、切換関数設定パラメータＰＯＬＥ_srの影響を相対的に減少させて指定することができる。そのため、目標フィルタ係数ＰＯＬＥ_F_srの設定により、クラッチ回転数目標値ＮＣ_cmdの変化に対するクラッチ回転数ＮＣの追従速度の指定をより正確に行うことができる。

As a result, the follow-up speed of the clutch rotational speed NC when the clutch rotational speed target value NC_cmd changes can be specified by relatively reducing the influence of the switching function setting parameter POLE_sr. Therefore, by setting the target filter coefficient POLE_F_sr, it is possible to more accurately specify the follow-up speed of the clutch rotational speed NC with respect to the change in the clutch rotational speed target value NC_cmd.

  When the clutch rotational speed target value NC_cmd is constant, the filtering target value NC_cmd_f and the clutch rotational speed target value NC_cmd are equal. The convergence behavior of the deviation (NC-NC_cmd) from the clutch rotational speed target value NC_cmd when disturbance occurs in this state and the clutch rotational speed NC changes is set by the switching function setting parameter POLE_sr in the above equation (33). can do.

  Therefore, according to the slip ratio controller 60, the actual clutch rotational speed NC follows the clutch rotational speed target value NC_cmd when the clutch rotational speed target value NC_cmd is changed by setting the target filter coefficient POLE_F_sr in the above equation (31). The speed can be specified independently. Further, by setting the switching function setting parameter POLE_sr in the above equation (33), the convergence speed of the deviation between the clutch rotational speed target value NC_cmd and the actual clutch rotational speed NC can be set independently.

  In addition, the identifier 70 corrects the model parameters (a1_sr, b1_sr, c1_sr) of the clutch mechanism 61 for each control cycle of the slip ratio controller 60 in order to suppress the influence of the modeling error according to the above equation (30). Execute.

  The identifier 70 calculates the model parameters (a1_sr, b1_sr, c1_sr) of the above equation (30) by the following equations (38) to (46). The equation (30) can be expressed in the form of the following equation (40) by the vector ζ_sr defined by the following equation (38) and the vector θ_sr defined by the following equation (39).

但し、ＮＣ_hat(k)：ｋ番目の制御サイクルにおけるクラッチ回転数推定値。

However, NC_hat (k): Estimated value of clutch rotational speed in the k-th control cycle.

  First, the identifier 70 assumes that the deviation e_id_sr between the estimated clutch rotational speed NC_hat according to the above equation (40) and the actual clutch rotational speed NC represents the modeling error of the above equation (30). (41) (hereinafter, the deviation e_id_sr is referred to as an identification error e_id_sr).

但し、ｅ_id(k)：ｋ番目の制御サイクルにおけるクラッチ回転数推定値ＮＣ_hat(k)と実際のクラッチ回転数ＮＣ(k)との偏差。

However, e_id (k): deviation between the estimated clutch rotational speed NC_hat (k) and the actual clutch rotational speed NC (k) in the k-th control cycle.

  Further, the identifier 70 calculates “P_sr” that is a cubic square matrix by the recurrence formula of the following formula (42), and regulates the degree of change according to the identification error e_id_sr by the following formula (43). A cubic vector “KP_sr”, which is a gain coefficient vector, is calculated.

但し、Ｉ：単位行列、λ_sr₁，λ_sr₂：同定重みパラメータ。

Where I: unit matrix, λ_sr ₁ , λ_sr ₂ : identification weight parameters.

そして、同定器７０は、以下の式（４４）で定義した所定の基準パラメータθbase_sr
と、上記式（４３）により算出したＫＰ_srと、上記式（４１）により算出したｅ_id_sr
とにより、以下の式（４４）からパラメータ補正値ｄθ_srを算出する。

Then, the identifier 70 has a predetermined reference parameter θbase_sr defined by the following equation (44).
And KP_sr calculated by the above equation (43) and e_id_sr calculated by the above equation (41)
Thus, the parameter correction value dθ_sr is calculated from the following equation (44).

そして、同定器７０は、以下の式（４６）により、新たなモデルパラメータθ_sr^T(k)＝［ａ１_sr(k) ｂ１_sr(k) ｃ１_sr(k)］を算出する。

Then, the identifier 70 calculates a new model parameter θ_sr ^T (k) = [a1_sr (k) b1_sr (k) c1_sr (k)] by the following equation (46).

次に、図２４は、図２２のＳＴＥＰ１９３における『滑り率制御』のフローチャートである。制御装置１は、先ず、ＳＴＥＰ２３０で以下の式（４７）によりクラッチ回転数目標値ＮＣ_cmdを算出する。

Next, FIG. 24 is a flowchart of “slip rate control” in STEP 193 of FIG. First, at STEP 230, the control device 1 calculates the clutch rotational speed target value NC_cmd by the following equation (47).

但し、ＮＣ_cmd(k)：ｋ番目の制御サイクルにおけるクラッチ回転数目標値、ＮＥ(k)：ｋ番目に制御サイクルにおけるエンジン回転数、ＳＲ_cmd：目標滑り率。

However, NC_cmd (k): clutch rotational speed target value in the kth control cycle, NE (k): engine rotational speed in the kth control cycle, SR_cmd: target slip ratio.

  Subsequent STEP 231 to STEP 234 and STEP 240 are identification processes of the model parameters a1_sr, b1_sr, and c1_sr of the clutch mechanism 61 by the identifier 70. In STEP231, the identifier 70 applies the clutch rotational speed NC to the illustrated NC / a1base_sr map to obtain the reference parameter a1base_sr (k), and applies the clutch position Pcl to the illustrated Pcl / b1base_sr map. The parameter b1base_sr (k) is acquired.

  If the clutch stroke Pcl does not exceed the clutch OFF position Pcloff in the next STEP 232 and it can be determined that the clutch 82 is not in the OFF state, the process proceeds to STEP 233 and the identifier 70 determines the model parameter by the above equation (45). The correction value dθ_sr (k) is calculated, and the process proceeds to STEP234.

  On the other hand, when the clutch stroke Pcl exceeds the clutch OFF position Pcloff in STEP 232 and it can be determined that the clutch 82 is in the OFF state, the process branches to STEP 240, and the identifier 70 does not update the model parameter correction value dθ_sr. As a result, the correction value dθ_sr of the model parameter increases when the clutch rotational speed NC in the clutch OFF state does not become 0 (the target clutch rotational speed NC_cmd corresponding to the target slip ratio 100%) at the time of executing the speed change operation. To prevent that.

  In subsequent STEP 234, the identifier 70 calculates the model parameter identification values (a1_sr (k), b1_sr (k), c1_sr (k)) by the above equation (46). In STEP 235, the slip ratio controller 60 includes the subtracter 64, the switching function value calculation unit 65, the reaching law input calculation unit 66, the equivalent control input calculation unit 67, and the adder 68, and the above equations (31) to ( The calculation of 36) is executed to determine the clutch stroke control input value Pcl (k) for the clutch mechanism 61, the process proceeds to STEP 236, and the "slip rate control" process is terminated.

  As another embodiment of the select controller 51, as shown in FIG. 25, the reference values of the model parameters a1_sl, a2_sl, b1_sl, b2_sl in the above equation (1) are set according to the position Psl of the shift arm 11. A parameter scheduler 58 for setting may be provided.

  The parameter scheduler 58 applies the position Psl of the shift arm 11 to the “Psl / a1_sl, a2_sl, b1_slb, b2_slb map” shown in FIG. 26 and schedules the model parameters a1_sl, a2_sl, b1_slb, b2_slb corresponding to Psl. Get the value. The data of “Psl / a1_sl, a2_sl, b1_slb, b2_slb map” is stored in advance in a memory (not shown).

  Here, referring to FIG. 2A, the movement of the shift arm 11 in the select direction actually converts the rotation of the shift / select shaft 20 into a substantially linear movement through a crank mechanism (not shown). To do. Therefore, the effective inertia of the shift arm 11 varies depending on the configuration of the crank mechanism. Therefore, the modeling error can be reduced by changing the model parameter in accordance with the position Psl of the shift arm 11.

このように、「Ｐsl／ａ１_sl，ａ２_sl，ｂ１_slb，ｂ２_slbマップ」により取得したθbase_sl(k)を用いて同定モデルパラメータｂ１_sl(k)，ｂ２_sl(k)，ｃ１_sl(k)を算出することによって、シフトアーム１１の有効慣性の変化によるモデル化誤差の影響を抑制して、同定モデルパラメータｂ１_sl(k)，ｂ２_sl(k)，ｃ１_sl(k)を算出することができる。 The partial parameter identifier 57 uses the identification model parameter reference value θbase_sl (k) defined by the following equation (48) as dθ_sl (k) defined by the following equations (49) and (50). Thus, the identification model parameters b1_sl (k), b2_sl (k), and c1_sl (k) in each control cycle are calculated by correcting with the following equation (51).

In this way, the shift is performed by calculating the identification model parameters b1_sl (k), b2_sl (k), and c1_sl (k) using θbase_sl (k) obtained by “Psl / a1_sl, a2_sl, b1_slb, b2_slb map”. The identification model parameters b1_sl (k), b2_sl (k), and c1_sl (k) can be calculated while suppressing the influence of the modeling error due to the change in the effective inertia of the arm 11.

  The function of setting the non-identification parameters a1_sl and a2_sl by the parameter scheduler 58 according to the position Psl in the select direction of the shift arm 11 corresponds to the non-identification parameter changing means of the present invention. The function of setting the reference values b1_slb and b2_slb of the identification model parameters according to the position Psl of the shift arm 11 in the select direction by the parameter scheduler 58 corresponds to the identification parameter reference value setting means of the present invention.

  In the present embodiment, among the model parameters a1_sl, a2_sl, b1_sl, b2_sl, c1_sl in the above equation (1), b1_sl, b2_sl, c1_sl are used as identification model parameters, and a1_sl, a2_sl are used as non-identification model parameters. However, the selection of the identification model parameter is not limited to this, and it is only necessary to select the identification model parameter that has high linkage with the change in dynamic characteristics of the selection mechanism in accordance with the transmission specifications.

  Further, in the present embodiment, the shift controller 50 and the select controller 51 use the sliding mode control as the response designation type control of the present invention, but use other types of response designation type control such as backstepping control. Also good. Moreover, you may use control methods other than response designation | designated type control.

The block diagram of a transmission. FIG. 2 is a detailed view of a shift / select mechanism of the transmission shown in FIG. 1. Operation | movement explanatory drawing of the transmission shown in FIG. The block diagram of the control apparatus shown in FIG. The block diagram of a select controller. The block diagram of the virtual plant regarding the identification processing method of an identification model parameter. The graph which showed the displacement of the shift arm at the time of selection operation. Explanatory drawing of the shift operation | movement in a manual transmission. The graph which showed the displacement of the shift arm at the time of shift operation in a manual transmission. Explanatory drawing of the shift operation | movement in an automatic manual transmission. The graph which showed the change of disturbance control ability by change of a response specification parameter. Explanatory drawing of shift operation | movement when a response designation | designated parameter is changed in an automatic manual transmission. The graph which showed the shift arm displacement at the time of shift operation, and the setting of a response specification parameter. Explanatory drawing of the select operation | movement in an automatic manual transmission. The main flowchart of a control apparatus. The flowchart of transmission control. The flowchart of speed change operation. The flowchart of speed change operation. The flowchart of shift / select operation. The flowchart of target value calculation at the time of rotation synchronous operation | movement. The flowchart of target value calculation at the time of rotation synchronous operation | movement. Clutch control flowchart The block diagram of a clutch slip ratio controller. The flowchart of slip ratio control. The block diagram of the select controller in other embodiments. FIG. 26 is a model parameter setting map in the select controller shown in FIG. 25; The graph which showed the displacement of the shift arm at the time of select operation in the control apparatus of the conventional transmission.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Control apparatus, 2 ... Synchronization mechanism, 4 ... Output shaft, 5 ... Input shaft, 10 ... Shift fork, 11 ... Shift arm, 12 ... Select motor, 13 ... Shift motor, 20 ... Shift / select shaft, 21 DESCRIPTION OF SYMBOLS ... Shift piece, 22 ... Coupling sleeve, 23 ... Synchronizer ring, 40 ... Select mechanism, 50 ... Shift controller, 51 ... Select controller, 52 ... Target position calculation part, 57 ... Partial parameter identifier, 58 ... Parameter scheduler, 60 ... Slip rate controller, 61 ... Clutch mechanism

Claims (5)

Controlling the operation of a select actuator that moves in the select direction a shift arm that is provided in the transmission, performs a select operation and a shift operation, and is displaced from the neutral position by the shift operation to establish each predetermined shift stage, In a transmission control device including a select controller for positioning a shift arm at a selection position of each shift stage,
Modeling the transmission select mechanism, the position of the shift arm in the select direction for each predetermined control cycle, the position component term related to the position of the shift arm in the select direction in the previous control cycle, and the previous control Using a model equation that expresses a control input component term related to a control input to the selection actuator in a cycle and a disturbance component term, and uses a coefficient of the position component term and the control input component term and the disturbance component term as model parameters. Among the model parameters, the output of the virtual plant that outputs an expression composed of the component terms related to the non-identified model parameters not to be identified, and the components related to the identified model parameters to be identified among the model parameters The identification model so that the difference from the output of the model formula of the virtual plant Comprising a partial parameter identifier means for identifying parameters,
The transmission controller according to claim 1, wherein the selection controller determines a control input to the selection actuator using the identification model parameter identified by the partial parameter identification unit and the non-identification model parameter.   2. The transmission control device according to claim 1, wherein the identification model parameter is a coefficient of the control input component term and the disturbance component term, and the non-identification parameter is a coefficient of the position component term. .   3. The transmission control device according to claim 1, wherein the selection controller determines a control input to the selection actuator using response designating control.   The transmission control apparatus according to any one of claims 1 to 3, further comprising non-identification parameter changing means for changing the non-identification model parameter in accordance with a position of the shift arm. An identification parameter reference value setting means for setting a reference value of the identification model parameter according to a position of the shift arm;
The partial parameter identifier identifies the identification model parameter by correcting the identification parameter reference value according to a difference between an output of the virtual plant and a model formula of the virtual plant. The transmission control device according to any one of claims 1 to 4.

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