WO2017027472A1

WO2017027472A1 - System and method of determining an actuator position offset from an infinintely variable transmission output speed

Info

Publication number: WO2017027472A1
Application number: PCT/US2016/046039
Authority: WO
Inventors: T. Neil MCLEMORE; Jeffrey M. DAVID; Jon M. Nichols
Original assignee: Dana Limited
Priority date: 2015-08-10
Filing date: 2016-08-08
Publication date: 2017-02-16

Abstract

Provided herein is a control system for a multiple-mode continuously variable transmission having a ball planetary variator. The control system has a transmission control module configured to receive a plurality of electronic input signals, and to determine a mode of operation from a plurality of control ranges based at least in part on the plurality of electronic input signals. The system also has an adaptive ratio control module configured to store at least one calibration map, and configured to determine an adaptive speed ratio command signal during operation of the CVP.

Description

SYSTEM AND METHOD OF DETERMINING AN ACTUATOR POSITION OFFSET FROM AN INFININTELY VARIABLE TRANSMISSION OUTPUT SPEED

CROSS-REFERENCES TO RELATED APPLICATIONS

[0001] The present application claims the benefit of U.S. Provisional Patent Application No. 62/203, 135, filed August 10, 2015 and U.S. Provisional Patent Application No. 62/290,018, filed February 02, 2016, which applications are incorporated herein by reference.

BACKGROUND OF THE INVENTION

[0002] Infinitely variable transmissions (TVT) and continuously variable transmissions (CVT) are becoming more in demand for a variety of vehicles as they offer performance and efficiency improvements over standard fixed gear transmissions. Certain types of IVTs and CVTs that employ ball-type continuously variable planetary (CVP) transmissions often have shift actuators coupled to the CVP for control of speed ratio during operation of the transmission. Assembly processes of transmission units inherently result in variation in actuator position sensor offset, which can influence the performance of the transmission. Additionally, the sensors are often adjustable, which results in another source of variation that may impact the accuracy of the control of the transmission. It is desirable for the transmission control system to know the absolute actuator position for satisfactory variator (CVP) ratio control methods. Therefore a new method is needed to determine in software the absolute position sensor offset.

SUMMARY OF THE INVENTION

[0003] A method of determining an actuator position offset using IVT output speed is described. Assembly processes of transmission units inherently result in variation in actuator position sensor offset, which can influence the performance of the transmission. Additionally, the sensors are often adjustable, which results in another source of variation that may impact the accuracy of the control of the transmission. It is desirable for the transmission control system to know the absolute actuator position for satisfactory variator (CVP) ratio control methods. Therefore a new method is needed to determine in software the absolute position sensor offset.

[0004] Provided herein is a computer-implemented control system for generating an actuator position offset of an infinitely variable transmission having a ball-planetary variator (CVP), the computer-implemented control system comprising: a digital processing device comprising an operating system configured to perform executable instructions and a memory device; a computer program including the instructions executable by the digital processing device comprising an software module configured to evaluate a shift actuator position offset of a shift actuator coupled to the CVP, wherein the shift actuator is configured to control a position of the CVP; a plurality of sensors comprising: a CVP input speed sensor configured to sense a CVP input speed and provide the CVP input speed to the software module, a CVP output speed sensor configured to sense a CVP output speed and provide the CVP output speed to the software module, wherein the software module determine a CVP speed ratio based on the CVP input speed and the CVP output speed, and a shift actuator position sensor configured to sense a shift actuator position and provide the shift actuator position to the software module; wherein the plurality of sensors transmit the operating parameters to the software module, wherein the software module receives the operating parameters from the sensors and executes the instructions to learn a relationship between the CVP speed ratio and the shift actuator position to determine the shift actuator position offset; wherein the shift actuator position offset position is stored in the memory device; and wherein the shift actuator position offset is used to adjust the position of the CVP. In some embodiments of the computer-implemented control system, the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position. In some embodiments of the computer-implemented control system, the instructions to learn comprises determining an average value of the shift actuator position. In some embodiments of the computer-implemented control system, the instructions to learn comprises writing the average value of the shift actuator position to the memory device. In some embodiments of the computer- implemented control system, further comprises an enable module adapted to evaluate operating conditions of the CVP and determine a command to execute the instructions to learn. In some embodiments of the computer-implemented, the enable module receives data indicative of vehicle start-up parameters. In some embodiments of the computer-implemented control system, wherein the software module is adapted to run at a "key-on" condition. In some embodiments of the computer-implemented control system, the software module is adapted to run at an "end-of- line" condition.

[0005] Provided herein is a computer-implemented method for generating an actuator position offset of an infinitely variable transmission having a ball-planetary variator (CVP) with a shift actuator, the method comprising the steps of: a) providing, by a computer, an operating system configured to perform executable instructions and a memory device, a program including the instructions executable by the computer, to create an application comprising a software module configured to evaluate a shift actuator position offset, wherein the software module configured to receive data from a plurality of sensors and execute the instructions to learn a relationship between the CVP speed ratio and the shift actuator position; b) determining the shift position offset based on the relationship between the CVOP speed ratio and the shift actuator position; c) storing in memory the shift position offset; and d) adjusting the shift actuator based at least in part on the shift position offset. In some embodiments of the method, the instructions comprise a CVP speed ratio range indicative of an IVT zero operating condition. In some embodiments of the method, the relationship between the CVP speed ratio and the shift actuator position is represented by an actuator position offset value. In some embodiments of the method, wherein the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position. In some embodiments of the method, the instructions to learn comprises determining an average value of the shift actuator position.

[0006] Provided herein is a non-transitory computer readable storage media encoded with a computer program including instructions executable by a digital processing device and a memory device to generate an actuator position offset of an infinitely variable transmission having a ball- planetary variator (CVP) coupled to a shift actuator comprising: an actuator position offset module; wherein the actuator position offset module receives data indicative of a shift actuator position and a speed ratio of the CVP; wherein the actuator position offset module executes a process to learn a relationship between the CVP speed ratio and the shift actuator position;

wherein the relationship between the CVP speed ratio and the shift actuator position is stored in the memory device as the shift actuator position offset; and wherein the shift actuator position offset is applied by the computer program to adjust the shift actuator during operation of the CVP. In some embodiments of the non-transitory computer readable storage media, the instructions comprise a CVP speed ratio range indicative of an IVT zero operating condition. In some embodiments of the non-transitory computer readable storage media, the relationship between the CVP speed ratio and the shift actuator position is represented by an actuator position offset value. In some embodiments of the non-transitory computer readable storage media, the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position. In some embodiments of the non-transitory computer readable storage media, the instructions to learn comprises determining an average value of the shift actuator position. In some embodiments, the software module is adapted to run at an "end-of-line" condition. In some embodiments, the software module is adapted to run at a "continuous" condition. In some embodiments, a position offset signal is adapted as a diagnostic tool to detect a failed or shifted position sensor by comparing a current position offset value to a stored learn value.

[0007] Provided herein is a shift system for a continuously variable transmission having a ball- planetary variator (CVP), the shift system comprising: a drive gear; a sector gear coupled to the drive gear, the sector gear having a rigid body, the sector having a pin slot on the rigid body; a first eccentric pin coupled to the sector gear; a second eccentric pin coupled to the sector gear; a third eccentric pin coupled to the sector gear; wherein the first eccentric pin is positioned between the pin slot and the second eccentric pin; wherein the third eccentric pin is positioned between the first eccentric pin and the second eccentric pin; and wherein the first eccentric pin provides a rotational center for the sector gear. In some embodiments of the shift system, the third eccentric pin is operably coupled to a first carrier member of the CVP. In some

embodiments of the shift system, the second eccentric pin is operably coupled to a second carrier member of the CVP. In some embodiments of the shift system, a first bearing is adapted to couple the third eccentric pin to the first carrier member. In some embodiments of the shift system, a second bearing adapted to couple the second eccentric pin to the second carrier member. In some embodiments of the shift system, an electric motor operably coupled to the drive gear. In some embodiments of the shift system, a rotation of the drive gear corresponds to a relative motion between the third eccentric pin and the second eccentric pin. In some

embodiments of the shift system, the relative motion between the third eccentric pin and the second eccentric pin corresponds to a relative rotation of a first carrier member of the CVP to a second carrier member of the CVP. In some embodiments of the shift system, a guide pin is grounded to the electric motor. In some embodiments of the shift system, the guide pin is positioned in the pin slot.

INCORPORATION BY REFERENCE

[0008] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:

[0010] Figure 1 is a side sectional view of a ball-type variator;

[0011] Figure 2 is a magnified, side sectional view of a ball of a variator of Figure 1 having a symmetric arrangement of a first ring assembly and a second ring assembly;

[0012] Figure 3 is a diagram depicting several views of one embodiment of a shift actuator and position sensor operably coupled to a ball-type variator.

[0013] Figure 4 is a block diagram illustrating an enable module that can be employed in a transmission control system. [0014] Figure 5 is a block diagram illustrating an actuator position offset module that can be employed in a transmission control system.

[0015] Figure 6 is a block diagram illustrating a position offset learn sub-module that can be used with the actuator offset module of Figure 5.

[0016] Figure 7 is a side sectional view of a ball-type variator.

[0017] Figure 8 is a plan view of a carrier member that could be used in the variator of Figure 1.

[0018] Figure 9 is an illustrative view of different tilt positions of the ball -type variator of Figure 1.

[0019] Figure 10 is a magnified, side sectional view of a shift system implemented in Figure 3.

[0020] Figure 11 is another magnified, side sectional view of the shift system of Figure 10.

DETAILED DESCRIPTION OF THE INVENTION

[0021] A method of determining an actuator position offset using IVT output speed is described. Assembly processes of transmission units inherently result in variation in actuator position sensor offset, which can influence the performance of the transmission. Additionally, the sensors are often adjustable, which results in another source of variation that may impact the accuracy of the control of the transmission. It is desirable for the transmission control system to know the absolute actuator position for satisfactory variator (CVP) ratio control methods. Therefore a new method is needed to determine in software the absolute position sensor offset.

[0022] As used here, the terms "operationally connected," "operationally coupled",

"operationally linked", "operably connected", "operably coupled", "operably linked," and like terms, refer to a relationship (mechanical, linkage, coupling, etc.) between elements whereby operation of one element results in a corresponding, following, or simultaneous operation or actuation of a second element. It is noted that in using said terms to describe inventive embodiments, specific structures or mechanisms that link or couple the elements are typically described. However, unless otherwise specifically stated, when one of said terms is used, the term indicates that the actual linkage or coupling may take a variety of forms, which in certain instances will be readily apparent to a person of ordinary skill in the relevant technology.

[0023] For description purposes, the term "radial" is used here to indicate a direction or position that is perpendicular relative to a longitudinal axis of a transmission or variator. The term "axial" as used here refers to a direction or position along an axis that is parallel to a main or longitudinal axis of a transmission or variator. For clarity and conciseness, at times similar components labeled similarly (for example, bearing 1011 A and bearing 101 IB) will be referred to collectively by a single label (for example, bearing 1011). [0024] It should be noted that reference herein to "traction" does not exclude applications where the dominant or exclusive mode of power transfer is through "friction." Without attempting to establish a categorical difference between traction and friction drives here, generally these may be understood as different regimes of power transfer. Traction drives usually involve the transfer of power between two elements by shear forces in a thin fluid layer trapped between the elements. The fluids used in these applications usually exhibit traction coefficients greater than conventional mineral oils. The traction coefficient (μ) represents the maximum available traction forces which would be available at the interfaces of the contacting components and is a measure of the maximum available drive torque. Typically, friction drives generally relate to transferring power between two elements by frictional forces between the elements. For the purposes of this disclosure, it should be understood that the CVTs described here may operate in both tractive and frictional applications. As a general matter, the traction coefficient μ is a function of the traction fluid properties, the normal force at the contact area, and the velocity of the traction fluid in the contact area, among other things. For a given traction fluid, the traction coefficient μ increases with increasing relative velocities of components, until the traction coefficient μ reaches a maximum capacity after which the traction coefficient μ decays. The condition of exceeding the maximum capacity of the traction fluid is often referred to as "gross slip condition".

[0025] As used herein, "creep", "ratio droop", or "slip" is the discrete local motion of a body relative to another and is exemplified by the relative velocities of rolling contact components such as the mechanism described herein. In traction drives, the transfer of power from a driving element to a driven element via a traction interface requires creep. Usually, creep in the direction of power transfer is referred to as "creep in the rolling direction." Sometimes the driving and driven elements experience creep in a direction orthogonal to the power transfer direction, in such a case this component of creep is referred to as "transverse creep."

[0026] For description purposes, the terms "prime mover", "engine," and like terms, are used herein to indicate a power source. Said power source may be fueled by energy sources comprising hydrocarbon, electrical, biomass, nuclear, solar, geothermal, hydraulic, pneumatic, and/or wind to name but a few. Although typically described in a vehicle or automotive application, one skilled in the art will recognize the broader applications for this technology and the use of alternative power sources for driving a transmission comprising this technology.

[0027] For description purposes, the terms "electronic control unit", "ECU", "Driving Control Manager System" or "DCMS" are used interchangeably herein to indicate a vehicle's electronic system that controls subsystems monitoring or commanding a series of actuators on an internal combustion engine to ensure optimal engine performance. It does this by reading values from a multitude of sensors within the engine bay, interpreting the data using multidimensional performance maps (called lookup tables), and adjusting the engine actuators accordingly. Before ECUs, air-fuel mixture, ignition timing, and idle speed were mechanically set and dynamically controlled by mechanical and pneumatic means.

[0028] As used herein, and unless otherwise specified, the term "about" or "approximately" means an acceptable error for a particular value as determined by one of ordinary skill in the art, which depends in part on how the value is measured or determined. In certain embodiments, the term "about" or "approximately" means within 1, 2, 3, or 4 standard deviations. In certain embodiments, the term "about" or "approximately" means within 30%, 25%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0. 1%, or 0.05% of a given value or range. In certain embodiments, the term "about" or "approximately" means within 40.0 mm, 30.0 mm, 20.0 mm, 10.0mm 5.0 mm 1 .0 mm, 0.9 mm, 0.8 mm, 0.7 mm, 0.6 mm, 0.5 mm, 0.4 mm, 0.3 mm, 0.2 mm or 0.1 mm of a given value or range. In certain embodiments, the term "about" or

"approximately" means within 20. degrees, 15,0 degrees, 10.0 degrees, 9.0 degrees, 8.0 degrees, 7.0 degrees, 6,0 degrees, 5.0 degrees, 4.0 degrees, 3.0 degrees, 2.0 degrees, 1.0 degrees, 0.9 degrees, 0.8 degrees, 0.7 degrees, 0.6 degrees, 0,5 degrees, 0.4 degrees, 0.3 degrees, 0.2 degrees, 0.1 degrees, 0.05 degrees of a given value or range.

[0029] In certain embodiments, the term "about" or "approximately" means within 5.0 niA, 1.0 mA, 0.9 mA, 0,8 mA, 0.7 mA, 0.6 mA, 0.5 mA, 0.4 mA, 0.3 mA, 0.2 mA, 0.1 mA, 0,09 mA, 0.08 mA, 0.07 mA, 0.06 mA, 0.05 mA, 0.04 mA, 0.03 mA, 0.02 mA or 0.01 mA of a given value or range.

[0030] As used herein, "about" when used in reference to a velocity of the moving object or movable substrate means variation of l%-5%, of 5%-10%, of 10%-20%, and/or of 10%-50% (as a percent of the percentage of the velocity, or as a variation of the percentage of the velocity). For example, if the percentage of the velocity is "about 20%", the percentage may vary 5%-10% as a percent of the percentage i .e. from 19% to 21% or from 18% to 22%; alternatively the percentage may vary 5%-10% as an absolute variation of the percentage i.e. from 15% to 25% or from 10% to 30%.

[0031] In certain embodiments, the term "about" or "approximately" means within 0.01 sec, 0.02 sec, 0.03 sec, 0.04 se , 0.05 se , 0.06 sec, 0.07 se , 0.08 sec. 0.09 sec. or 0.10 sec of a given value or range. In certain embodiments, the term "about" or "approximately" means within 0.5 rpm/sec, 1.0 rpm/sec, 5.0 rpm/sec, 10,0 rpm/sec, 15.0 rpm/sec, 20.0 rpm/sec, 30 rpm/sec, 40 rpm/sec, or 50 rpm/sec of a given value or range. [0032] Those of skill will recognize that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein, including with reference to the transmission control system described herein, for example, may be implemented as electronic hardware, software stored on a computer readable medium and executable by a processor, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. For example, various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Software associated with such modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other suitable form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. For example, in one embodiment, a controller for use of control of the IVT comprises a processor (not shown).

Certain Definitions

[0033] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise. Any reference to "or" herein is intended to encompass "and/or" unless otherwise stated. Digital processing device

[0034] In some embodiments, the Control System for a Vehicle equipped with an infinitely variable transmission described herein includes a digital processing device, or use of the same. In further embodiments, the digital processing device includes one or more hardware central processing units (CPU) that carry out the device's functions. In still further embodiments, the digital processing device further comprises an operating system configured to perform executable instructions. In some embodiments, the digital processing device is optionally connected a computer network. In further embodiments, the digital processing device is optionally connected to the Internet such that it accesses the World Wide Web. In still further embodiments, the digital processing device is optionally connected to a cloud computing infrastructure. In other embodiments, the digital processing device is optionally connected to an intranet. In other embodiments, the digital processing device is optionally connected to a data storage device.

[0035] In accordance with the description herein, suitable digital processing devices include, by way of non-limiting examples, server computers, desktop computers, laptop computers, notebook computers, sub-notebook computers, netbook computers, netpad computers, set-top computers, media streaming devices, handheld computers, Internet appliances, mobile smartphones, tablet computers, personal digital assistants, video game consoles, and vehicles. Those of skill in the art will recognize that many smartphones are suitable for use in the system described herein. Those of skill in the art will also recognize that select televisions, video players, and digital music players with optional computer network connectivity are suitable for use in the system described herein. Suitable tablet computers include those with booklet, slate, and convertible

configurations, known to those of skill in the art.

[0036] In some embodiments, the digital processing device includes an operating system configured to perform executable instructions. The operating system is, for example, software, including programs and data, which manages the device's hardware and provides services for execution of applications. Those of skill in the art will recognize that suitable server operating systems include, by way of non -limiting examples, FreeBSD, OpenBSD, NetBSD^®, Linux, Apple^® Mac OS X Server^®, Oracle^® Solaris^®, Windows Server^®, and Novell^® NetWare^®. Those of skill in the art will recognize that suitable personal computer operating systems include, by way of non-limiting examples, Microsoft^® Windows^®, Apple^® Mac OS X^®, UNIX^®, and UNIX- like operating systems such as GNU/Linux^®. In some embodiments, the operating system is provided by cloud computing. Those of skill in the art will also recognize that suitable mobile smart phone operating systems include, by way of non-limiting examples, Nokia^® Symbian^® OS, Apple^® iOS^®, Research In Motion^® BlackBerry OS^®, Google^® Android^®, Microsoft^® Windows Phone^® OS, Microsoft^® Windows Mobile^® OS, Linux^®, and Palm^® WebOS^®. Those of skill in the art will also recognize that suitable media streaming device operating systems include, by way of non-limiting examples, Apple TV^®, Roku^®, Boxee^®, Google TV^®, Google Chromecast^®, Amazon Fire^®, and Samsung^® HomeSync^®. Those of skill in the art will also recognize that suitable video game console operating systems include, by way of non-limiting examples, Sony^® PS3^®, Sony^® PS4^®, Microsoft^® Xbox 360^®, Microsoft Xbox One, Nintendo^® Wii^®, Nintendo^® Wii U^®, and Ouya^®.

[0037] In some embodiments, the device includes a storage and/or memory device. The storage and/or memory device is one or more physical apparatuses used to store data or programs on a temporary or permanent basis. In some embodiments, the device is volatile memory and requires power to maintain stored information. In some embodiments, the device is non-volatile memory and retains stored information when the digital processing device is not powered. In further embodiments, the non-volatile memory comprises flash memory. In some embodiments, the nonvolatile memory comprises dynamic random-access memory (DRAM). In some embodiments, the non-volatile memory comprises ferroelectric random access memory (FRAM). In some embodiments, the non-volatile memory comprises phase-change random access memory

(PRAM). In other embodiments, the device is a storage device including, by way of non-limiting examples, CD-ROMs, DVDs, flash memory devices, magnetic disk drives, magnetic tapes drives, optical disk drives, and cloud computing based storage. In further embodiments, the storage and/or memory device is a combination of devices such as those disclosed herein.

[0038] In some embodiments, the digital processing device includes a display to send visual information to a user. In some embodiments, the display is a cathode ray tube (CRT). In some embodiments, the display is a liquid crystal display (LCD). In further embodiments, the display is a thin film transistor liquid crystal display (TFT-LCD). In some embodiments, the display is an organic light emitting diode (OLED) display. In various further embodiments, on OLED display is a passive-matrix OLED (PMOLED) or active-matrix OLED (AMOLED) display. In some embodiments, the display is a plasma display. In other embodiments, the display is a video projector. In still further embodiments, the display is a combination of devices such as those disclosed herein.

[0039] In some embodiments, the digital processing device includes an input device to receive information from a user. In some embodiments, the input device is a keyboard. In some embodiments, the input device is a pointing device including, by way of non-limiting examples, a mouse, trackball, track pad, joystick, game controller, or stylus. In some embodiments, the input device is a touch screen or a multi-touch screen. In other embodiments, the input device is a microphone to capture voice or other sound input. In other embodiments, the input device is a video camera or other sensor to capture motion or visual input. In further embodiments, the input device is a Kinect, Leap Motion, or the like. In still further embodiments, the input device is a combination of devices such as those disclosed herein.

Non-transitory computer readable storage medium

[0040] Provided herein is a non-transitory computer readable storage media encoded with a computer program including instructions executable by a digital processing device and a memory device to generate an actuator position offset of an infinitely variable transmission having a ball- planetary variator (CVP) coupled to a shift actuator comprising: an actuator position offset module; wherein the actuator position offset module receives data indicative of a shift actuator position and a speed ratio of the CVP; wherein the actuator position offset module executes a process to learn a relationship between the CVP speed ratio and the shift actuator position;

[0041] In some embodiments the Control System for a Vehicle equipped with an infinitely variable transmission disclosed herein includes one or more non-transitory computer readable storage media encoded with a program including instructions executable by the operating system of an optionally networked digital processing device. In further embodiments, a computer readable storage medium is a tangible component of a digital processing device. In still further embodiments, a computer readable storage medium is optionally removable from a digital processing device. In some embodiments, a computer readable storage medium includes, by way of non-limiting examples, CD-ROMs, DVDs, flash memory devices, solid state memory, magnetic disk drives, magnetic tape drives, optical disk drives, cloud computing systems and services, and the like. In some cases, the program and instructions are permanently, substantially permanently, semi-permanently, or non-transitorily encoded on the media.

Computer program

[0042] In some embodiments, the Control System for a Vehicle equipped with an infinitely variable transmission disclosed herein includes at least one computer program, or use of the same. A computer program includes a sequence of instructions, executable in the digital processing device's CPU, written to perform a specified task. Computer readable instructions may be implemented as program modules, such as functions, objects, Application Programming Interfaces (APIs), data structures, and the like, that perform particular tasks or implement particular abstract data types. In light of the disclosure provided herein, those of skill in the art will recognize that a computer program may be written in various versions of various languages.

[0043] The functionality of the computer readable instructions may be combined or distributed as desired in various environments. In some embodiments, a computer program comprises one sequence of instructions. In some embodiments, a computer program comprises a plurality of sequences of instructions. In some embodiments, a computer program is provided from one location. In other embodiments, a computer program is provided from a plurality of locations. In various embodiments, a computer program includes one or more software modules. In various embodiments, a computer program includes, in part or in whole, one or more web applications, one or more mobile applications, one or more standalone applications, one or more web browser plug-ins, extensions, add-ins, or add-ons, or combinations thereof.

[0044] The type of IVT described herein comprises a ball planetary variator (CVP) comprising a plurality of variator balls, depending on the application, two discs or annular rings 995, 996 each having an engagement portion that engages the variator balls 997, at least. The engagement portions are optionally in a conical or toroidal convex or concave surface contact with the variator balls, as input (995) and output (996). The variator optionally includes an idler 999 contacting the balls as well as shown on FIG. 1. The variator balls are mounted on axles 998, themselves held in a cage or carrier allowing changing the ratio by tilting the variator balls' axes. Other types of ball IVTs and or CVTs also exist like the one produced by Milner, but are slightly different. These alternative ball IVTs and CVTs are additionally contemplated herein. The working principle generally speaking, of a ball-type variator (i.e. CVP) of a CVT is shown in FIG. 2 [0045] The variator itself works with a traction fluid. The lubricant between the ball and the conical rings acts as a solid at high pressure, transferring the power from the first ring assembly (input of the variator), through the variator balls, to the second ring assembly (output of the variator). By tilting the variator balls' axes, the ratio is changed between input and output. When the axis of each of the variator balls is horizontal the ratio is one, when the axis is tilted the distance between the axis and the contact point change, modifying the overall ratio. All the variator balls' axles are tilted at the same time with a mechanism included in the cage.

[0046] Referring now to FIG. 3, in one embodiment a continuously variable transmission 300 is provided with a shift actuator 302 operably coupled to first and second carriers 304, 306. The shift actuator 302 may be provided with a position sensor 308. The position sensor 308 may be an electronic sensor configured to provide an indication of the relative position of the first and second carriers 304, 306. During operation of the transmission 300, a change in speed ratio can be achieved by a relative rotation of the first carrier 304 with respect to the second carrier 306. In one embodiment, the first and second carriers 304, 306 provide radial and axial support for a number of tilting balls. Certain CVT embodiments described here are generally related to the type disclosed in U.S. Patent Nos. 6,241,636; 6,419,608; 6,689,012; 7,011,600; 7,166,052; U.S. Patent Application Nos. 11/243,484; 11/543,311; 12/198,402; 12/251,325 and Patent

Cooperation Treaty patent applications PCT/US2007/023315, PCT/IB2006/054911,

PCT/US2008/068929, and PCT/US2007/023315, PCT/US2008/074496. The entire disclosure of each of these patents and patent applications is hereby incorporated herein by reference. Other embodiments of the invention disclosed here are related to continuously variable transmissions having spherical planets such as those generally described in U.S. Patent No. 7, 125,359 to Milner, U.S. Patent No. 4,744,261 to Jacobson, U.S. Patent No. 5,236,403 to Schievelbusch, or U.S. Patent No. 2,469,653 to Kopp. Some embodiments of the invention disclosed here are related to continuously variable transmissions having belts or chains, see for example U.S. Patent No. 7,396,311 to Gates. Yet other embodiments of the invention disclosed here are related to transmissions having toroidal discs for transmitting power. See for example U.S. Patent No. 7,530,916 to Greenwood and U.S. Patent No. 6,443,870 to Yoshikawa et al. The entire disclosure of each of these patents and patent applications is hereby incorporated herein by reference.

[0047] Turning now to Figure 4, in one embodiment, an electronic computer-implemented control system for an infinitely variable transmission having a ball-type continuously variable transmission ("CVP") can be provided with an enable module 400 that is employed at start-up of the transmission control system. In one embodiment, the enable module 400 can be implemented for end-of-line assembly processes. In another embodiment, the enable module 400 can be implemented with a "key-on" or "key-off cycle. In yet another embodiment, the enable module 400 can be configured to run continuously when conditions are satisfied.

[0048] In one embodiment, the enable module 400 begins at a start state 402 and proceeds to a block 404 where a number of signals are received from sensors provided on the vehicle, engine, and transmission (not shown). The sensors are configured to provide a number of signals indicative of various operating parameters of the vehicle, the engine, and the transmission. The enable module 400 proceeds to a decision block 406 where an ignition status is evaluated. If the ignition equipped on the vehicle is on, the block 406 returns a true, or "yes", value. If the ignition is not on, the block 406 returns a false, or "no", value, and the enable module 400 proceeds back to the block 404. The enable module 400 proceeds to a decision block 408 where a status of a transmission pump is evaluated. If the transmission pump is not on, the block 408 returns a false, or "no" value, the enable module 400 proceeds back to the block 404. If the transmission pump is on, the block 408 returns a true, or "yes" value, and the enable module 400 proceeds to a decision block 410. The decision block 410 evaluates the status of a request for cranking the engine. If a request for cranking has not been made by the operator, the block 410 returns a false, or "no" value, and the enable module proceed back to the block 404. If a request for cranking has been made, the block 410 returns a true, or "yes" value, and the enable module 400 proceeds to a decision block 412. The decision block 412 evaluates the operating status of the engine. If the engine is not on or running, the decision block 412 returns a false, or "no" value. If the engine is running, the decision block 412 returns a true, or "yes" value, and the enable module 400 proceeds to a decision block 414. The decision block 414 evaluates the status of a safety clutch (not shown). If the safety clutch is engaged, or in running condition, the block 414 delivers a true, or "yes" value. If the safety clutch is disengaged, or in a non-running condition (sometimes due to other system faults), the block 414 returns a false, or "no" value. The enable module proceeds to a block 416 where an enable command is generated based at least in part on receiving true values from the decision blocks 406, 408, 410, 412, 414. It is noted that the blocks 406, 408, 410, 412, 414 may be evaluated in any order and are depicted in Figure 4 as an example. It is further noted, that the enable module 400 may be provided with additional decision blocks to evaluate other vehicle parameters such as status of motors, or other prime movers, and the like. In some embodiments, the enable module 400 can be employed on vehicles not equipped with an engine, for example, an electric vehicle. It should be apparent to a person having ordinary skill in the art, that the enable process 400 can be adapted for a vehicle with any type of prime mover. [0049] Provided herein is a computer-implemented control system for generating an actuator position offset of an infinitely variable transmission having a ball-planetary variator (CVP), the computer-implemented control system comprising: a digital processing device comprising an operating system configured to perform executable instructions and a memory device; a computer program including the instructions executable by the digital processing device comprising an software module configured to evaluate a shift actuator position offset of a shift actuator coupled to the CVP, wherein the shift actuator is configured to control a position of the CVP; a plurality of sensors comprising: a CVP input speed sensor configured to sense a CVP input speed and provide the CVP input speed to the software module, a CVP output speed sensor configured to sense a CVP output speed and provide the CVP output speed to the software module, wherein the software module determine a CVP speed ratio based on the CVP input speed and the CVP output speed, and a shift actuator position sensor configured to sense a shift actuator position and provide the shift actuator position to the software module; wherein the plurality of sensors transmit the operating parameters to the software module, wherein the software module receives the operating parameters from the sensors and executes the instructions to learn a relationship between the CVP speed ratio and the shift actuator position to determine the shift actuator position offset; wherein the shift actuator position offset position is stored in the memory device; and wherein the shift actuator position offset is used to adjust the position of the CVP. In some embodiments of the computer-implemented control system, the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position. In some embodiments of the computer-implemented control system, the instructions to learn comprises determining an average value of the shift actuator position. In some embodiments of the computer-implemented control system, the instructions to learn comprises writing the average value of the shift actuator position to the memory device. In some embodiments of the computer- implemented control system, further comprises an enable module adapted to evaluate operating conditions of the CVP and determine a command to execute the instructions to learn. In some embodiments of the computer-implemented, the enable module receives data indicative of vehicle start-up parameters. In some embodiments of the computer-implemented control system, wherein the software module is adapted to run at a "key-on" condition. In some embodiments of the computer-implemented control system, the software module is adapted to run at an "end-of- line" condition.

[0050] Referring now to Figure 5, in one embodiment, an actuator position offset module 500 can be employed in a transmission control system (not shown) for determining a physical offset value of a transmission shift actuator, for example, the actuator 302. The actuator position offset module 500 receives a CVP speed ratio signal 502 that is passed to an evaluation block 504 where the CVP speed ratio is compared to a calibratable range that represents true IVT zero. For example, the range can be 1.480 to 1.490 where the IVT zero condition is 1.485. The range is calibratable and can be adapted to provide an appropriate setting for the hardware used in the system. If the CVP speed ratio is within the calibratable range, the block 504 returns a true, or "enable", value that is passed to a position offset learn module 506. The actuator position offset module 500 receives an operating state signal 508 that is evaluated to determine if start-up of the system is complete. In one embodiment, the enable module 400 provides the operating state signal 508. The module 500 can receive a signal 510 indicative of any former position offset values. The signal 510 may be called from, for example, a system memory. The module 500 receives an actuator position signal 512 that is passed to the position offset learn sub-module 506. The position offset learn sub-module 506 returns a position offset signal 514 that is passed to a decision block 516. The decision block 516 evaluates any system overrides and produces a position offset signal 518 that is stored to memory. The position offset learn sub-module 506 produces a status signal 520 to indicate when the position offset signal 514 has been determined.

[0051] In one embodiment, the position offset signal 518 can be used as a diagnostic to detect a failed or shifted position sensor by comparing the current position offset signal 518 to the signal 510, which is the stored learn value. Comparing against a calibratable offset failure threshold would produce a diagnostic signal indicative of the operating status of the position sensor.

[0052] Provided herein is a computer-implemented method for generating an actuator position offset of an infinitely variable transmission having a ball-planetary variator (CVP) with a shift actuator, the method comprising the steps of: a) providing, by a computer, an operating system configured to perform executable instructions and a memory device, a program including the instructions executable by the computer, to create an application comprising a software module configured to evaluate a shift actuator position offset, wherein the software module configured to receive data from a plurality of sensors and execute the instructions to learn a relationship between the CVP speed ratio and the shift actuator position; b) determining the shift position offset based on the relationship between the CVOP speed ratio and the shift actuator position; c) storing in memory the shift position offset; and d) adjusting the shift actuator based at least in part on the shift position offset. In some embodiments of the method, the instructions comprise a CVP speed ratio range indicative of an IVT zero operating condition. In some embodiments of the method, the relationship between the CVP speed ratio and the shift actuator position is represented by an actuator position offset value. In some embodiments of the method, wherein the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position. In some embodiments of the method, the instructions to learn comprises determining an average value of the shift actuator position.

[0053] Passing now to Figure 6, in one embodiment, the position offset learn sub-module 506 receives an enable trigger 600 and a state machine trigger 602 that are passed to a counter module 604 and a summing module 606. The counter module 604 is configured to count the number of samples collected when the position offset learn sub-module 506 is enabled or running. The summing module 606 is configured to sum or add the actuator position signal 512 when the position offset learn sub-module 506 is enabled or running. The position offset learn sub-module 506 receives a signal 608 that indicates how many samples to collect with the counter module 604 and the summing module 606. The signal 608 is a calibratable value. The summing module 606 returns a summation of actuator position signal 512 that is then

manipulated to determine an average signal value 514. The status signal 520 returns a signal indicative of a complete process. To elucidate, the position offset learn module is configured to apply a method whereby a) when start is triggered by state machine and b) enable is true (CVP speed ratio within IVT zero calibration limits) then c) current shift actuator position is stored in a temporary memory buffer until d) buffer contains a number of values equal to the minimum sample count, then e) buffer is summed and divided by sample count (taking an average) then f) average value is set as position offset value and learn complete flag is set to TRUE.

[0054] Provided herein are configurations of CVTs based on a ball type variators, also known as CVP, for continuously variable planetary. Basic concepts of a ball type Continuously Variable Transmissions are described in United States Patent No. 8,469,856 and 8,870,711 incorporated herein by reference in their entirety. Such a CVT, adapted herein as described throughout this specification, comprises a number of balls (planets, spheres) 1, depending on the application, two ring (disc) assemblies with a conical surface contact with the balls, as input traction ring 2 and output traction ring 3, and an idler (sun) assembly 4 as shown on FIG. 7. The balls are mounted on tiltable axles 5, themselves held in a carrier (stator, cage) assembly having a first carrier member 6 operably coupled to a second carrier member 7. The first carrier member 6 rotates with respect to the second carrier member 7, and vice versa. In some embodiments, the first carrier member 6 is substantially fixed from rotation while the second carrier member 7 is configured to rotate with respect to the first carrier member, and vice versa. In one embodiment, the first carrier member 6 is provided with a number of radial guide slots 8. The second carrier member 7 is provided with a number of radially offset guide slots 9, as illustrated in FIG. 8. The radial guide slots 8 and the radially offset guide slots 9 are adapted to guide the tiltable axles 5. The axles 5 are adjustable to achieve a desired ratio of input speed to output speed during operation of the CVT. In some embodiments, adjustment of the axles 5 involves control of the position of the first and second carrier members to impart a tilting of the axles 5 and thereby adjusts the speed ratio of the variator. Other types of ball CVTs also exist, like the one produced by Milner, but are slightly different.

[0055] The working principle of such a CVP of FIG. 7 is shown on FIG. 9. The CVP itself works with a traction fluid. The lubricant between the ball and the conical rings acts as a solid at high pressure, transferring the power from the input ring, through the balls, to the output ring. By tilting the balls' axes, the ratio is changed between input and output. When the axis is horizontal the ratio is one, illustrated in FIG. 9, when the axis is tilted the distance between the axis and the contact point change, modifying the overall ratio. All the balls' axes are tilted at the same time with a mechanism included in the carrier and/or idler. Embodiments of the invention disclosed here are related to the control of a variator and/or a CVT using generally spherical planets each having a tiltable axis of rotation that is adjustable to achieve a desired ratio of input speed to output speed during operation. In some embodiments, adjustment of said axis of rotation involves angular misalignment of the planet axis in a first plane in order to achieve an angular adjustment of the planet axis in a second plane that is substantially perpendicular to the first plane, thereby adjusting the speed ratio of the variator. The angular misalignment in the first plane is referred to here as "skew", "skew angle", and/or "skew condition". In one embodiment, a computer-implemented control system coordinates the use of a skew angle to generate forces between certain contacting components in the variator that will tilt the planet axis of rotation. The tilting of the planet axis of rotation adjusts the speed ratio of the variator.

[0056] Provided herein is a shift system for a continuously variable transmission having a ball- planetary variator (CVP), the shift system comprising: a drive gear; a sector gear coupled to the drive gear, the sector gear having a rigid body, the sector having a pin slot on the rigid body; a first eccentric pin coupled to the sector gear; a second eccentric pin coupled to the sector gear; a third eccentric pin coupled to the sector gear; wherein the first eccentric pin is positioned between the pin slot and the second eccentric pin; wherein the third eccentric pin is positioned between the first eccentric pin and the second eccentric pin; and wherein the first eccentric pin provides a rotational center for the sector gear. In some embodiments of the shift system, the third eccentric pin is operably coupled to a first carrier member of the CVP. In some

[0057] Passing now to FIG. 10, FIG. 11, and still referring to FIG. 3, in one embodiment, a shift system 310 is configured to operably couple the shift actuator 302 to the first carrier 304 and the second carrier 306. The shift system 310 includes a drive gear 312. The drive gear 312 is coupled to the shift actuator 302. In one embodiment, the shift actuator 302 is an electric motor adapted to rotate the drive gear 312. The drive gear 312 couples to a sector gear 314. The sector gear 314_. is a rigid body provided with a pin slot 316 configured to couple to a guide pin 317 (FIG. 3) inserted in the body of the shift actuator 302. In one embodiment, the guide pin 317 is a ground member connected to the body of the shift actuator 302. The guide pin 317 provides constraints for the travel of the sector gear 314 during operation. The shift system 310 includes a first eccentric pin 318 and a second eccentric pin 320. The first eccentric pin 318 is positioned on the body of the sector gear 314 between the pin slot 316 and the second eccentric pin 320. The second eccentric pin 320 is located at a distal end of the sector gear 314. In one

embodiment, the shift system 310 includes a third eccentric pin positioned between the first eccentric pin 318 and the second eccentric pin 320. The third eccentric pin 326 is operably coupled to the first carrier 304 by a first bearing 322. The third eccentric pin 326 is the rotational center of the first bearing 322. In one embodiment, the first bearing 322 is a bushing adapted to facilitate a force transfer from the third eccentric pin 326 to the first carrier 304. The second eccentric pin 320 is operably coupled to the second carrier 306 by a second bearing 324. In one embodiment, the second bearing 324 is a bushing adapted to facilitate a force transfer from the second eccentric pin 320 to the second carrier 306.

[0058] During operation of the transmission 300, a change in speed ratio can be achieved by a relative rotation of the first carrier 304 with respect to the second carrier 306. A rotation of the drive gear 312 corresponds to a rotation of the sector gear 314 about the first eccentric pin 318. The first eccentric pin 318 is rotatably supported to a grounded member of the CVP. The first eccentric pin 318 provides a pivot center of the sector gear 314. Since the second eccentric pin 320 is rotatably supported in the second bearing 324, and the third eccentric pin 326 is rotatably supported in the first bearing 322, the relative motion of the third eccentric pin 326 with respect to the second eccentric pin 320 corresponds to a rotation of the first carrier 304 with respect to the second carrier 306. It should be appreciated that a designer selects the positions of the first eccentric pin 318, the second eccentric pin 320, and third eccentric pin 326 on the body of the sector gear 314 to provide a desired force balance and position relationship between the first carrier 304 and the second carrier 306.

[0059] It should be noted that the description above has provided dimensions for certain components or subassemblies. The mentioned dimensions, or ranges of dimensions, are provided in order to comply as best as possible with certain legal requirements, such as best mode.

However, the scope of the inventions described herein are to be determined solely by the language of the claims, and consequently, none of the mentioned dimensions is to be considered limiting on the inventive embodiments, except in so far as any one claim makes a specified dimension, or range of thereof, a feature of the claim.

[0060] The foregoing description details certain embodiments of the invention. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the invention can be practiced in many ways. As is also stated above, it should be noted that the use of particular terminology when describing certain features or aspects of the invention should not be taken to imply that the terminology is being re-defined herein to be restricted to including any specific characteristics of the features or aspects of the invention with which that terminology is associated.

Claims

CLAIMS WHAT IS CLAIMED IS:

1. A computer-implemented control system for generating an actuator position offset of an infinitely variable transmission having a ball-planetary variator (CVP), the computer- implemented control system comprising:

a digital processing device comprising an operating system configured to perform executable instructions and a memory device;

a computer program including the instructions executable by the digital processing device comprising a software module configured to evaluate a shift actuator position offset of a shift actuator coupled to the CVP, wherein the shift actuator is configured to control a position of the CVP;

a plurality of sensors comprising:

a CVP input speed sensor configured to sense a CVP input speed and provide the CVP input speed to the software module;

a CVP output speed sensor configured to sense a CVP output speed and provide the CVP output speed to the software module, wherein the software module determines a CVP speed ratio based on the CVP input speed and the CVP output speed; and

a shift actuator position sensor configured to sense a shift actuator position and provide the shift actuator position to the software module;

wherein the plurality of sensors transmit the operating parameters to the software module,

wherein the software module receives the operating parameters from the sensors and executes the instructions to learn a relationship between the CVP speed ratio and the shift actuator position to determine the shift actuator position offset,

wherein the shift actuator position offset position is stored in the memory device, and wherein the shift actuator position offset is used to adjust the position of the CVP.

2. The computer-implemented control system of Claim 1, wherein the instructions comprise a CVP speed ratio range indicative of an IVT zero operating condition.

3. The computer-implemented control system of Claim 2, wherein the relationship between the CVP speed ratio and the shift actuator position is represented by an actuator position offset value.

4. The computer-implemented control system of Claim 2, wherein the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position.

5. The computer-implemented control system of Claim 4, wherein the instructions to learn comprises determining an average value of the shift actuator position.

6. The computer-implemented control system of Claim 5 wherein the instructions to learn comprises writing the average value of the shift actuator position to the memory device.

7. The computer-implemented control system of Claim 1, further comprising an enable

module adapted to evaluate operating conditions of the CVP and determine a command to execute the instructions to learn.

8. The computer-implemented control system of Claim 7, wherein the enable module receives data indicative of vehicle start-up parameters.

9. The computer-implemented control system of Claims 1 or 7, wherein the software module is adapted to run at a "key-on" condition.

10. The computer-implemented control system of Claim 1 or 7, wherein the software module is adapted to run at an "end-of-line" condition.

11. A computer-implemented method for generating an actuator position offset of an infinitely variable transmission having a ball-planetary variator (CVP) with a shift actuator, the method comprising the steps of:

a) providing, by a computer, an operating system configured to perform executable instructions and a memory device, a program including the instructions executable by the computer, to create an application comprising a software module configured to evaluate a shift actuator position offset, wherein the software module is configured to receive data from a plurality of sensors and execute the instructions to learn a relationship between the CVP speed ratio and the shift actuator position; b) determining the shift position offset based on the relationship between the CVP speed ratio and the shift actuator position;

c) storing in memory the shift position offset; and

d) adjusting the shift actuator based at least in part on the shift position offset.

12. The method of claim 11, wherein the instructions comprise a CVP speed ratio range

indicative of an IVT zero operating condition.

13. The method of Claim 12, wherein the relationship between the CVP speed ratio and the shift actuator position is represented by an actuator position offset value.

14. The method of Claim 12, wherein the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position.

15. The method of Claim 14, wherein the instructions to learn comprises determining an

average value of the shift actuator position.

16. Non-transitory computer readable storage media encoded with a computer program including instructions executable by a digital processing device and a memory device to generate an actuator position offset of an infinitely variable transmission having a ball- planetary variator (CVP) coupled to a shift actuator comprising:,

an actuator position offset module;

wherein the actuator position offset module receives data indicative of a shift actuator position and a speed ratio of the CVP;

wherein the actuator position offset module executes a process to learn a relationship between the CVP speed ratio and the shift actuator position;

wherein the relationship between the CVP speed ratio and the shift actuator position is stored in the memory device as the shift actuator position offset; and

wherein the shift actuator position offset is applied by the computer program to adjust the shift actuator during operation of the CVP.

17. The non-transitory computer readable storage media of Claim 16, wherein the instructions comprise a CVP speed ratio range indicative of an IVT zero operating condition.

18. The non-transitory computer readable storage media of Claim 17, wherein the relationship between the CVP speed ratio and the shift actuator position is represented by an actuator position offset value.

19. The non-transitory computer readable storage media of Claim 17, wherein the instructions to learn comprises collecting a plurality of sample values indicative of the shift actuator position.

20. The non-transitory computer readable storage media of Claim 19, wherein the instructions to learn comprises determining an average value of the shift actuator position.

21. The computer-implemented control system of Claim 1 or 7, wherein the software module is adapted to run at an "end-of-line" condition.

22. The computer-implemented control system of Claim 1 or 7, wherein the software module is adapted to run at a "continuous" condition.

23. The computer-implemented control system of Claim 1, wherein a position offset signal is adapted as a diagnostic tool to detect a failed or shifted position sensor by comparing a current position offset value to a stored learn value.

24. A shift system for a continuously variable transmission having a ball-planetary variator (CVP), the shift system comprising:

a drive gear; a sector gear coupled to the drive gear, the sector gear having a rigid body, the sector having a pin slot on the rigid body;

a first eccentric pin coupled to the sector gear;

a second eccentric pin coupled to the sector gear;

a third eccentric pin coupled to the sector gear;

wherein the first eccentric pin is positioned between the pin slot and the second eccentric pin;

wherein the third eccentric pin is positioned between the first eccentric pin and the second eccentric pin; and

wherein the first eccentric pin provides a rotational center for the sector gear.

25. The shift system of Claim 24, wherein the third eccentric pin is operably coupled to a first carrier member of the CVP.

26. The shift system of Claim 25, wherein the second eccentric pin is operably coupled to a second carrier member of the CVP.

27. The shift system of Claim 24, further comprising a first bearing adapted to couple the third eccentric pin to the first carrier member.

28. The shift system of Claim 25, further comprising a second bearing adapted to couple the second eccentric pin to the second carrier member.

29. The shift system of Claim 24, further comprising an electric motor operably coupled to the drive gear.

30. The shift system of Claim 29, wherein a rotation of the drive gear corresponds to a relative motion between the third eccentric pin and the second eccentric pin.

31. The shift system of Claim 30, wherein the relative motion between the third eccentric pin and the second eccentric pin corresponds to a relative rotation of a first carrier member of the CVP to a second carrier member of the CVP.

32. The shift system of Claim 31, further comprising a guide pin grounded to the electric motor.

33. The shift system of Claim 32, wherein the guide pin is positioned in the pin slot.