JP2004252925A - Actuator control apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control apparatus capable of suppressing that the behavior of an actuator becomes unstable when switching the kind of a state value that is a control object. <P>SOLUTION: A synchronizing mechanism is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a process 1 until the coupling sleeve makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve, and in a process 2 until the coupling sleeve engages with a synchronized gear, is set such that the pressing force of the coupling sleeve matches a target pressing force. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

【００４３】
但し、Ｊｍ：電気モータ１０及びシフトホーク１１を含めたカップリングスリーブ６の等価慣性、ω：電気モータ１０の回転速度（回転数センサ１５により検出される）、Ｔｍ：電気モータ１０の出力トルク。
【００４４】
また、電気モータ１０の出力トルク（Ｔｍ）と電気モータ１０の電機子電流（Ｉｍ）との関係は以下の式（２）で表され、電気モータ１０の電機子に生じる電圧（Ｖｍ，以下、電機子電圧という）と電機子の電気抵抗（Ｒｍ，以下、電機子抵抗という）との関係は以下の式（３）で表される。
【００４５】
【数２】

【００４６】
但し、Ｉｍ：電気モータ１０の電機子電流、Ｋｍ：トルク変換係数。
【００４７】
【数３】

【００４８】
但し、Ｖｍ：電気モータ１０の電機子電圧、Ｒｍ：電気モータ１０の電機子抵抗。
【００４９】
したがって、上記式（１）に上記式（２）及び式（３）の関係を適用して、以下の式（４）を得ることができる。
【００５０】
【数４】

【００５１】
さらに、電気モータ１０への印加電圧（Ｖｉｎ）と、電気モータ１０に生じる逆起電力との関係は以下の式（５）で表される。
【００５２】
【数５】

【００５３】
但し、Ｖｉｎ：電気モータ１０への印加電圧、Ｋｍ’：逆起電力定数。
【００５４】
そして、上記式（５）の関係を上記式（４）に適用すると、以下の式（６）を得ることができる。
【００５５】
【数６】

【００５６】
また、電気モータ１０の回転速度（ω）及び回転角度（θ）と、慣性系物体３０の位置（Ｐｓｃ）との関係は、以下の式（７）及び式（８）で表される。
【００５７】
【数７】

【００５８】
【数８】

【００５９】
但し、ω：電気モータ１０の回転速度、θ：電気モータ１０の回転角度、ｔ：電気モータ１０が作動を開始してからの経過時間、Ｒｓｃ：電気モータ１０の回転角度（θ）と慣性系物体３０の間のレバー比及びギヤ比。
【００６０】
したがって、上記式（７），式（８）から、以下の式（９），式（１０），式（１１）を得ることができる。
【００６１】
【数９】

【００６２】
【数１０】

【００６３】
【数１１】

【００６４】
そして、上記式（９），式（１０），式（１１）を上記式（６）に代入すると、以下の式（１２）を得ることができる。
【００６５】
【数１２】

【００６６】
また、同期機構２の制御に必要な要素として、カップリングスリーブ６の実位置（Ｐｓｃ）の他に、電気モータ１０に掛かる負荷を検出するための電機子電流（Ｉｍ）がある。そこで、上記式（４）及び式（１１）から、電機子電流（Ｉｍ）に関するモデル式である以下の式（１３）を得る。
【００６７】
【数１３】

【００６８】
但し、Ｉｍ：電気モータ１０の電機子電流。
【００６９】
以上により、電気モータ１０への印加電圧（Ｖｉｎ）を入力とし、カップリングスリーブ６の実位置（Ｐｓｃ）と電気モータ１０の電機子電流（Ｉｍ）を出力とする１入力２出力系のモデルは、上記式（１２）と式（１３）により表すことができる。
【００７０】
次に、慣性系物体３０が弾性系物体３１と接触して、弾性系物体３１からの反力を受けるようになったとき（カップリングスリーブ６がシンクロナイザリング８と接触して、シンクロナイザリング８からの反力を受けるようになったとき）の連続時間系のモデル式の導出について説明する。
【００７１】
図２における慣性系物体３１の運動方程式は以下の式（１４）で表される。
【００７２】
【数１４】

【００７３】
但し、Ｍｓ：弾性系物体３１の等価慣性、Ｐｓｃ＿ｄｅｆ：弾性系物体３１の待機位置、Ｋｓｃ：弾性系物体３０のバネ定数、Ｆｓｃ：弾性系物体３１が慣性系物体３０から受ける力（弾性系物体３１が慣性系物体３０に与える反力）。
【００７４】
上記式（１４）を反力（Ｆｓｃ）について整理すると、以下の式（１５）の形で表される。
【００７５】
【数１５】

【００７６】
ここで、反力（Ｆｓｃ）は、弾性系物体３１が慣性系物体３０に対して与える反力となり、該反力（Ｆｓｃ）が掛かったときの慣性系物体３０の運動方程式は以下の式（１６）で表される。
【００７７】
【数１６】

【００７８】
この式（１６）を変形すると以下の式（１７）の形となり、電気モータ１０の逆起電力を考慮すると、電気モータ１０への印加電圧（Ｖｉｎ）と電機子電圧（Ｖｍ）との関係は以下の式（１８）で表される。
【００７９】
【数１７】

【００８０】
【数１８】

【００８１】
また、式（１８）に上記式（１０）及び式（１１）を代入すると以下の式（１９）の形となり、式（１９）を整理して以下の式（２０）を得ることができる。
【００８２】
【数１９】

【００８３】
【数２０】

【００８４】
さらに、電気モータ１０の電機子電流（Ｉｍ）については、上記式（１６）に上記式（１１）を代入して、以下の式（２１）を得ることができる。
【００８５】
【数２１】

【００８６】
以上により、弾性系物体３１からの反力を考慮したモデルは、上記式（２０）と式（２１）により表すことができる。
【００８７】
次に、上記式（２０）及び式（２１）により表される連続時間系のモデル式に基づいて、離散時間系のモデル式を導出する。
【００８８】
先ず、連続時間系のモデルの状態変数（ｘ_１，ｘ_２）を以下の式（２２）のように設定すると、上記式（２０）より、連続系のモデルを以下の式（２３）により表すことができる。
【００８９】
【数２２】

【００９０】
【数２３】

【００９１】
ここで、制御装置１のサンプリング周期をＴとすると、上記式（２３）は、オイラー近似により以下の式（２４）の形で表され、式（２４）を変形して以下の式（２５）及び式（２６）を得ることができる。
【００９２】
【数２４】

【００９３】
但し、ｔ：サンプリング時点、Ｔ：サンプリング周期。
【００９４】
【数２５】

【００９５】
【数２６】

【００９６】
さらに、オイラー近似により、上記式（２６）におけるｘ_２（ｔ−Ｔ）は以下の式（２７）で表すことができる。
【００９７】
【数２７】

【００９８】
そして、上記式（２５）に上記式（２６）及び式（２７）を代入して整理すると、以下の式（２８）を得ることができる。
【００９９】
【数２８】

【０１００】
式（２８）におけるｔ＝ｋＴとして整理すると、以下の式（２９）の形となり、式（３０）を得ることができる。
【０１０１】
【数２９】

【０１０２】
【数３０】

【０１０３】
そして、上記式（３０）における係数を以下の式（３１）に示したように置き換えると、式（３０）は以下の式（３２）の形で表すことができる。
【０１０４】
【数３１】

【０１０５】
【数３２】

【０１０６】
そこで、制御装置１は、上記式（３２）により表される離散時間系のモデルにおける外乱項ｄを０とした以下の式（３３）のモデル式に基づいて、図３に示した構成により設計される。以下、図３に示した制御装置１の構成について説明する。
【０１０７】
【数３３】

【０１０８】
先ず、上記式（３３）で表されるモデルに対して、▲１▼慣性系物体３０の実位置（Ｐｓｃ）を目標位置（Ｐｓｃ＿ｃｍｄ）に迅速に追従させ、▲２▼慣性系物体３０と弾性系物体３１の接触時のコンプライアンス性（ゴムのような弾性）を実現する、スライディングモードコントローラ４０の設計手順について説明する。
【０１０９】
スライディングモードコントローラ４０は、応答指定型制御の一例であるスライディングモード制御を用いて、慣性系物体３０の挙動を制御する。そして、スライディングモードコントローラ４０には、上記式（３３）に基づいて実位置把握部２１により算出される慣性系物体３０の実位置（Ｐｓｃ）と、目標位置設定部２２により設定される慣性系物体３０の目標位置（Ｐｓｃ＿ｃｍｄ）と、後述するコンプライアンスパラメータ（ＶＰＯＬＥ）とが入力される。
【０１１０】
そして、慣性系物体３０の実位置（Ｐｓｃ）と目標位置（Ｐｓｃ＿ｃｍｄ）との偏差（Ｅｓｃ）を以下の式（３４）に示したように定義すると、偏差（Ｅｓｃ）の収束挙動や外乱が偏差（Ｅｓｃ）に与える影響度合を指定する切換関数（σ，本発明の線形関数に相当する）は、式（３４）の状態変数がＰｓｃ（ｋ）とＰｓｃ（ｋ−１）の２つであるため、以下の式（３５）のように定義される。
【０１１１】
【数３４】

【０１１２】
【数３５】

【０１１３】
但し、ＶＰＯＬＥ：コンプライアンスパラメータ（切換関数設定パラメータ）。
【０１１４】
スライディングモードコントローラ４０は、この切換関数（σ）が、σ（ｋ）＝０となるように制御入力を決定する。また、σ（ｋ）＝０は、上記式（３５）から、以下の式（３６）の形に変形することができる。
【０１１５】
【数３６】

【０１１６】
ここで、式（３６）は入力のない１次遅れ系を意味しているため、スライディングモードコントローラ４０は、制御系の応答を上記式（３６）の１次遅れ系に収束させる制御を実行する。
【０１１７】
したがって、図４（ａ）に示したように、縦軸をＥｓｃ（ｋ）とし横軸をＥｓｃ（ｋ−１）とした位相平面を設定すると、上記式（３６）は、該位相平面上の線形関数を意味することがわかる。また、上記式（３６）は入力のない１次遅れ系であるから、コンプライアンスパラメータ（ＶＰＯＬＥ，本発明の演算係数に相当する）を以下の式（３７）の範囲内に設定して、該１次遅れ系を安定化させれば、時間の経過（ｋ→∞）により偏差（Ｅｓｃ）が必ず０に収束する系となる。
【０１１８】
【数３７】

【０１１９】
このことから、図４（ａ）に示した位相平面上において、偏差の状態量（Ｅｓｃ（ｋ），Ｅｓｃ（ｋ−１））が切換関数（σ（ｋ）＝０）上に載ると、該状態量は入力のない１次遅れ系に拘束されるため、時間の経過と共に位相平面の原点｛（Ｅｓｃ（ｋ），Ｅｓｃ（ｋ−１））＝（０，０）｝に自動的に収束することになる。
【０１２０】
そこで、スライディングモードコントローラ４０は、このような切換関数上での偏差の状態量（Ｅｓｃ（ｋ），Ｅｓｃ（ｋ−１））の挙動を利用して、図４（ａ）に示したように、上記式（３５）でσ＝０となるように制御入力（Ｖｉｎ）を決定することによって、該状態量を切換関数（σ（ｋ）＝０）上に拘束し、外乱やモデル化誤差の影響を受けることなく、該状態量を位相平面の原点に収束させる。
【０１２１】
なお、偏差の状態量が切換関数に漸近するまでの挙動（図中Ｐ_１からＰ_２までの過程）を到達モードといい、切換関数上を該状態量が自動的に原点方向に収束する挙動（図中Ｐ_２からＰ_０までの過程）をスライディングモードという。
【０１２２】
また、上記式（３６）のコンプライアンスパラメータ（ＶＰＯＬＥ）を正（０＜ＶＰＯＬＥ＜１）に設定すると、式（３６）で表される１次遅れ系は振動安定形となるため、偏差（Ｅｓｃ）を収束させる制御においては好ましくない。そこで、コンプライアンスパラメータ（ＶＰＯＬＥ）を−１から０の範囲（−１＜ＶＰＯＬＥ＜０）で決定することにより、偏差（Ｅｓｃ）の収束応答を図４（ｂ）に示したように設定する。図４（ｂ）において、ａ，ｂ，ｃは、コンプライアンスパラメータ（ＶＰＯＬＥ）をそれぞれ−１，−０．８，−０．５に設定した場合の偏差（Ｅｓｃ）の推移を示しており、ＶＰＯＬＥ＝−１に設定すると、偏差（Ｅｓｃ）は０に収束せずに一定値となる。
【０１２３】
続いて、上記式（３６）の動特性、すなわち、スライディングモードコントローラ４０の応答指定特性について説明する。図５は、コンプライアンスパラメータ（ＶＰＯＬＥ）を−０．５，−０．８，−０．９９，−１．０に設定して、σ＝０かつＥｓｃ＝０である状態でステップ外乱Ｄを与えた場合の制御系の応答を示したグラフであり、縦軸を上から偏差（Ｅｓｃ）、切換関数（σ）、外乱（Ｄ）とし、横軸を時間（ｋ）としたものである。
【０１２４】
図５から明らかなように、コンプライアンスパラメータ（ＶＰＯＬＥ）の絶対値を小さくするほど、外乱（Ｄ）が偏差（Ｅｓｃ）に与える影響が小さくなり、逆に、コンプライアンスパラメータ（ＶＰＯＬＥ）の絶対値を大きくして１に近づけるほど、スライディングモードコントローラが許容する偏差（Ｅｓｃ）が大きくなるという特性がある。そして、このとき、コンプライアンスパラメータ（ＶＰＯＬＥ）の値に拘わらず切換関数（σ）の挙動が同一となっていることから、外乱（Ｄ）に対する抑制能力をコンプライアンスパラメータ（ＶＰＯＬＥ）によって指定できることがわかる。
【０１２５】
そして、図２に示した慣性系物体３０と弾性系物体３１の接触時には、▲１▼慣性系物体３０が弾性系物体３１により跳ね返される、▲２▼慣性系物体３０が過大な衝突力により弾性系物体３１に押し込まれる、という状態となることを回避しつつ慣性系物体３０を弾性系物体３１に押し付ける必要がある。
【０１２６】
そこで、上述した特性に着目し、慣性系物体３０と弾性系物体３１の接触時には、コンプライアンスパラメータ（ＶＰＯＬＥ）を−１の近傍に設定して外乱に対する偏差（Ｅｓｃ）の許容量を大きくする（外乱に対する抑制能力を小さくする）ことによって、慣性系物体３０と弾性系物体３１が接触する際に電気モータ１０の作動によるコンプライアンス性を生じさせることが有効である。
【０１２７】
これにより、慣性系物体３０と弾性系物体３１との接触時に過大な衝撃が生じることを抑制することができ、また、過大な力を弾性系モデル３１に与えることなく、慣性系モデル３０を弾性系モデル３１に押し付けることができる、という効果が得られる。
【０１２８】
この効果を図１に示した実際の同期機構２に適用して考察すると、カップリングスリーブ６がシンクロナイザリング８に接触する際に生じる衝撃を和らげることができる。また、過大な力をシンクロナイザリング８に与えることなくカップリングスリーブ６をシンクロナイザリング８に押し付けて、カップリングスリーブ６と被同期ギヤ７の回転数の同期させて係合させることができる。
【０１２９】
次に、スライディングモードコントローラの制御入力（Ｖｉｎ）は、以下の式（３８）に示したように、３つの制御入力の総和により設定される。
【０１３０】
【数３８】

【０１３１】
但し、Ｖｉｎ（ｋ）：ｋ番目のサンプリング周期における電気モータ１０への印加電圧、Ｕｅｑ（ｋ）：ｋ番目のサンプリング周期における等価制御入力、Ｕｒｃｈ（ｋ）：ｋ番目の制御サイクルにおける到達則入力、Ｕａｄｐ（ｋ）：ｋ番目のサンプリング周期における適応則入力。
【０１３２】
なお、等価制御入力とは偏差状態量（Ｅｓｃ（ｋ），Ｅｓｃ（ｋ−１））を切換線（σ＝０）上に拘束するための入力であり、到達則入力とは該偏差状態量を該切換関数に載せるための入力であり、適応則入力とはモデル化誤差や外乱を吸収して該偏差状態量を該切換関数に載せるための入力である。
【０１３３】
以下に、等価制御入力（Ｕｅｑ（ｋ））、到達則入力（Ｕｒｃｈ（ｋ））、及び適応則入力（Ｕａｄｐ（ｋ））の設定方法について説明する。
【０１３４】
先ず、等価制御入力（Ｕｅｑ）は、厳密には位相平面上の任意の場所において、偏差の状態量をその場所にホールドする機能を持つ。そのため、等価制御入力（Ｕｅｑ）は、以下の式（３９）を満たす印加電圧（Ｖｉｎ）として算出される。
【０１３５】
【数３９】

【０１３６】
式（３９）に上記式（３５）及び式（３４）を代入すると、以下の式（４０）が得られる。
【０１３７】
【数４０】

【０１３８】
そして、式（４０）に上記式（３３）を代入して整理することにより、等価制御入力（Ｕｅｑ）についての以下の式（４１）を得ることができる。
【０１３９】
【数４１】

【０１４０】
次に、到達則入力（Ｕｒｃｈ）は、以下の式（４２）により算出される。
【０１４１】
【数４２】

【０１４２】
但し、Ｆ：到達則ゲイン、Δ：切換振幅（機械的なバックラッシュやガタ等の非線形特性の吸収パラメータ）。
【０１４３】
また、切換振幅（Δ）をゼロ（Δ＝０）とすれば、上記式（４２）は以下の式（４３）の形で表される。
【０１４４】
【数４３】

【０１４５】
また、適応則入力（Ｕｓｄｐ）は、以下の式（４４）により算出される。
【０１４６】
【数４４】

【０１４７】
但し、Ｇ：適応則ゲイン。
【０１４８】
ここで、上記式（４１）の等価制御入力（Ｕｅｑ（ｋ））、上記式（４３）の到達則入力（Ｕｒｃｈ（ｋ））、及び上記式（４４）の適応則入力（Ｕａｄｐ（ｋ））を上記式（３８）に代入して得られる制御入力（Ｕｓｌ（ｋ））を電気モータ１０への印加電圧（Ｖｉｎ）として上記式（３３）に代入すると、以下の式（４５）が得られる。
【０１４９】
【数４５】

【０１５０】
そして、式（４５）に上記式（３４）及び式（３５）を適用してσについて整理すると、以下の式（４６）を得ることができる。
【０１５１】
【数４６】

【０１５２】
ここで、到達則入力（Ｕｒｃｈ（ｋ））と適応則入力（Ｕａｄｐ（ｋ））の役割は、偏差状態量（Ｅｓｃ（ｋ），Ｅｓｃ（ｋ−１））を切換関数（σ＝０）上を移動させること、すなわち、上記式（４６）の安定化（σ→０）であるので、上記式（４６）が安定になるように到達則ゲイン（Ｆ）と適応則ゲイン（Ｇ）を決定する必要がある。
【０１５３】
そこで、上記式（４６）をＺ変換すると、以下の式（４７）が得られ、式（４７）を変形して以下の式（４８）が得られる。
【０１５４】
【数４７】

【０１５５】
【数４８】

【０１５６】
この場合、上記式（４８）が安定となる条件は、左辺の第２項と第３項の係数（Ｆ−２，ＧＴ＋１−Ｆ）が、図６の三角領域内に入る組合わせとなるので、これらの係数が該三角領域内に入る組合わせとなるようにＦ，Ｇの値を決定すればよい。
【０１５７】
そして、スライディングモードコントローラ４０は、このようにして決定したＦ，Ｇの値により上記式（４３），式（４４）から到達則入力（Ｕｒｃｈ（ｋ））と適応則入力（Ｕａｄｐ（ｋ））をそれぞれ決定し、また、上記式（４１）から等価制御入力（Ｕｅｑ（ｋ））を決定して、上記式（３８）により電気モータ１０への印加電圧（Ｖｉｎ）を決定する。
【０１５８】
次に、図１を参照して、実際の同期機構２においては、カップリングスリーブ６と被同期ギヤ７の回転数を同期させるため、一定の力でカップリングスリーブ６をシンクロナイズザリング８に押付ける必要がある。そこで、図２に示したモデルにおいて、慣性系物体３０と弾性系物体３１とが接触した後、一定の押付け力を慣性系物体３０から弾性系物体３１に加える制御を行うための構成が必要となる。
【０１５９】
ここで、慣性系物体３０と弾性系物体３１とが接触した状態での電気モータ１０の電機子電流（Ｉｍ）は上記式（２１）により示されるが、回転同期を図っている間は慣性系物体３０の加速度はゼロ（Ｐｓｃの２階微分がゼロ）であると考えられるので、上気式（２１）は以下の式（４９）の形となる。
【０１６０】
【数４９】

【０１６１】
そして、一定の押し付け力は、慣性系物体３０が弾性系物体３１から受ける力（Ｆｓｃ）の反力であるから、押し付け力を一定に保つためには、以下の式（５０）の関係が成り立てばよい。
【０１６２】
【数５０】

【０１６３】
但し、Ｉｍ＿ｃｍｄ：目標電流値。
【０１６４】
なお、目標電流値（Ｉｍ＿ｃｍｄ）が本発明の押付け力の目標値に相当し、電流検出部２０が本発明の押付け力把握手段に相当し、電流検出部２０により検出される電気モータ１０の電機子電流（Ｉｍ）が本発明の押付け力に相当する。
【０１６５】
また、上記式（５０）を離散時間化して、実際の電機子電流（Ｉｍ）と目標電流値（Ｉｍ＿ｃｍｄ）との偏差（Ｅｉｍ）を算出する以下の式（５１）を得ることができる。
【０１６６】
【数５１】

【０１６７】
ここで、上記式（２０）と式（２１）から分かるように、同期機構２は、電気モータ１０に印加する電圧（Ｖｉｎ）を入力とし、慣性系物体３０の位置（Ｐｓｃ）と電気モータ１０の電機子電流（Ｉｍ）を出力とする１入力２出力系のモデルとして表される。
【０１６８】
しかし、慣性系物体３０と弾性系物体３１が接触するまでは、慣性系物体３０の位置（Ｐｓｃ）の制御のみを行えばよい。そのため、スライディングモードコントローラ４０は、同期機構２を、電気モータ１０への印加電圧（Ｖｉｎ）を入力とし慣性系物体３０の位置（Ｐｓｃ）を出力とする１入力１出力系のモデルで表して制御を行えばよい。
【０１６９】
そのため、電気モータ１０の電機子電流（Ｉｍ）のフィードバック制御を行うためには、スライディングモードコントローラ４０を、１入力１出力系のモデルを対象としたものから１入力２出力系のモデルを対象としたものに切り換える必要がある。しかし、このようにスライディングモードコントローラ４０を切り換えると、入力（Ｖｉｎ）の不連続性が生じてスライディングモードコントローラ４０を切り換えた時の制御状態を安定化させることが難しい。
【０１７０】
そこで、電圧決定部２４は、スライディングモードコントローラ４０の切り換えを行わず、以下に説明するように、スライディングモードコントローラ４０のコンプライアンス性を設定するコンプライアンスパラメータ（ＶＰＯＬＥ）を、電気モータ１０の電機子電流（Ｉｍ）のフィードバックにより調整することによって、慣性系物体３０から弾性系物体３１への押し付け力を安定化させる。
【０１７１】
先ず、電機子電流（Ｉｍ）のフィードバック制御は、▲１▼電機子電流（Ｉｍ）の目標電流（Ｉｍ＿ｃｍｄ）に対する速応性、▲２▼押し付け力に比例する電機子電流（Ｉｍ）の安定性、を考慮して以下の式（５２）から式（５７）による簡易型のスライディングモード制御を用いて行う。
【０１７２】
【数５２】

【０１７３】
【数５３】

【０１７４】
【数５４】

【０１７５】
【数５５】

【０１７６】
【数５６】

【０１７７】
【数５７】

【０１７８】
但し、Ｌｉｍｉｔ：−１〜０の制限処理、Ｆ＿Ｉｍ：到達則ゲイン、Ｇ＿Ｉｍ：適応則ゲイン、ＰＯＬＥ＿Ｉｍ：切換関数設定パラメータ、ＶＰＯＬＥ＿ｂｓ：ＶＰＯＬＥの基準値、Ｕｒｃｈ＿Ｉｍ：到達則入力、Ｕａｄｐ＿Ｉｍ：適応則入力。
【０１７９】
電流フィードバック系の制御ブロック図を示すと図７のようになる。図７の制御ブロック図では、１入力２出力系のモデルを制御対象とするスライディングモードコントローラを用いる代わりに、１入力１出力のモデルを制御対象とするスライディングモードコントローラ４０の外に電機子電流（Ｉｍ）を制御する電流フィードバック部５０を備えた２重フィードバック系となっている。
【０１８０】
なお、電流フィードバック部５０は、図３に示したコンプライアンスパラメータ算出手段４１に含まれる。そして、減算器５１により上記式（５２）によって電流偏差（Ｅ＿Ｉｍ）が算出され、切換関数算出部５２により上記式（５３）によって切換関数（σ＿Ｉｍ）の値が算出され、比例演算器５３により上記式（５４）によって到達則入力（Ｕｒｃｈ＿Ｉｍ）が算出され、積分器５５及び積分乗算器５６により上記式（５５）によって適応則入力（Ｕａｄｐ＿Ｉｍ）が算出される。
【０１８１】
また、加算器５７及び加算器５８により上記式（５６）によって電流フィードバックを反映させたコンプライアンスパラメータ（ＶＰＯＬＥ＿Ｉｍ）が操作量として算出され、リミッタ５９により上記式（５７）によって制限処理がなされてスライディングモードコントローラ４０に対するコンプライアンスパラメータ（ＶＰＯＬＥ）が決定される。
【０１８２】
次に、図３に示したコンプライアンスパラメータ算出部４１は、同期機構２の作動を制御するスライディングモードコントローラ４０のコンプライアンス性を設定するコンプライスパラメータ（ＶＰＯＬＥ）を、以下の３つの工程に分けて設定する。
【０１８３】
工程１（本発明の第１の工程に相当する）：目標値追従制御…慣性系物体３０の位置（Ｐｓｃ）制御と慣性系物体３０と弾性系物体３１の接触時のコンプライアンス性の制御。コンプライアンスパラメータ（ＶＰＯＬＥ）を慣性系物体３０の位置（Ｐｓｃ）に応じて決定する。
【０１８４】
工程２（本発明の第２の工程に相当する）：回転同期制御…弾性系物体３１への押し付け力の制御。コンプライアンスパラメータ（ＶＰＯＬＥ）を、上述した電気モータ１０の電機子電流のフィードバックにより決定する。
【０１８５】
工程３：静止制御…回転同期後（同期機構２におけるカップリングスリーブ６と被同期ギヤ７の係合が完了した後）の慣性系物体３０の前進挙動を停止する制御。コンプライアンスパラメータ（ＶＰＯＬＥ）を一定に保つ。
【０１８６】
そして、コンプライアンスパラメータ算出部４１は、同期機構２の機械的なバラツキや経年変化等により、工程１から工程２に切り換える位置や、工程２から工程３に切り換えるタイミングのばらつきや変化が生じても、安定して工程の切り換えを行う必要がある。以下に工程の切り換えタイミングを決定する方法について説明する。
【０１８７】
図８の上段のグラフは、各工程の切り換わり時における慣性系物体３０の実位置（Ｐｓｃ）と目標位置（Ｐｓｃ＿ｃｍｄ）との偏差（Ｅｓｃ＝Ｐｓｃ−Ｐｓｃ＿ｃｍｄ）の変化を示したものであり、縦軸が慣性系物体３０の実位置（Ｐｓｃ）及び目標位置（Ｐｓｃ＿ｃｍｄ）に設定され、横軸が時間（ｔ）に設定されている。グラフから明らかなように、各工程の切り換え時には、偏差（Ｅｓｃ）が以下のように変化する。
【０１８８】
・工程１から工程２への切り換え時：弾性系物体３１との接触により慣性系物体３０の移動が抑制されて、目標位置（Ｐｓｃ＿ｃｍｄ）に対して実位置（Ｐｓｃ）が遅れる状態となり、偏差（Ｅｓｃ）が負方向に増大する。
【０１８９】
・工程２から工程３への切り換え時：弾性系物体３１と慣性系物体３０の回転同期が終了して、慣性系物体３０の位置（Ｐｓｃ）が目標位置（Ｐｓｃ＿ｃｍｄ）に達すると、偏差（Ｅｓｃ）が正方向に減少する。
【０１９０】
そこで、このような偏差（Ｅｓｃ）の変化を検出することによって各工程の切り換えを行えばよい。
【０１９１】
しかし、図１に示した実際の同期機構２は、機械的なバックラッシュやガタ、フリクションが大きい制御対象である。そのため、制御装置１のサンプリング周期を短く設定した方が制御性が高くなるが、サンプリング周期を短く設定して偏差（Ｅｓｃ）を算出すると、ＳＮ比が低下して偏差（Ｅｓｃ）の変化を検出し難くなる。そこで、Ｖｉｎ決定部２４に備えられたウェーブレット変換フィルタ４３（図３参照）は、以下に説明するように、偏差（Ｅｓｃ）にウェーブレット変換を施して偏差（Ｅｓｃ）の低周波成分のみを抽出することにより、偏差（Ｅｓ ｃ）の変化を検出し易くする。
【０１９２】
ウェーブレット変換４３を用いたフィルタ（以下、ウェーブレット変換フィルタという）は、図９（ａ）に示した構成を有し、以下の式（５８）によるハーフバンドローパスフィルタ処理とデシメーション処理を２回繰り返すことによってフィルタリングを行う。
【０１９３】
【数５８】

【０１９４】
但し、ｕ：入力データ、η：サンプリング周期の時系列番号。
【０１９５】
図９（ａ）に示した１段目のハーフバンドローパスフィルタ７０は、今回のサンプリング周期入力値（Ｅｓｃ（ｋ））と前回のサンプリング周期の入力値（Ｅｓｃ（ｋ−１））に対して上記式（５７）の処理を行い、２段目のハーフバンドローパスフィルタ７１は、１段目のハーフバンドローパスフィルタ７０の出力にデシメーション処理７２を施したＥｓｃ＿ｗｖ_１（ｍ_１）の今回値と前回値（Ｅｓｃ＿ｗｖ_１（ｍ_１）とＥｓｃ＿ｗｖ_１（ｍ_１−１））に対して、上記式（５８）の処理を行う。
【０１９６】
図９（ｂ）に示したように、ハーフバンドローパスフィルタ７０，７１は、サンプリング周波数の半分（ナイキスト周波数）以上の周波数成分を阻止し、低周波成分のゲインが１より大きいので、低周波成分に対するゲインを増幅する効果が得られる。
【０１９７】
また、図９（ａ）におけるデシメーション処理７２，７３（２↓）は間引き処理であり、図１０（ａ）に示したように、入力データ（ｕ）を１つおきにサンプリングする間引き処理を行う。
【０１９８】
ウェーブレット変換フィルタ４３は、ハーフバンドローパスフィルタ７０，７１による処理とデシメーション処理７２，７３を繰り返し施すことによって、図１０（ｂ）のグラフに示したようにゲインを増幅しつつ低周波成分（Ｅｓｃ＿ｗｖ）を抽出する。なお、図１０（ｂ）に示したグラフの縦軸はゲイン、横軸は周波数に設定されている。
【０１９９】
そして、これにより、入力信号（Ｅｓｃ）の高周波成分が除去されると共に、入力信号（Ｅｓｃ）に対するゲインが増幅されるため、入力信号（Ｅｓｃ）の低周波成分の変化をＳＮ比を向上させて抽出することができる。
【０２００】
そして、ＶＰＯＬＥ算出部４１は、偏差（Ｅｓｃ）のウェーブレット変換値（Ｅｓｃ＿ｗｖ）の変化量であるΔＥｓｃ＿ｗｖ（＝Ｅｓｃ＿ｗｖ（ｍ）−Ｅｓｃ＿ｗｖ（ｍ−１））を用いて、以下に示すように各工程の切り換えを行う。
【０２０１】
・工程１から工程２への切り換え：Ｐｓｃ＞Ｐｓｃ＿ｄｅｆ 且つ Ｅｓｃ＿ｗｖ＞Ｘ＿ＳＣＣＮＴ
・工程２から工程３への切り換え：Ｐｓｃ＞Ｐｓｃ＿ｄｅｆ かつ ΔＥｓｃ＿ｗｖ＞Ｘ＿ＳＣＤＯＮＥ
但し、Ｐｓｃ＿ｖｐ：工程１におけるＶＰＯＬＥ可変開始位置、Ｘ＿ＳＣＣＮＴ：Ｅｓｃ＿ｗｖの接触判定閾値、Ｘ＿ＳＣＤＯＮＥ：回転同期完了判定閾値。
【０２０２】
なお、上記切換条件におけるＥｓｃ＿ｗｖ及びΔＥｓｃ＿ｗｖが本発明の目標位置に対する実位置の乖離度合に相当し、Ｘ＿ＳＣＣＮＴが本発明の第１の所定レベルに相当し、Ｘ＿ＳＣＤＯＮＥが本発明の第２の所定レベルに相当する。
【０２０３】
以上説明した手法により構成された制御装置１により、同期機構７の作動を制御する手順を図１１に示したフローチャートに従って説明する。制御装置１は、自動車のメインコントローラ（図示しない）から変速機のシフトを指示する信号を受信すると、ＳＴＥＰ１からＳＴＥＰ２に進む。
【０２０４】
そして、制御装置１は、メインコントローラによって選択されたシフト位置（１速、２速、・・・、ニュートラル）に応じて、目標位置設定部２２により、図１２（ａ）に示したようにカップリングスリーブ６の移動パターンを目標位置（Ｐｓｃ＿ｃｍｄ）として設定する。また、制御装置１は、第１の工程におけるコンプライアンスパラメータ（ＶＰＯＬＥ）の変更位置（Ｐｓｃ＿ｖｐ）とシンクロナイザリング８の待機位置（Ｐｓｃ＿ｄｅｆ）を設定する。
【０２０５】
そして、続くＳＴＥＰ３で、制御装置１は、実位置把握部２１により上記式（３３）によって算出されるカップリングスリーブ６の実位置（Ｐｓｃ）と目標位置（Ｐｓｃ＿ｃｍｄ）との偏差（Ｅｓｃ）を算出する。なお、図中ｋはｋ番目のサンプリング周期を意味し、Ｐｓｃ（ｋ）及びＰｓｃ＿ｃｍｄ（ｋ）はそれぞれｋ番目のサンプリング周期におけるカップリングスリーブ６の実位置と目標位置を表す。
【０２０６】
次のＳＴＥＰ４で、制御装置１は、上述したウェーブレット変換フィルタ４３による処理を行って、偏差（Ｅｓｃ）のウェーブレット変換値（Ｅｓｃ＿ｗｖ）を算出する。なお、図中Ｅｓｃ＿ｗｖ（ｍ）は、図９（ａ）に示したようにｋ番目のサンプリング周期における偏差（Ｅｓｃ（ｋ））に基づいて算出されたウェーブレット変換値を表している。
【０２０７】
次のＳＴＥＰ５〜ＳＴＥＰ７は、上述した各工程（第１の工程，第２の工程，第３の工程）の切り換えタイミングを判断する処理であり、ＳＴＥＰ５及びＳＴＥＰ６が第１の工程から第２の工程への切り換え条件を設定し、ＳＴＥＰ７は第２の工程から第３の工程への切り換え条件を設定している。
【０２０８】
先ず、ＳＴＥＰ５でカップリングスリーブ６の実位置（Ｐｓｃ（ｋ））が、シンクロナイザリング８の待機位置（Ｐｓｃ＿ｄｅｆ）を通過するまではＳＴＥＰ２０に分岐し、図１２（ｂ）に示したコンプライアンスパラメータ（ＶＰＯＬＥ）の設定テーブルに従って、コンプライアンスパラメータ算出部４１がコンプライアンスパラメータ（ＶＰＯＬＥ）を０の近傍（例えば−０．２）に設定する。なお、図１２（ｂ）に示した設定テーブルは、縦軸がコンプライアンスパラメータ（ＶＰＯＬＥ）に設定され、横軸がカップリングスリーブ６の実位置（Ｐｓｃ）に設定されている。
【０２０９】
これにより、カップリングスリーブ６の移動を開始してからコンプライアンスパラメータ（ＶＰＯＬＥ）の変更位置（Ｐｓｃ＿ｖｐ）に到達するまでは、同期機構２のコンプライアンス性が低くなり、外乱の影響を抑制して安定してカップリングスリーブ６を移動させることができる。
【０２１０】
また、カップリングスリーブ６がコンプライアンスパラメータ（ＶＰＯＬＥ）の変更位置（Ｐｓｃ＿ｖｐ）を通過した時に、コンプライアンスパラメータ算出部４１は、コンプライアンスパラメータ（ＶＰＯＬＥ）を−１の近傍（例えば−０．９９）まで低下させる。このように、実際にカップリングスリーブ６とシンクロナイザリング８が接触する直前に予めコンプライアンスパラメータ（ＶＰＯＬＥ）の値を低下させて同期機構２のコンプライアンス性を高めることによって、カップリングスリーブ６がシンクロナイザリング８に接触したときに生じる衝撃を和らげることができる。
【０２１１】
そして、次のＳＴＥＰ６で、上述した工程１から工程２への切り換え条件であるＥｓｃ＿ｗｖ（ｍ）＞Ｘ＿ＳＣＣＮＴが成立したとき、すなわち、カップリングスリーブ６とシンクロナイザリング８との接触が検知されたときにＳＴＥＰ７に進む。ＳＴＥＰ７では、上述した工程２から工程３への切り換え条件であるΔＥｓｃ＿ｗｖ（ｍ）＞Ｘ＿ＳＣＤＯＮＥが成立したとき、すなわち、カップリングスリーブ６とシンクロナイザリング８との回転同期がなされて、カップリングスリーブ６がシンクロナイザリング８を通過して被同期ギヤ７と係合したときに、ＳＴＥＰ３０に分岐する。
【０２１２】
一方、ＳＴＥＰ７で、ΔＥｓｃ＿ｗｖ（ｍ）＞Ｘ＿ＳＣＤＯＮＥが成立しないときにはＳＴＥＰ８に進み、ＶＰＯＬＥ算出部４１は、工程１から工程２に切り換えて上述した電流フィードバックによるコンプライアンスパラメータ（ＶＰＯＬＥ）の算出処理を実行する。そして、電圧決定部２４は、このようにして算出したコンプライアンスパラメータ（ＶＰＯＬＥ）を用いてスライディングモードコントローラ４０により電気モータ１０に対する印加電圧（Ｖｉｎ）を算出し、該印加電圧（Ｖｉｎ）を電気モータ１０に印加する。
【０２１３】
このように、工程２においては、電気モータ１０の電機子電流（Ｉｍ）のフィードバック処理により電気モータ１０の電機子電流（Ｉｍ）が目標電流（Ｉｍ＿ｃｍｄ）に維持されて、電気モータ１０の出力トルクが一定に制御され、カップリングスリーブ６のシンクロナイザリング８に対する押し付け力を安定化させることができる。
【０２１４】
そして、これにより、カップリングスリーブ６が過剰な力でシンクロナイザリング８に押し付けられて、同期機構２の破損が生じることを防止することができる。
【０２１５】
また、工程３においては、ＳＴＥＰ３０において、コンプライアンスパラメータ算出部４１によりコンプライアンスパラメータ（ＶＰＯＬＥ）が一定値（Ｘ＿ＶＰＯＬＥ＿ＥＮＤ）に設定される。そして、電圧決定部２４は、該コンプライアンスパラメータ（ＶＰＯＬＥ＝Ｘ＿ＶＰＯＬＥ＿ＥＮＤ）を用いてスライディングモードコントローラ４０により電気モータ１０に対する印加電圧（Ｖｉｎ）を算出し、該印可電圧（Ｖｉｎ）を電気モータ１０に印可してカップリングスリーブ６の移動を速やかに停止する。
【０２１６】
これにより、カップリングスリーブ６と被同期ギヤ７との係合が完了した後も、カップリングスリーブ６が非同期ギヤ７に過剰な力で押し付けられて、同期機構２の破損等が生じることを防止することができる。
なお、本実施の形態では、上述したように、慣性系物体３０の位置（Ｐｓｃ）が目標位置（Ｐｓｃ＿ｃｍｄ）に到達したときに、工程１による慣性系物体３０の位置に応じてコンプライアンスパラメータ（ＶＰＯＬＥ）を決定する制御から、工程２による弾性系物体３０への押付け力（モータ１０の電機子電流の大きさに比例する）に応じてコンプライアンスパラメータ（ＶＰＯＬＥ）を決定する制御に切り換えたが、アクチュエータによって駆動する機構の仕様によっては、電気モータ１０の電気子電流（Ｉｍ）の変化に応じて、制御態様の切換条件を設定してもよい。
【０２１７】
また、本実施の形態では、図７に示した構成により、電流フィードバック部５０ａにおいて、上述した演算処理を行ってコンプライアンスパラメータ（ＶＰＯＬＥ）を決定したが、他の構成として、図１３に示したように、電流偏差（Ｉｍ−Ｉｍ＿ｃｍｄ）とコンプライアンスパラメータ（ＶＰＯＬＥ）との関係を予め設定した相関マップ６０を備えた電流フィードバック部５０ｂを用い、該相関マップ６０に電流偏差（Ｉｍ−Ｉｍ＿ｃｍｄ）を適用してコンプライアンスパラメータ（ＶＰＯＬＥ）を決定するようにしてもよい。
【０２１８】
また、さらに他の構成として、図１４に示した電流フィードバック部５０ｃにより、Ｉ−ＰＤ制御を行ってコンプライアンスパラメータ（ＶＰＯＬＥ）を決定してもよい。なお、減算器５１，加算器５８，リミッタ５９は、図７に示した電流フィードバック部５０ａにおける同一符号の構成と同様である。
【０２１９】
電流フィードバック部５０ｃにおいては、以下の式（５９）及び式（６０）を用いてコンプライアンスパラメータ（ＶＰＯＬＥ（ｋ））が算出される。具体的には、比例演算器６１により以下の式（５９）の右辺の第２項の演算が行われ、Ｚ変換器６２と減算器６３と微分演算器６４とにより式（５９）の右辺の第３項の演算が行われ、減算器５１と積分乗算器６６とにより式（５９）の右辺の第４項の演算が行われる。
【０２２０】
【数５９】

【０２２１】
但し、ＶＰＯＬＥ＿Ｉｍ（ｋ）：ｋ番目のサンプリング周期におけるコンプライアンスパラメータ、ＶＰＯＬＥ＿ｂｓ：コンプライアンスパラメータの基準値、ＫＩＭＰ：比例項のフィードバックゲイン、ＫＩＭＤ：微分項のフィードバックゲイン、ＫＩＭＩ：積分項のフィードバックゲイン、Ｉｍ（ｋ）：ｋ番目のサンプリング周期におけるモータ１０の電機子電流。
【０２２２】
【数６０】

【０２２３】
但し、Ｉｍ＿ｃｍｄ：目標電流値。
【０２２４】
そして、加算器６７と加算器６８と加算器５８とにより、上記式（５９）の右辺の各項の加算が行われてＶＰＯＬＥ＿Ｉｍ（ｋ）が算出され、リミッタ５９により上記式（５７）の制限処理が行われて、コンプライアンスパラメータ（ＶＰＯＬＥ（ｋ））が決定される。
【０２２５】
また、本実施の形態では、図１に示したように、カップリングスリーブ６を入力軸５側に設け、被同期ギヤ７を駆動軸と連結した同期機構２を対象としたが、カップリングスリーブを出力軸側に設けて、被同期ギヤを入力軸と連結した同期機構に対しても本発明の適用が可能である。
【０２２６】
また、本実施の形態では、電圧決定部２４は、外乱等の影響を考慮した適応則入力を有する適応スライディングモードを用いたが、該適応則入力を省略した一般のスライディングモード制御を用いるようにしてもよく、また、バックステッピング制御等の他の種類の応答指定型制御を用いることもできる。また、電圧決定部２４は、スライディングモード制御を用いて電流フィードバック処理を行ったが、スライディングモード制御を用いずに電流フィードバック処理を行う場合にも、本発明の効果を得ることができる。
【０２２７】
また、本実施の形態では、実位置把握部２１は、図２に示したモデルに基づいてカップリングスリーブ６の実位置（Ｐｓｃ）を把握したが、位置センサを設けて該位置センサの位置検出信号とモータ１０とカップリングスリーブ６間のレバー比等から、直接的にカップリングスリーブ６の実位置（Ｐｓｃ）を把握するようにしてもよい。
【０２２８】
また、本実施の形態では、自動車の変速機に備えられた同期機構２に対して本発明を適用した例を示したが、本発明の適用対象はこれに限られない。例えば、図１５は、ワーク８０に対してエンドミル８１によって穴あけ加工を施す工作機械を、エンドミル８１側を慣性系物体としワーク８０側を弾性系物体としてモデル化し、本発明を適用した例を示している。なお、エンドミル８１はチャック８２により上下移動アクチュエータ８３に取り付けられている。
【０２２９】
図１５に示したように、上述した同期機構２に対する制御の場合と同様に、穴あけ加工を施す工程は以下の３つに分けられる。
【０２３０】
・工程１：エンドミル８１がワーク８０に接触するまで、エンドミル８１の先端を短時間でワーク８０に到達させ、かつ、エンドミル８１とワーク８０の接触時の衝撃を抑制する。
【０２３１】
・工程２：エンドミル８１に一定の押し付け力（Ｆｃ）を加えながらワーク８０を切削する。
【０２３２】
・工程３：ワーク８０の穴あけが終了してワーク８０からの抗力がなくなると、エンドミル８１が急激に下降するため、チャック８２がワーク８０に衝突しないようにエンドミル８１の下降を停止する。
【０２３３】
そして、エンドミル８１の実位置（Ｐｙ）を図１に示した同期機構２におけるカップリングスリーブ６の実位置（Ｐｓｃ）に置換え、工程１におけるコンプライアンスパラメータ（ＶＰＯＬＥ）の変更位置（Ｐｙ＿ｖｐ，同期機構２の制御におけるＰｓｃ＿ｖｐに相当する）と、ワーク８０の待機位置（Ｐｙ＿ｄｅｆ，同期機構２の制御におけるＰｓｃ＿ｄｅｆに相当する）等を設定して、上下移動アクチュエータ８３の作動を制御することによって、穴あけ時間の短縮を図ると共にエンドミル８１とワーク８０の接触時の衝撃を和らげることができる。
【０２３４】
また、工程２において、エンドミル８１よりワーク８０に過剰な押付け力が加わることを防止して、エンドミル８１の押付け力を所定の目標押付け力に維持することができ、工程３において、エンドミル８１の速やかに停止させることができる。
【０２３５】
なお、本実施の形態では、本発明のアクチュエータとして電気モータ１０を用いた例を示したが、他の種類の電気アクチュエータや、空圧や油圧アクチュエータを用いた場合であっても、本発明の適用が可能である。
【０２３６】
また、本実施の形態では、本発明の第１の状態値がアクチュエータにより移動される物体の位置であり、本発明の第２の状態値が該物体に働く力の大きさである例を示したが、他の種類の状態値を採用してアクチュエータの作動を制御する場合にも本発明の適用が可能である。
【図面の簡単な説明】
【図１】同期機構及びその制御装置の構成図。
【図２】図１に示した同期機構のモデル化の説明図。
【図３】図１に示した制御装置の制御ブロック図。
【図４】図３に示したスライディングモードコントローラの挙動を示したグラフ。
【図５】コンプライアンスパラメータの変更による効果を示したグラフ。
【図６】到達則ゲインと適応則ゲインの設定条件を示したグラフ。
【図７】電流フィードバック処理を加えた制御装置の制御ブロック図。
【図８】制御工程の切換タイミングを示したグラフ。
【図９】ウェーブレット変換フィルタの構成図。
【図１０】ウェーブレット変換フィルタにおけるデシメーション処理の説明図。
【図１１】制御装置の作動フローチャート。
【図１２】目標位置とコンプライアンスパラメータの設定テーブルを示した図。
【図１３】電流フィードバック処理を加えた制御装置の他の例の制御ブロック図。
【図１４】電流フィードバック処理を加えた制御装置の他の例の制御ブロック図。
【図１５】工作機械による穴あけ工程を示した図。
【図１６】従来の同期機構の構成図。
【符号の説明】
１…制御装置、２…同期機構、５…入力軸、６…カップリングスリーブ、７…被同期ギヤ、８…シンクロナイザリング、１０…モータ、１１…シフトホーク、１５…回転数センサ、２０…電流検出部、２１…実位置把握部、２２…目標位置設定部、２３…目標電流設定部、２４…電圧決定部、３０…慣性系物体、３１…弾性系物体[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an actuator control device that controls the operation of an actuator such that a state value that changes according to the operation of the actuator matches a target value.
[0002]
[Prior art]
As a mechanism driven by the actuator, for example, as shown in FIG. 16, a coupling sleeve 101 that rotates integrally with an input shaft 100 connected to an automobile engine, and an input that is connected to driving wheels (not shown). A synchronizer ring 103 is provided between the shaft 100 and a synchronized gear 102 that is rotatable and non-axially movable. The coupling sleeve 101 is moved by an actuator 105 via a shift fork 104 so that the coupling sleeve 101 is moved. There is known a transmission synchronization mechanism 110 that switches between connection and disconnection of a gear 102 and a synchronized gear 102.
[0003]
In the synchronization mechanism 110, the coupling sleeve 101 has a hollow structure, and a spline 111 is formed on the inner peripheral surface of the hollow portion. A spline 112 engageable with the spline 111 of the coupling sleeve 101 is formed on the outer peripheral surface of the synchronizer ring 103, and the spline of the coupling sleeve 101 is also formed on the outer peripheral surface of the portion of the synchronized gear 102 facing the synchronizer ring 103. A spline 113 that can be engaged with 111 is formed.
[0004]
When connecting the coupling sleeve 101 and the synchronized gear 102, the coupling sleeve 101 moves in the direction of the synchronized gear 102 by the shift fork 104. When the coupling sleeve 101 and the synchronizer ring 103 come into contact with each other and the synchronizer ring 103 is pressed against the synchronized gear 102, the rotational speed of the synchronized gear 102 is reduced by the frictional force generated between the synchronizer ring 103 and the synchronized gear 102. Increase or decrease.
[0005]
As a result, the rotation speed of the coupling sleeve 101 and the rotation speed of the synchronized gear 102 are synchronized, the spline 111 of the coupling sleeve 101 engages with the spline 112 of the synchronizer ring 103, and the coupling sleeve 101 moves further. As a result, the spline 111 of the coupling sleeve 101 engages with the spline 113 of the synchronized gear 102.
[0006]
Here, if the moving speed of the coupling sleeve 101 when the coupling sleeve 101 presses the synchronizer ring 103 against the synchronized gear 102 is too fast, when the coupling sleeve 101 comes into contact with the synchronizer ring 103, the coupling sleeve 101 will not move. May be bounced off, or the coupling sleeve 101 may be pushed into the synchronized gear 102 with excessive force, and the synchronization mechanism 110 may be damaged.
[0007]
Therefore, conventionally, when the coupling sleeve 101 is moved in the direction of the synchronized gear 102, the moving speed of the coupling sleeve 101 is reduced when the distance between the two becomes less than or equal to a predetermined value. A method is also known in which a mechanical buffering mechanism such as a spring is provided between the actuator 105 and the shift fork 104 to reduce the impact when the coupling sleeve 101 contacts the synchronizer ring 103 (Patent Document 1). .
[0008]
Here, only the position control of the coupling sleeve 101 may be performed until the coupling sleeve 101 contacts the synchronizer ring 103. Until the engagement of the gear with the synchronized gear 102 is completed, it is necessary to control the position of the coupling sleeve 101 and to control the pressing force of the coupling sleeve 101 so that the pressing force on the synchronizer ring 103 is not excessive. There is.
[0009]
Since the control target is different between the case where only the position control of the coupling sleeve 101 is performed and the case where both the position control of the coupling sleeve 101 and the control of the pressing force are performed, the specifications differ according to each case. It is conceivable to perform control using a controller. However, if the controller is switched at the time of shifting from the step of performing only the position control of the coupling sleeve 101 to the step of performing both the position control of the coupling sleeve 101 and the control of the pressing force, the continuity of the control is lost. The behavior of the synchronization mechanism 110 may become unstable.
[0010]
[Patent Document 1]
JP-A-2002-195406
[0011]
[Problems to be solved by the invention]
The present invention has been made in view of the above background, and it is an object of the present invention to provide a control device that suppresses an unstable behavior of an actuator when a type of a state value to be controlled is switched.
[0012]
[Means for Solving the Problems]
SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and has a first state value grasping means for grasping a first state value that varies according to the operation of an actuator, and a first state value grasping means that varies according to the operation of the actuator. A second state value grasping means for grasping a second state value different from the first state value; and a first state value and a second state value so as to match the first state value with a first target value. Using a response assignment control capable of variably designating a decay behavior and a decay rate of a deviation from the first target value, the value of a switching function defined by at least a linear function based on the deviation is converged to zero. In response to the first state value or the second state value, the response characteristic of the response designation type control is changed to the first state value in accordance with the first state value or the second state value. Or according to the second condition Characterized in that the value and a manipulated variable determining means for switching whether to set to match the second target value.
[0013]
According to the present invention, in a control system that matches the first state value to the first target value using the response assignment control, the response characteristic of the response assignment control is changed, Control for making the second state value equal to the second target value can be performed. In this case, since the control of the first state value and the control of the second state value can be performed by one control system, switching of the control system is unnecessary, and the switching of the control system causes The operation of the actuator does not become unstable. Therefore, switching between the control of the first state value and the control of the second state value can be stably performed.
[0014]
Further, the operation amount determination means sets a response characteristic of the response assignment control by changing an operation coefficient of the linear function.
[0015]
According to the present invention, as will be described in detail later, if the operation coefficient of the first linear function is changed, the ability to suppress disturbance changes. Therefore, the manipulated variable determiner can easily change the response characteristic of the first response assignment control by changing the operation coefficient.
[0016]
Further, the actuator is a drive source for moving the moving body, the first state value is a moving position of the moving body, and the second state value is a force acting on the moving body by the operation of the actuator. It is characterized by being a size.
[0017]
According to the present invention, the magnitude of the force acting on the moving body can be controlled by changing the response characteristic of the first response assignment control that controls the position of the moving body. Then, two state values of the moving position of the moving body and the magnitude of the force acting on the moving body can be controlled by the first response designation type control, which is one control system.
[0018]
Further, the actuator is connected to a contact body movably provided in one axial direction to move the contact body. When the contact body, the actuator, and the contact body move to a predetermined position, the actuator moves. By controlling the operation of a contact mechanism including a contact body and a contact body that comes into contact with the contact body, the contact body is moved by the actuator from a state in which the contact body and the contact body face each other at an interval. Performing a first step of bringing the contact body into contact with the body and, following the first step, a second step of moving the contact body beyond the predetermined position by the actuator and pressing the contact body against the contacted body. And a target position setting means for setting a target position of the contact body in the first step and the second step, and as the first state value grasping means, the actual position of the contact body is set to the first position. As the state value of Actual position grasping means for grasping, as the second state value grasping means, pressing force grasping means for grasping, as the second state value, a pressing force of the contact body against the contacted body, The operation amount determining means sets the response characteristic of the response designation control according to the actual position of the contact body in the first step, and is grasped by the pressing force grasping means in the second step. The pressing force is set so as to coincide with a predetermined target pressing force.
[0019]
According to the present invention, in the first step, the operation amount determining means sets a response characteristic of the response designation type control in accordance with an actual position of the contact body to reduce the elasticity of the contact mechanism. In addition, in the second step, the response characteristic of the response assignment control is set such that the pressing force of the contact body against the contacted object matches the target pressing force. In this manner, the control of the elasticity of the contact mechanism in the first step and the control of the pressing force of the contact body in the second step are performed by changing one set condition, namely, the response characteristic of the response designation control. Thus, the transition from the first step to the second step is performed stably, and the behavior of the contact mechanism can be prevented from becoming unstable at the time of the transition.
[0020]
Further, the operation amount determination means changes the response characteristic of the response designation control when the degree of deviation of the actual position of the contact body from the target position in the first step increases by a first predetermined level or more. A process for setting the pressing force grasped by the pressing force grasping means to coincide with the target pressing force is started.
[0021]
According to the present invention, the actual position of the contact body quickly follows the target position until the contact body comes into contact with the contacted object. Becomes smaller. Then, when the contact body comes into contact with the contact body, the movement of the contact body is suppressed by a reaction force from the contact body, so that the degree of deviation of the actual position of the contact body from the target position sharply increases. growing. Therefore, when the degree of deviation of the actual position of the contact body from the target position increases by the first predetermined level or more, the operation amount determination unit detects that the contact body and the contacted body have come into contact with each other. Starting a process of setting a response characteristic of the response assignment control, which is a process according to the second step, such that a pressing force grasped by the pressing force grasping unit matches the target pressing force. it can.
[0022]
Further, the operation amount determining means stops the movement of the contact body when the degree of deviation of the actual position of the contact body from the target position in the second step decreases by a second predetermined level or more. The operation amount is determined.
[0023]
According to the present invention, in the second step, when the reaction force from the contacted body decreases, the moving speed of the contacting body increases, and the degree of deviation of the actual position of the contacting body from the target position increases. Decreases rapidly. Such a decrease in the reaction force from the contacted body occurs, for example, when the contacted body passes through the contacted body. Therefore, in this case, the operation amount determining means determines the operation amount so as to stop the movement of the contact body, thereby stopping the movement of the contact body and protecting the contact mechanism. .
[0024]
Further, the operation amount determination means may be configured to increase the disturbance suppression ability when the degree of deviation of the actual position of the contact body from the target position in the second step is reduced by the second predetermined level or more. A response characteristic of the response assignment control is set.
[0025]
According to this aspect of the invention, by changing the response characteristic of the response designation control in a direction in which the ability to suppress disturbance is increased, the behavior of the contact body can be stabilized, and the contact body can be easily stopped. .
[0026]
In addition, the operation amount determination unit is configured to determine, based on a conversion value obtained by performing filtering using a wavelet transform on time-series data of a deviation between an actual position of the contact body and a target position, the contact body with respect to the target position. It is characterized by grasping the degree of deviation of the actual position.
[0027]
According to the present invention, although the details will be described later, when the filtering is performed on the time-series data of the deviation between the actual position and the target position of the contact body, the high-frequency noise component of the deviation is removed and the low-frequency component of the deviation is removed. The SN ratio of the fluctuation is improved. Therefore, the operation amount determination unit can more accurately grasp the degree of deviation of the actual position of the contact body from the target position based on the filtered conversion value.
[0028]
Further, the contact mechanism is a synchronous mechanism for switching power transmission / interruption, the contact body is a first engagement member provided so as to be integrally rotatable on a shaft, and the contacted body is the shaft. Between the second engagement member and the first engagement member that are relatively rotatable and non-axially movable, and are rotatable with respect to the first engagement member and the second engagement member, and The first engagement member and the first engagement member are provided so as to be movable in the axial direction, and the frictional force generated when the first engagement member and the second engagement member come into contact with each other while the shaft is rotated. It is a synchronization member that synchronizes the rotation speed of the second engagement member to enable the first engagement member and the second engagement member to be engaged.
[0029]
According to the present invention, it is possible to reduce an impact generated when the first engagement member comes into contact with the synchronization member (the first step). The number of rotations of the second engaging member is synchronized through the synchronization member, and the first engagement member and the second engagement member are engaged with each other (the second step). The pressing force of the first engaging member against the synchronization member is maintained at the target pressing force, and the first engaging member and the second engaging member can be stably engaged. Further, when the first engagement member and the second engagement member are engaged with each other and a reaction force from the synchronization member to the first engagement member is reduced, the first engagement is performed. The operation amount is determined so as to stop the movement of the member, whereby it is possible to prevent the first engagement member from being pushed into the synchronization member by excessive force.
[0030]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to FIGS. 1 is a configuration diagram of a synchronization mechanism and its control device, FIG. 2 is an explanatory diagram of modeling of the synchronization mechanism shown in FIG. 1, FIG. 3 is a control block diagram of the control device shown in FIG. 1, and FIG. 5 is a graph showing the effect of changing the compliance parameter, FIG. 6 is a graph showing the setting conditions of the reaching law gain and the adaptive law gain, and FIG. 7 is a current feedback. 8 is a control block diagram of the control device to which the processing is added, FIG. 8 is a graph showing the switching timing of the control process, FIG. 9 is a configuration diagram of the wavelet transform filter, FIG. 10 is an explanatory diagram of the decimation process in the wavelet transform filter, and FIG. FIG. 12 is a diagram showing a setting table of a target position and a compliance parameter, and FIG. FIG. 14 is a control block diagram of another example of the control device to which the feedback process is added, FIG. 14 is a control block diagram of another example of the control device to which the current feedback process is added, and FIG. .
[0031]
With reference to FIG. 1, a control device 1 (corresponding to an actuator control device of the present invention) controls the operation of a synchronization mechanism 2 (corresponding to a contact mechanism of the present invention) provided in a transmission of an automobile. , An electronic unit including a microcomputer and a memory.
[0032]
The synchronization mechanism 2 includes a coupling sleeve 6 (corresponding to a moving body, a contact body, and a first engagement member of the present invention) that rotates integrally with an input shaft 5 connected to an engine or an electric motor, and driving wheels (illustrated in the drawing). (Not shown), a synchronized gear 7 (corresponding to a second engagement member of the present invention), a cup, which is connected to an output shaft (not shown) and is rotatably provided on the input shaft 5 so as not to move axially. A synchronizer ring 8 (corresponding to a contacted member and a synchronization member of the present invention) provided on the input shaft 5 between the ring sleeve 6 and the synchronized gear 7 so as to be rotatable and movable in the axial direction of the input shaft 5; It has a shift fork 11 connected to an electric motor 10 (corresponding to the actuator of the present invention) and the coupling sleeve 6.
[0033]
The shift fork 11 moves the coupling sleeve 6 in the axial direction of the input shaft 5 according to the rotation of the electric motor 10. The coupling sleeve 6 has a hollow structure, and a spline 12 is formed on the inner peripheral surface of the hollow portion. A spline 13 that can be engaged with the spline 12 of the coupling sleeve 6 is formed on the outer peripheral surface of the synchronizer ring 8, and the spline of the coupling sleeve 6 is also formed on the outer peripheral surface of the portion of the synchronized gear 7 that faces the synchronizer ring 8. A spline 14 engageable with the spline 12 is formed.
[0034]
When the coupling sleeve 6 rotated together with the input shaft 5 moves in the direction of the synchronized gear 7 by the shift fork 11, the coupling sleeve 6 and the synchronizer ring 8 come into contact with each other, and the synchronizer ring 8 and the synchronized gear 7 also come into contact with each other. It will be in the state to do. At this time, the rotational speeds of the coupling sleeve 6 and the synchronized gear 7 are synchronized via the synchronizer ring 8 by the frictional force generated by the contact.
[0035]
When the coupling sleeve 6 is further moved in the direction of the synchronized gear 7 in a state where the rotation speeds of the coupling sleeve 6 and the synchronized gear 7 are synchronized, the spline 12 formed on the coupling sleeve 6 is formed. , Passes through a spline 13 formed in the synchronizer ring 8 and engages with a spline 14 formed in the synchronized gear 7. Thus, power is transmitted between the input shaft 5 and the output shaft.
[0036]
Further, the electric motor 10 operates by applying a voltage (Vin, corresponding to the operation amount of the present invention) output from the control device 1, and a rotation speed detection signal (Es) of the electric motor 10 by the rotation speed sensor 15 is controlled. Input to the device 1.
[0037]
The control device 1 detects a current (Im, hereinafter referred to as an armature current, which corresponds to a second state value of the present invention) flowing through an armature of the electric motor 10 (a second state value of the present invention). The actual position (Psc, which corresponds to the first state value of the present invention) of the coupling sleeve 6 based on the rotation speed detection signal (Es) from the rotation speed sensor 15 and the like. The actual position grasping section 21 (corresponding to the first state value grasping means and the actual position grasping means of the present invention), the step of moving the coupling sleeve 6 to engage with the synchronized gear 7 via the synchronizer ring 8. The target position setting section 22 (corresponding to the target position setting means of the present invention) which sets the target position (Psc_cmd, corresponding to the first target value of the present invention) of the coupling sleeve 6 in the above, flows to the electric motor 10. A target current setting unit 23 for setting a target current (Im_cmd, corresponding to a second target value of the present invention) as a target value of the flow, and a voltage determination unit 24 for determining a voltage (Vin) applied to the electric motor 10. (Corresponding to the manipulated variable determining means of the present invention).
[0038]
Then, after the coupling sleeve 6 starts moving, the actual position grasping section 21 synchronizes the rotation speeds of the coupling sleeve 6 and the synchronized gear 7 by contact with the synchronizer ring 8, and passes through the synchronizer ring 8. Until the coupling sleeve 6 and the gear 7 are engaged, the behavior is modeled as a collision between the inertial object and the elastic object, and the actual position (Psc) of the coupling sleeve 6 is determined based on the model. Figure out.
[0039]
FIG. 2 shows the model, in which the actual position grasping unit 21 includes a coupling sleeve 6 and an inertial object 30 having an equivalent inertia of Jm including the electric motor 10 and the shift fork 11 (see FIG. 1). Assuming that the synchronizer ring 8 (see FIG. 1) is an elastic body 31 having an equivalent inertia of Ms and a spring coefficient of Ks, the position of the coupling sleeve 6 is grasped. In FIG. 2, Tm is the output torque of the electric motor 10, and Psc_def is the standby position of the synchronizer ring 8 (see FIG. 1). Hereinafter, a calculation procedure of a model equation representing the model shown in FIG. 2 will be described.
[0040]
First, the derivation of a continuous-time model formula before the inertial object 30 contacts the elastic object 31 (before the coupling sleeve 6 contacts the synchronizer ring 8) will be described.
[0041]
The equation of motion of the electric motor 10 shown in FIG. 1 is represented by the following equation (1).
[0042]
(Equation 1)

[0043]
Here, Jm: equivalent inertia of the coupling sleeve 6 including the electric motor 10 and the shift fork 11, ω: rotation speed of the electric motor 10 (detected by the rotation speed sensor 15), Tm: output torque of the electric motor 10.
[0044]
Further, the relationship between the output torque (Tm) of the electric motor 10 and the armature current (Im) of the electric motor 10 is expressed by the following equation (2), and the voltage (Vm, hereinafter, generated in the armature of the electric motor 10) The relationship between the armature voltage and the electric resistance of the armature (Rm, hereinafter referred to as armature resistance) is expressed by the following equation (3).
[0045]
(Equation 2)

[0046]
Here, Im is an armature current of the electric motor 10, and Km is a torque conversion coefficient.
[0047]
[Equation 3]

[0048]
Here, Vm: armature voltage of the electric motor 10, Rm: armature resistance of the electric motor 10.
[0049]
Therefore, the following equation (4) can be obtained by applying the relationship of the above equations (2) and (3) to the above equation (1).
[0050]
(Equation 4)

[0051]
Further, the relationship between the applied voltage (Vin) to the electric motor 10 and the back electromotive force generated in the electric motor 10 is represented by the following equation (5).
[0052]
(Equation 5)

[0053]
Here, Vin: applied voltage to the electric motor 10, Km ': back electromotive force constant.
[0054]
Then, when the relationship of the above equation (5) is applied to the above equation (4), the following equation (6) can be obtained.
[0055]
(Equation 6)

[0056]
The relationship between the rotation speed (ω) and rotation angle (θ) of the electric motor 10 and the position (Psc) of the inertial object 30 is expressed by the following equations (7) and (8).
[0057]
(Equation 7)

[0058]
(Equation 8)

[0059]
Here, ω: rotation speed of the electric motor 10, θ: rotation angle of the electric motor 10, t: elapsed time since the start of operation of the electric motor 10, Rsc: rotation angle (θ) of the electric motor 10 and an inertia system Lever ratio and gear ratio between objects 30.
[0060]
Therefore, the following expressions (9), (10), and (11) can be obtained from the expressions (7) and (8).
[0061]
(Equation 9)

[0062]
(Equation 10)

[0063]
[Equation 11]

[0064]
Then, when the above equations (9), (10), and (11) are substituted into the above equation (6), the following equation (12) can be obtained.
[0065]
(Equation 12)

[0066]
Elements necessary for controlling the synchronization mechanism 2 include an armature current (Im) for detecting a load applied to the electric motor 10 in addition to the actual position (Psc) of the coupling sleeve 6. Therefore, the following expression (13), which is a model expression relating to the armature current (Im), is obtained from the expressions (4) and (11).
[0067]
(Equation 13)

[0068]
Here, Im: the armature current of the electric motor 10.
[0069]
As described above, the model of the one-input two-output system in which the voltage (Vin) applied to the electric motor 10 is input, and the actual position (Psc) of the coupling sleeve 6 and the armature current (Im) of the electric motor 10 are output. , And (13).
[0070]
Next, when the inertial object 30 comes into contact with the elastic object 31 and receives a reaction force from the elastic object 31 (the coupling sleeve 6 comes into contact with the synchronizer ring 8 and The derivation of the model formula of the continuous-time system (when the reaction force is applied) will be described.
[0071]
The equation of motion of the inertial object 31 in FIG. 2 is represented by the following equation (14).
[0072]
[Equation 14]

[0073]
Here, Ms: equivalent inertia of the elastic body 31, Psc_def: standby position of the elastic body 31, Ksc: spring constant of the elastic body 30, Fsc: force received from the inertial body 30 (elastic body) The reaction force 31 exerts on the inertial object 30).
[0074]
When the above equation (14) is arranged with respect to the reaction force (Fsc), it is expressed by the following equation (15).
[0075]
(Equation 15)

[0076]
Here, the reaction force (Fsc) is a reaction force applied by the elastic body object 31 to the inertial system object 30, and the equation of motion of the inertial system object 30 when the reaction force (Fsc) is applied is as follows: 16).
[0077]
(Equation 16)

[0078]
When this equation (16) is modified, the following equation (17) is obtained. When the back electromotive force of the electric motor 10 is considered, the relationship between the applied voltage (Vin) to the electric motor 10 and the armature voltage (Vm) is It is represented by the following equation (18).
[0079]
[Equation 17]

[0080]
(Equation 18)

[0081]
Further, when the above equations (10) and (11) are substituted into the equation (18), the following equation (19) is obtained, and the following equation (20) can be obtained by rearranging the equation (19).
[0082]
[Equation 19]

[0083]
(Equation 20)

[0084]
Further, for the armature current (Im) of the electric motor 10, the following equation (21) can be obtained by substituting the above equation (11) into the above equation (16).
[0085]
(Equation 21)

[0086]
As described above, a model considering the reaction force from the elastic body 31 can be expressed by the above equations (20) and (21).
[0087]
Next, a model formula of a discrete time system is derived based on the model formula of a continuous time system represented by the above formulas (20) and (21).
[0088]
First, the state variables (x ₁ , X ₂ ) Is set as in the following equation (22), a continuous model can be expressed by the following equation (23) from the above equation (20).
[0089]
(Equation 22)

[0090]
[Equation 23]

[0091]
Here, assuming that the sampling period of the control device 1 is T, the above equation (23) is expressed by the following equation (24) by Euler approximation. And Equation (26) can be obtained.
[0092]
(Equation 24)

[0093]
Here, t: sampling time, T: sampling cycle.
[0094]
(Equation 25)

[0095]
(Equation 26)

[0096]
Further, by Euler approximation, x in the above equation (26) ₂ (TT) can be represented by the following equation (27).
[0097]
[Equation 27]

[0098]
Then, by substituting the equations (26) and (27) into the equation (25) and rearranging, the following equation (28) can be obtained.
[0099]
[Equation 28]

[0100]
When rearranging as t = kT in equation (28), the following equation (29) is obtained, and equation (30) can be obtained.
[0101]
(Equation 29)

[0102]
[Equation 30]

[0103]
Then, when the coefficients in the above equation (30) are replaced as shown in the following equation (31), the equation (30) can be expressed in the following equation (32).
[0104]
[Equation 31]

[0105]
(Equation 32)

[0106]
Therefore, the control device 1 is designed by the configuration shown in FIG. Is done. Hereinafter, the configuration of the control device 1 shown in FIG. 3 will be described.
[0107]
[Equation 33]

[0108]
First, with respect to the model represented by the above equation (33), (1) the actual position (Psc) of the inertial system object 30 quickly follows the target position (Psc_cmd), and (2) the elasticity of the inertial system object 30 and the elasticity. A design procedure of the sliding mode controller 40 for realizing compliance (elasticity like rubber) at the time of contact of the system object 31 will be described.
[0109]
The sliding mode controller 40 controls the behavior of the inertial system object 30 using sliding mode control, which is an example of a response assignment type control. The actual position (Psc) of the inertial object 30 calculated by the actual position grasping unit 21 based on the above equation (33) and the inertial object set by the target position setting unit 22 are stored in the sliding mode controller 40. Thirty target positions (Psc_cmd) and a compliance parameter (VPOLE) described later are input.
[0110]
When the deviation (Esc) between the actual position (Psc) of the inertial object 30 and the target position (Psc_cmd) is defined as shown in the following equation (34), the convergence behavior and the disturbance of the deviation (Esc) are In the switching function (σ, corresponding to the linear function of the present invention) that specifies the degree of influence on (Esc), the state variables in equation (34) are two, Psc (k) and Psc (k−1). Therefore, it is defined as in the following equation (35).
[0111]
(Equation 34)

[0112]
(Equation 35)

[0113]
Here, VPOLE: compliance parameter (switching function setting parameter).
[0114]
The sliding mode controller 40 determines a control input such that the switching function (σ) becomes σ (k) = 0. Further, σ (k) = 0 can be transformed from the above equation (35) into the following equation (36).
[0115]
[Equation 36]

[0116]
Here, since the equation (36) means a first-order lag system having no input, the sliding mode controller 40 executes control for converging the response of the control system to the first-order lag system of the above equation (36). .
[0117]
Therefore, as shown in FIG. 4A, if a phase plane is set with the vertical axis being Esc (k) and the horizontal axis being Esc (k−1), the above equation (36) gives It turns out to mean a linear function. Since the above equation (36) is a first-order lag system with no input, the compliance parameter (VPOLE, corresponding to the operation coefficient of the present invention) is set within the range of the following equation (37), and If the next-delay system is stabilized, the deviation (Esc) always converges to 0 over time (k → ∞).
[0118]
(37)

[0119]
From this, if the state quantities of deviation (Esc (k), Esc (k-1)) are on the switching function (σ (k) = 0) on the phase plane shown in FIG. Since the state quantity is constrained by a first-order lag system having no input, the origin of the phase plane {(Esc (k), Esc (k-1)) = (0, 0)} is automatically set over time. Will converge.
[0120]
Therefore, the sliding mode controller 40 uses the behavior of the state quantities (Esc (k), Esc (k-1)) of the deviation on the switching function as shown in FIG. By determining the control input (Vin) so that σ = 0 in the above equation (35), the state quantity is constrained on the switching function (σ (k) = 0), and the disturbance and the modeling error The state quantity is converged to the origin of the phase plane without being affected.
[0121]
The behavior until the state quantity of the deviation approaches the switching function (P in the figure) ₁ To P ₂ Is called an arrival mode, and the behavior in which the state quantity automatically converges toward the origin on the switching function (P in the figure) ₂ To P ₀ The process up to) is called a sliding mode.
[0122]
If the compliance parameter (VPOLE) in the above equation (36) is set to be positive (0 <VPOLE <1), the first-order lag system represented by the equation (36) becomes a vibration-stable type, and therefore the deviation (Esc) Is unfavorable in the control for converging. Therefore, the convergence response of the deviation (Esc) is set as shown in FIG. 4B by determining the compliance parameter (VPOLE) in the range of -1 to 0 (-1 <VPOLE <0). In FIG. 4B, a, b, and c indicate transitions of the deviation (Esc) when the compliance parameter (VPOLE) is set to −1, −0.8, and −0.5, respectively. When it is set to −1, the deviation (Esc) does not converge to 0 and becomes a constant value.
[0123]
Next, the dynamic characteristic of the above equation (36), that is, the response designation characteristic of the sliding mode controller 40 will be described. FIG. 5 shows a case where the compliance parameter (VPOLE) is set to -0.5, -0.8, -0.99, and -1.0, and a step disturbance D is given in a state where σ = 0 and Esc = 0. 5 is a graph showing the response of the control system in the case where the vertical axis represents the deviation (Esc) from above, the switching function (σ), the disturbance (D), and the horizontal axis represents time (k).
[0124]
As is clear from FIG. 5, as the absolute value of the compliance parameter (VPOLE) decreases, the influence of the disturbance (D) on the deviation (Esc) decreases, and conversely, the absolute value of the compliance parameter (VPOLE) increases. Then, as the distance approaches 1, the deviation (Esc) allowed by the sliding mode controller increases. At this time, since the behavior of the switching function (σ) is the same regardless of the value of the compliance parameter (VPOLE), it is understood that the ability to suppress the disturbance (D) can be specified by the compliance parameter (VPOLE).
[0125]
When the inertial object 30 and the elastic object 31 shown in FIG. 2 come into contact with each other, (1) the inertial object 30 is rebounded by the elastic object 31, and (2) the inertial object 30 is resilient due to an excessive collision force. It is necessary to press the inertial object 30 against the elastic object 31 while avoiding being pushed into the elastic object 31.
[0126]
Therefore, paying attention to the above-described characteristics, when the inertial object 30 and the elastic object 31 are in contact with each other, the compliance parameter (VPOLE) is set near −1 to increase the allowable amount of deviation (Esc) with respect to disturbance (disturbance). It is effective to generate compliance by the operation of the electric motor 10 when the inertial object 30 and the elastic object 31 come into contact with each other.
[0127]
Thereby, it is possible to suppress the occurrence of an excessive impact when the inertial object 30 and the elastic object 31 are in contact with each other, and it is also possible to apply an elastic force to the inertial system model 30 without applying an excessive force to the elastic system model 31. The effect of being able to press against the system model 31 is obtained.
[0128]
Considering this effect by applying it to the actual synchronization mechanism 2 shown in FIG. 1, it is possible to reduce the shock generated when the coupling sleeve 6 comes into contact with the synchronizer ring 8. Further, the coupling sleeve 6 can be pressed against the synchronizer ring 8 without applying an excessive force to the synchronizer ring 8 and engaged with the coupling sleeve 6 in synchronization with the rotational speed of the gear 7 to be synchronized.
[0129]
Next, the control input (Vin) of the sliding mode controller is set by the sum of the three control inputs as shown in the following equation (38).
[0130]
[Equation 38]

[0131]
Here, Vin (k): applied voltage to the electric motor 10 in the k-th sampling cycle, Ueq (k): equivalent control input in the k-th sampling cycle, Urch (k): reaching law input in the k-th control cycle , Uadp (k): Adaptive law input at k-th sampling period.
[0132]
The equivalent control input is an input for constraining the deviation state quantity (Esc (k), Esc (k-1)) on the switching line (σ = 0), and the reaching law input is the deviation state quantity. Is input to the switching function, and the adaptive law input is an input for absorbing the modeling error and disturbance to load the deviation state quantity on the switching function.
[0133]
Hereinafter, a method of setting the equivalent control input (Ueq (k)), the reaching law input (Urch (k)), and the adaptive law input (Uadp (k)) will be described.
[0134]
First, the equivalent control input (Ueq) has a function of holding a state quantity of a deviation at an arbitrary location on a phase plane, strictly speaking. Therefore, the equivalent control input (Ueq) is calculated as an applied voltage (Vin) satisfying the following equation (39).
[0135]
[Equation 39]

[0136]
By substituting the above equations (35) and (34) into the equation (39), the following equation (40) is obtained.
[0137]
(Equation 40)

[0138]
Then, by substituting the above equation (33) into the equation (40) and rearranging, the following equation (41) for the equivalent control input (Ueq) can be obtained.
[0139]
(Equation 41)

[0140]
Next, the reaching law input (Urch) is calculated by the following equation (42).
[0141]
(Equation 42)

[0142]
Here, F: reaching law gain, Δ: switching amplitude (absorption parameter of non-linear characteristics such as mechanical backlash and backlash).
[0143]
If the switching amplitude (Δ) is set to zero (Δ = 0), the above equation (42) is expressed by the following equation (43).
[0144]
[Equation 43]

[0145]
The adaptive law input (Usdp) is calculated by the following equation (44).
[0146]
[Equation 44]

[0147]
Here, G: adaptive law gain.
[0148]
Here, the equivalent control input (Ueq (k)) of the above equation (41), the reaching law input (Urch (k)) of the above equation (43), and the adaptive law input (Uadp (k) of the above equation (44) ) Into the above equation (38), and substituting the control input (Usl (k)) obtained in the above equation (38) into the above equation (33) as the applied voltage (Vin) to the electric motor 10, the following equation (45) is obtained. Can be
[0149]
[Equation 45]

[0150]
Then, by applying the above equations (34) and (35) to the equation (45) and rearranging σ, the following equation (46) can be obtained.
[0151]
[Equation 46]

[0152]
Here, the roles of the reaching law input (Urch (k)) and the adaptive law input (Uadp (k)) are as follows: The deviation state quantities (Esc (k), Esc (k-1)) are switched by a switching function (σ = 0). Moving upward, that is, stabilization (σ → 0) of the above equation (46), the reaching law gain (F) and the adaptive law gain (G) are adjusted so that the above equation (46) becomes stable. You need to decide.
[0153]
Therefore, when the above equation (46) is Z-transformed, the following equation (47) is obtained, and the following equation (48) is obtained by modifying the equation (47).
[0154]
[Equation 47]

[0155]
[Equation 48]

[0156]
In this case, the condition under which the above equation (48) becomes stable is a combination in which the coefficients (F−2, GT + 1−F) of the second and third terms on the left side fall within the triangular area of FIG. The values of F and G may be determined so that the combination of these coefficients falls within the triangular area.
[0157]
Then, the sliding mode controller 40 obtains the reaching law input (Urch (k)) and the adaptive law input (Uadp (k)) from the above equations (43) and (44) based on the values of F and G determined in this way. And the equivalent control input (Ueq (k)) is determined from the above equation (41), and the applied voltage (Vin) to the electric motor 10 is determined by the above equation (38).
[0158]
Next, referring to FIG. 1, in the actual synchronization mechanism 2, in order to synchronize the rotation speeds of the coupling sleeve 6 and the synchronized gear 7, the coupling sleeve 6 is pressed against the synchronizing the ring 8 with a constant force. There is a need. Therefore, in the model shown in FIG. 2, after the inertial object 30 and the elastic object 31 come into contact with each other, it is necessary to provide a configuration for performing control for applying a constant pressing force from the inertial object 30 to the elastic object 31. Become.
[0159]
Here, the armature current (Im) of the electric motor 10 in a state where the inertia-based object 30 and the elastic-based object 31 are in contact with each other is represented by the above-described equation (21). Since the acceleration of the object 30 is considered to be zero (the second derivative of Psc is zero), the upper formula (21) has the form of the following formula (49).
[0160]
[Equation 49]

[0161]
The constant pressing force is a reaction force of the force (Fsc) received by the inertial object 30 from the elastic object 31. Therefore, in order to keep the pressing force constant, the following equation (50) is established. Just fine.
[0162]
[Equation 50]

[0163]
Here, Im_cmd: target current value.
[0164]
Note that the target current value (Im_cmd) corresponds to the target value of the pressing force of the present invention, the current detecting unit 20 corresponds to the pressing force grasping unit of the present invention, and the electric motor of the electric motor 10 detected by the current detecting unit 20. The child current (Im) corresponds to the pressing force of the present invention.
[0165]
Further, the following equation (51) for calculating the deviation (Eim) between the actual armature current (Im) and the target current value (Im_cmd) can be obtained by converting the above equation (50) into discrete time.
[0166]
(Equation 51)

[0167]
Here, as can be seen from the above equations (20) and (21), the synchronization mechanism 2 receives the voltage (Vin) applied to the electric motor 10 as an input, and the position (Psc) of the inertial object 30 and the electric motor 10 Is represented as a one-input / two-output system model that outputs the armature current (Im).
[0168]
However, only the position (Psc) of the inertial object 30 needs to be controlled until the inertial object 30 and the elastic object 31 come into contact with each other. Therefore, the sliding mode controller 40 controls the synchronizing mechanism 2 by expressing the applied voltage (Vin) to the electric motor 10 as an input and outputting the position (Psc) of the inertial object 30 as a one-input one-output system model. Should be performed.
[0169]
Therefore, in order to perform the feedback control of the armature current (Im) of the electric motor 10, the sliding mode controller 40 is changed from the one for the one-input one-output model to the one-input two-output system model. It is necessary to switch to the one that did. However, when the sliding mode controller 40 is switched in this manner, input (Vin) discontinuity occurs, and it is difficult to stabilize the control state when the sliding mode controller 40 is switched.
[0170]
Therefore, the voltage determining unit 24 does not switch the sliding mode controller 40 and, as described below, sets the compliance parameter (VPOLE) for setting the compliance of the sliding mode controller 40 to the armature current ( By adjusting by the feedback of Im), the pressing force from the inertial object 30 to the elastic object 31 is stabilized.
[0171]
First, the feedback control of the armature current (Im) includes (1) quick response of the armature current (Im) to the target current (Im_cmd), (2) stability of the armature current (Im) proportional to the pressing force, In consideration of the above, the operation is performed using the simple sliding mode control by the following equations (52) to (57).
[0172]
(Equation 52)

[0173]
(Equation 53)

[0174]
(Equation 54)

[0175]
[Equation 55]

[0176]
[Equation 56]

[0177]
[Equation 57]

[0178]
However, Limit: limiting processing of -1 to 0, F_Im: reaching law gain, G_Im: adaptive law gain, POLE_Im: switching function setting parameter, VPOLE_bs: VPOLE reference value, Urch_Im: reaching law input, Uadp_Im: adaptive law input.
[0179]
FIG. 7 shows a control block diagram of the current feedback system. In the control block diagram of FIG. 7, instead of using a sliding mode controller that controls a one-input two-output system model, an armature current ( Im) is a double feedback system including a current feedback unit 50 for controlling Im).
[0180]
The current feedback unit 50 is included in the compliance parameter calculation unit 41 shown in FIG. Then, the current deviation (E_Im) is calculated by the subtractor 51 by the above equation (52), the value of the switching function (σ_Im) is calculated by the above equation (53) by the switching function calculator 52, and the above value is calculated by the proportional calculator 53. The reaching law input (Urch_Im) is calculated by the equation (54), and the adaptive law input (Uadp_Im) is calculated by the integrator 55 and the integrating multiplier 56 by the above equation (55).
[0181]
The adder 57 and the adder 58 calculate the compliance parameter (VPOLE_Im) reflecting the current feedback as the manipulated variable by the above equation (56), and the limiter 59 performs the limiting process by the above equation (57) to perform the sliding mode. A compliance parameter (VPOLE) for the controller 40 is determined.
[0182]
Next, the compliance parameter calculator 41 shown in FIG. 3 sets a compliance parameter (VPOLE) for setting the compliance of the sliding mode controller 40 for controlling the operation of the synchronization mechanism 2 in the following three steps. I do.
[0183]
Step 1 (corresponding to the first step of the present invention): target value tracking control: control of the position (Psc) of the inertial object 30 and control of the compliance when the inertial object 30 and the elastic object 31 are in contact with each other. The compliance parameter (VPOLE) is determined according to the position (Psc) of the inertial object 30.
[0184]
Step 2 (corresponding to the second step of the present invention): rotation synchronization control: control of the pressing force against the elastic body 31. The compliance parameter (VPOLE) is determined by the feedback of the armature current of the electric motor 10 described above.
[0185]
Step 3: Stationary control: Control for stopping the forward movement of the inertial object 30 after rotation synchronization (after the engagement of the coupling sleeve 6 and the synchronized gear 7 in the synchronization mechanism 2 is completed). Keep the compliance parameter (VPOLE) constant.
[0186]
Then, the compliance parameter calculation unit 41 determines whether the position at which the process is switched from the process 1 to the process 2 or the variation or change in the timing at which the process is switched from the process 2 to the process 3 is caused by the mechanical variation or aging of the synchronization mechanism 2. It is necessary to switch the process stably. Hereinafter, a method of determining the switching timing of the process will be described.
[0187]
The upper graph of FIG. 8 shows a change in the deviation (Esc = Psc-Psc_cmd) between the actual position (Psc) of the inertial object 30 and the target position (Psc_cmd) at the time of switching between the processes. The vertical axis is set to the actual position (Psc) and the target position (Psc_cmd) of the inertial object 30, and the horizontal axis is set to time (t). As is clear from the graph, when switching between the steps, the deviation (Esc) changes as follows.
[0188]
At the time of switching from the step 1 to the step 2: the movement of the inertial object 30 is suppressed by the contact with the elastic object 31, the actual position (Psc) is delayed with respect to the target position (Psc_cmd), and the deviation ( Esc) increases in the negative direction.
[0189]
At the time of switching from step 2 to step 3: when the rotation synchronization of the elastic body object 31 and the inertial body object 30 ends and the position (Psc) of the inertial body object 30 reaches the target position (Psc_cmd), the deviation (Esc) ) Decreases in the positive direction.
[0190]
Therefore, each step may be switched by detecting such a change in the deviation (Esc).
[0191]
However, the actual synchronization mechanism 2 shown in FIG. 1 is a controlled object having large mechanical backlash, backlash, and friction. Therefore, if the sampling period of the control device 1 is set shorter, the controllability is higher. However, when the sampling period is set shorter and the deviation (Esc) is calculated, the SN ratio decreases and the change of the deviation (Esc) is detected. It becomes difficult to do. Therefore, the wavelet transform filter 43 (see FIG. 3) provided in the Vin determination unit 24 performs the wavelet transform on the deviation (Esc) to extract only the low-frequency component of the deviation (Esc), as described below. This makes it easier to detect a change in the deviation (Esc).
[0192]
A filter using the wavelet transform 43 (hereinafter referred to as a wavelet transform filter) has a configuration shown in FIG. 9A, and repeats a half-band low-pass filter process and a decimation process by the following equation (58) twice. Perform filtering by
[0193]
[Equation 58]

[0194]
Here, u: input data, η: time series number of sampling period.
[0195]
The first-stage half-band low-pass filter 70 shown in FIG. 9A compares the current sampling cycle input value (Esc (k)) with the previous sampling cycle input value (Esc (k-1)). After performing the processing of the above equation (57), the second-stage half-band low-pass filter 71 performs the decimation process 72 on the output of the first-stage half-band low-pass filter 70, and Esc_wv ₁ (M ₁ ) Between the current value and the previous value (Esc_wv) ₁ (M ₁ ) And Esc_wv ₁ (M ₁ -1)), the processing of the above equation (58) is performed.
[0196]
As shown in FIG. 9B, the half-band low-pass filters 70 and 71 block the frequency components equal to or higher than half the sampling frequency (Nyquist frequency), and the gain of the low-frequency component is greater than 1. The effect of amplifying the gain with respect to is obtained.
[0197]
Also, the decimation processes 72 and 73 (2 ↓) in FIG. 9A are thinning processes, and as shown in FIG. 10A, thinning processes for sampling input data (u) every other interval are performed. .
[0198]
The wavelet transform filter 43 amplifies the gain as shown in the graph of FIG. 10B by repeatedly performing the processes by the half-band low-pass filters 70 and 71 and the decimation processes 72 and 73, thereby reducing the low-frequency component (Esc_wv). Is extracted. In the graph shown in FIG. 10B, the vertical axis is set to gain, and the horizontal axis is set to frequency.
[0199]
As a result, the high frequency component of the input signal (Esc) is removed, and the gain for the input signal (Esc) is amplified. Therefore, the change in the low frequency component of the input signal (Esc) is improved by improving the SN ratio. Can be extracted.
[0200]
Then, the VPOLE calculation unit 41 uses ΔEsc_wv (= Esc_wv (m) −Esc_wv (m−1)), which is a change amount of the wavelet transform value (Esc_wv) of the deviation (Esc), as described below. Is switched.
[0201]
Switching from step 1 to step 2: Psc> Psc_def and Esc_wv> X_SCCNT
Switching from step 2 to step 3: Psc> Psc_def and ΔEsc_wv> X_SCDONE
Here, Psc_vp: VPOLE variable start position in step 1, X_SCCNT: contact determination threshold value of Esc_wv, X_SCDONE: rotation synchronization completion determination threshold value.
[0202]
Note that Esc_wv and ΔEsc_wv in the above switching condition correspond to the degree of deviation of the actual position from the target position of the present invention, X_SCCNT corresponds to the first predetermined level of the present invention, and X_SCCDONE corresponds to the second predetermined level of the present invention. Equivalent to.
[0203]
A procedure for controlling the operation of the synchronization mechanism 7 by the control device 1 configured by the method described above will be described with reference to the flowchart shown in FIG. When receiving a signal instructing shift of the transmission from the main controller (not shown) of the vehicle, the control device 1 proceeds from STEP1 to STEP2.
[0204]
Then, according to the shift position (first speed, second speed,..., Neutral) selected by the main controller, the control device 1 causes the target position setting unit 22 to operate the cup as shown in FIG. The movement pattern of the ring sleeve 6 is set as a target position (Psc_cmd). Further, the control device 1 sets a change position (Psc_vp) of the compliance parameter (VPOLE) in the first step and a standby position (Psc_def) of the synchronizer ring 8.
[0205]
Then, in the following STEP 3, the control device 1 calculates the deviation (Esc) between the actual position (Psc) of the coupling sleeve 6 and the target position (Psc_cmd) calculated by the above-mentioned equation (33) by the actual position grasping unit 21. I do. In the drawing, k means the k-th sampling cycle, and Psc (k) and Psc_cmd (k) represent the actual position and the target position of the coupling sleeve 6 in the k-th sampling cycle, respectively.
[0206]
In the next STEP 4, the control device 1 performs a process by the above-described wavelet transform filter 43 to calculate a wavelet transform value (Esc_wv) of the deviation (Esc). Note that Esc_wv (m) in the figure represents a wavelet transform value calculated based on the deviation (Esc (k)) in the k-th sampling cycle as shown in FIG.
[0207]
The next STEP5 to STEP7 are processes for judging a switching timing of each of the above-described steps (first step, second step, and third step). STEP5 and STEP6 are steps from the first step to the second step. Is set, and STEP 7 sets a condition for switching from the second step to the third step.
[0208]
First, until the actual position (Psc (k)) of the coupling sleeve 6 passes the standby position (Psc_def) of the synchronizer ring 8 in STEP5, the process branches to STEP20, and the compliance parameter (VPOLE) shown in FIG. ), The compliance parameter calculation unit 41 sets the compliance parameter (VPOLE) to a value close to 0 (for example, -0.2). In the setting table shown in FIG. 12B, the vertical axis is set to the compliance parameter (VPOLE), and the horizontal axis is set to the actual position (Psc) of the coupling sleeve 6.
[0209]
As a result, the compliance of the synchronization mechanism 2 is reduced from the start of the movement of the coupling sleeve 6 to the position at which the compliance parameter (VPOLE) is changed (Psc_vp), and the effect of disturbance is suppressed to stabilize. Thus, the coupling sleeve 6 can be moved.
[0210]
Also, when the coupling sleeve 6 passes the change position (Psc_vp) of the compliance parameter (VPOLE), the compliance parameter calculation unit 41 reduces the compliance parameter (VPOLE) to a value near −1 (for example, −0.99). . In this way, the value of the compliance parameter (VPOLE) is reduced in advance immediately before the coupling sleeve 6 and the synchronizer ring 8 actually come into contact with each other, and the compliance of the synchronization mechanism 2 is increased. The shock generated when the contact is made can be reduced.
[0211]
Then, in the next STEP 6, when Esc_wv (m)> X_SCCNT, which is the condition for switching from step 1 to step 2, is satisfied, that is, when contact between the coupling sleeve 6 and the synchronizer ring 8 is detected. Go to STEP7. In STEP 7, when ΔEsc_wv (m)> X_SCDONE, which is the condition for switching from step 2 to step 3, is satisfied, that is, the rotation of the coupling sleeve 6 and the synchronizer ring 8 is synchronized, and the coupling sleeve 6 is turned off. When the vehicle passes through the synchronizer ring 8 and engages with the synchronized gear 7, the process branches to STEP30.
[0212]
On the other hand, if ΔEsc_wv (m)> X_SCDONE is not satisfied in STEP7, the process proceeds to STEP8, and the VPOLE calculation unit 41 switches from step 1 to step 2 and executes the above-described process of calculating the compliance parameter (VPOLE) by current feedback as described above. Then, the voltage determining unit 24 calculates an applied voltage (Vin) to the electric motor 10 by the sliding mode controller 40 using the compliance parameter (VPOLE) calculated as described above, and converts the applied voltage (Vin) to the electric motor 10. Is applied.
[0213]
As described above, in the step 2, the armature current (Im) of the electric motor 10 is maintained at the target current (Im_cmd) by the feedback processing of the armature current (Im) of the electric motor 10, and the output torque of the electric motor 10 is Is controlled to be constant, and the pressing force of the coupling sleeve 6 against the synchronizer ring 8 can be stabilized.
[0214]
As a result, it is possible to prevent the coupling sleeve 6 from being pressed against the synchronizer ring 8 with an excessive force and causing the synchronous mechanism 2 to be damaged.
[0215]
In step 3, in step 30, the compliance parameter (VPOLE) is set to a constant value (X_VPOLE_END) by the compliance parameter calculation unit 41. Then, the voltage determining unit 24 calculates an applied voltage (Vin) to the electric motor 10 by the sliding mode controller 40 using the compliance parameter (VPOLE = X_VPOLE_END), and applies the applied voltage (Vin) to the electric motor 10. Then, the movement of the coupling sleeve 6 is stopped immediately.
[0216]
Thereby, even after the engagement between the coupling sleeve 6 and the synchronized gear 7 is completed, it is possible to prevent the coupling sleeve 6 from being pressed against the asynchronous gear 7 with excessive force, thereby causing damage to the synchronization mechanism 2 and the like. can do.
In the present embodiment, as described above, when the position (Psc) of the inertial object 30 reaches the target position (Psc_cmd), the compliance parameter (VPOLE) is set according to the position of the inertial object 30 in Step 1. ) Is switched from control to determine the compliance parameter (VPOLE) in accordance with the pressing force (in proportion to the magnitude of the armature current of the motor 10) on the elastic body object 30 in the step 2, but the actuator is changed. Depending on the specifications of the mechanism driven by the controller, the switching condition of the control mode may be set according to the change in the armature current (Im) of the electric motor 10.
[0219]
Further, in the present embodiment, the compliance parameter (VPOLE) is determined by performing the above-described arithmetic processing in the current feedback unit 50a with the configuration shown in FIG. 7, but as another configuration, as shown in FIG. The current deviation (Im-Im_cmd) is applied to the correlation map 60 using a current feedback unit 50b having a correlation map 60 in which the relationship between the current deviation (Im-Im_cmd) and the compliance parameter (VPOLE) is set in advance. Alternatively, the compliance parameter (VPOLE) may be determined.
[0218]
Further, as still another configuration, the compliance parameter (VPOLE) may be determined by performing I-PD control by the current feedback unit 50c shown in FIG. The subtractor 51, the adder 58, and the limiter 59 have the same configuration as that of the current feedback unit 50a shown in FIG.
[0219]
In the current feedback unit 50c, the compliance parameter (VPOLE (k)) is calculated using the following equations (59) and (60). Specifically, the operation of the second term on the right-hand side of the following equation (59) is performed by the proportional calculator 61, and the Z-transformer 62, the subtractor 63, and the differential calculator 64 calculate the second term on the right-hand side of the equation (59). The calculation of the third term is performed, and the calculation of the fourth term on the right side of the equation (59) is performed by the subtractor 51 and the integration multiplier 66.
[0220]
[Equation 59]

[0221]
Here, VPOLE_Im (k): the compliance parameter in the k-th sampling cycle, VPOLE_bs: the reference value of the compliance parameter, KIMP: the feedback gain of the proportional term, KIMD: the feedback gain of the differential term, KIMI: the feedback gain of the integral term, Im ( k): Armature current of the motor 10 in the k-th sampling cycle.
[0222]
[Equation 60]

[0223]
Here, Im_cmd: target current value.
[0224]
Then, the adder 67, the adder 68, and the adder 58 add the respective terms on the right side of the above equation (59) to calculate VPOLE_Im (k), and the limiter 59 restricts the above equation (57). Processing is performed to determine the compliance parameter (VPOLE (k)).
[0225]
Further, in the present embodiment, as shown in FIG. 1, the coupling mechanism 6 is provided on the input shaft 5 side, and the synchronous mechanism 2 in which the synchronized gear 7 is connected to the drive shaft is targeted. Is provided on the output shaft side, and the present invention is also applicable to a synchronization mechanism in which a synchronized gear is connected to the input shaft.
[0226]
Further, in the present embodiment, the voltage determining unit 24 uses the adaptive sliding mode having the adaptive law input in consideration of the influence of disturbance or the like, but uses the general sliding mode control in which the adaptive law input is omitted. Alternatively, other types of response assignment control such as backstepping control can be used. Further, although the voltage determination unit 24 performs the current feedback processing using the sliding mode control, the effect of the present invention can be obtained also when the current feedback processing is performed without using the sliding mode control.
[0227]
Further, in the present embodiment, the actual position grasping unit 21 grasps the actual position (Psc) of the coupling sleeve 6 based on the model shown in FIG. 2, but a position sensor is provided to detect the position of the position sensor. The actual position (Psc) of the coupling sleeve 6 may be directly grasped from a signal, a lever ratio between the motor 10 and the coupling sleeve 6, or the like.
[0228]
Further, in the present embodiment, an example in which the present invention is applied to the synchronization mechanism 2 provided in the transmission of the automobile has been described, but the application target of the present invention is not limited to this. For example, FIG. 15 shows an example in which a machine tool that performs drilling on a work 80 by an end mill 81 is modeled as an inertial object on the end mill 81 side and an elastic object on the work 80 side, and the present invention is applied. I have. The end mill 81 is attached to a vertical movement actuator 83 by a chuck 82.
[0229]
As shown in FIG. 15, similarly to the case of the control for the synchronous mechanism 2 described above, the step of performing the drilling is divided into the following three steps.
[0230]
Step 1: The end of the end mill 81 is allowed to reach the work 80 in a short time until the end mill 81 contacts the work 80, and the impact at the time of contact between the end mill 81 and the work 80 is suppressed.
[0231]
Step 2: The work 80 is cut while applying a constant pressing force (Fc) to the end mill 81.
[0232]
Step 3: When the drilling of the work 80 is completed and the drag from the work 80 disappears, the end mill 81 descends rapidly. Therefore, the lowering of the end mill 81 is stopped so that the chuck 82 does not collide with the work 80.
[0233]
Then, the actual position (Py) of the end mill 81 is replaced with the actual position (Psc) of the coupling sleeve 6 in the synchronization mechanism 2 shown in FIG. 1, and the change position (Py_vp, synchronization mechanism 2) of the compliance parameter (VPOLE) in step 1 is changed. By setting the standby position of the work 80 (Py_def, corresponding to Psc_def in the control of the synchronization mechanism 2) and the like, and controlling the operation of the vertical movement actuator 83, the drilling time can be reduced. It is possible to reduce the impact and to reduce the impact at the time of contact between the end mill 81 and the work 80.
[0234]
Further, in Step 2, an excessive pressing force is prevented from being applied to the work 80 from the end mill 81, and the pressing force of the end mill 81 can be maintained at a predetermined target pressing force. Can be stopped.
[0235]
In the present embodiment, an example in which the electric motor 10 is used as the actuator of the present invention has been described. However, even when another type of electric actuator or a pneumatic or hydraulic actuator is used, the present invention Applicable.
[0236]
Further, in the present embodiment, an example is shown in which the first state value of the present invention is the position of the object moved by the actuator, and the second state value of the present invention is the magnitude of the force acting on the object. However, the present invention is also applicable to a case where the operation of the actuator is controlled by adopting another type of state value.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a synchronization mechanism and a control device thereof.
FIG. 2 is an explanatory diagram of modeling of the synchronization mechanism shown in FIG. 1;
FIG. 3 is a control block diagram of the control device shown in FIG. 1;
FIG. 4 is a graph showing the behavior of the sliding mode controller shown in FIG.
FIG. 5 is a graph showing an effect obtained by changing a compliance parameter.
FIG. 6 is a graph showing setting conditions of a reaching law gain and an adaptive law gain.
FIG. 7 is a control block diagram of a control device to which a current feedback process is added.
FIG. 8 is a graph showing switching timing of a control process.
FIG. 9 is a configuration diagram of a wavelet transform filter.
FIG. 10 is an explanatory diagram of a decimation process in a wavelet transform filter.
FIG. 11 is an operation flowchart of the control device.
FIG. 12 is a view showing a setting table of a target position and a compliance parameter.
FIG. 13 is a control block diagram of another example of the control device to which a current feedback process is added.
FIG. 14 is a control block diagram of another example of the control device to which a current feedback process is added.
FIG. 15 is a view showing a drilling step using a machine tool.
FIG. 16 is a configuration diagram of a conventional synchronization mechanism.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Control device, 2 ... Synchronization mechanism, 5 ... Input shaft, 6 ... Coupling sleeve, 7 ... Synchronized gear, 8 ... Synchronizer ring, 10 ... Motor, 11 ... Shift fork, 15 ... Rotation speed sensor, 20 ... Current Detecting unit, 21: actual position grasping unit, 22: target position setting unit, 23: target current setting unit, 24: voltage determining unit, 30: inertial object, 31: elastic object

Claims (9)

First state value grasping means for grasping a first state value that changes according to the operation of the actuator, and grasping a second state value different from the first state value that changes according to the operation of the actuator. Second state value grasping means;
A response designation type that can variably designate a damping behavior and a damping speed of a deviation between the first state value and the first target value so that the first state value matches a first target value. Using control, determine an operation amount for driving the actuator so as to converge at least a value of a switching function defined by a linear function based on the deviation to zero,
According to the first state value or the second state value, the response characteristic of the response assignment control is set according to the first state value, or the second state value is set to a second state value. And an operation amount determining means for switching whether the setting is made to coincide with the target value of the actuator. 2. The actuator control device according to claim 1, wherein the operation amount determination unit sets a response characteristic of the response assignment control by changing an operation coefficient of the linear function. The actuator is a drive source for moving the moving body,
The first state value is a moving position of the moving body,
3. The actuator control device according to claim 1, wherein the second state value is a magnitude of a force acting on the moving body by operation of the actuator. 4. The actuator is connected to a contact body movably provided in one axial direction to move the contact body, and the contact body, the actuator, and the contact body when the contact body moves to a predetermined position. By controlling the operation of a contact mechanism having a contact body with which the contact body comes into contact, the contact body is moved by the actuator from a state where the contact body and the contact body face each other at an interval, and the contact body is moved to the contact body. Performing a first step of contacting and, following the first step, a second step of moving the contact body beyond the predetermined position by the actuator and pressing the contact body against the contacted body,
A target position setting unit that sets a target position of the contact body in the first step and the second step;
As the first state value grasping means, there is an actual position grasping means for grasping the actual position of the contact body as the first state value,
As the second state value grasping means, there is a pressing force grasping means for grasping the pressing force of the contact body against the contacted body as the second state value,
The manipulated variable determiner sets the response characteristic of the response designation type control according to the actual position of the contact body in the first step, and is determined by the pressing force determiner in the second step. 4. The actuator control device according to claim 3, wherein the pressing force is set so as to match a predetermined target pressing force. The operation amount determination unit is configured to, when the degree of deviation of the actual position of the contact body from the target position in the first step is increased by a first predetermined level or more, change the response characteristic of the response designation control to the pressing force. 5. The actuator control device according to claim 4, wherein a process of setting the pressing force grasped by the grasping means so as to match the target pressing force is started. The operation amount determining means is configured to stop the movement of the contact body when the degree of deviation of the actual position of the contact body from the target position in the second step decreases by a second predetermined level or more. The actuator control device according to claim 4 or 5, wherein the amount is determined. The operation amount determining means is configured to, when the degree of divergence of the actual position of the contact body from the target position in the second step is reduced by the second predetermined level or more, increase the response in a direction to increase the ability to suppress disturbance. 7. The actuator control device according to claim 6, wherein a response characteristic of the designated control is set. The manipulated variable determining means is configured to determine, based on a conversion value obtained by performing filtering using a wavelet transform on time-series data of a deviation between the actual position of the contact body and a target position, the actual position of the contact body with respect to the target position. The control device for an actuator according to any one of claims 5 to 7, wherein the degree of divergence is determined. The contact mechanism is a synchronous mechanism for switching power transmission / interruption,
The contact body is a first engagement member provided on a shaft so as to be integrally rotatable, and the contacted body is a second engagement member that is rotatable relative to the shaft and cannot move with the shaft. Between the first engaging member and the second engaging member so as to be rotatable in the axial direction and to be movable in the axial direction. The first engaging member and the second engaging member are rotated in synchronization with each other by a frictional force generated when the first engaging member and the second engaging member come into contact with each other. The actuator control device according to any one of claims 4 to 8, wherein the control device is a synchronization member that enables the engagement member and the second engagement member to be engaged with each other.

Images