JP2006009908A - Speed change controller for toroidal continuously variable transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent hunting when compensating positional deviation of a power roller in a toroidal continuously variable transmission. <P>SOLUTION: This speed change controller for the toroidal continuously variable transmission for moving the power roller nipped between a pair of disks and held by a holding member between the disks together with the holding member to incline and rotate the power roller and change a speed change ratio is provided with a position detection means for detecting a position of the power roller by detecting a position of the holding member, a delay processing means 41 for applying delay processing to input torque for the toroidal continuously variable transmission or an estimated value of input torque to obtain an input torque processed value, and a compensation means 44 for compensating deviation of a position detected by the detection means from an actual position of the power roller. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a toroidal-type continuously variable transmission that transmits torque between disks via a power roller sandwiched between an input disk and an output disk, and changes the gear ratio by tilting the power roller. In particular, the present invention relates to a device for controlling the shift.

  The toroidal type continuously variable transmission is configured so that a power roller is sandwiched between an input disk and an output disk, and torque is transmitted between the power roller and each disk via traction oil. . Accordingly, since the transmission torque capacity is a capacity corresponding to the pressure acting between the power roller and each disk, the power roller is sandwiched between the disks with a pressure (clamping pressure) corresponding to the input torque.

  On the other hand, in the half-toroidal continuously variable transmission, so-called cavities between the disks are shaped to open outward in the radial direction, so that the power roller does not move outward in the radial direction of the disk due to the clamping force. The power roller is held by the trunnion and the link. Then, the trunnion is moved up and down (or back and forth) in the axial direction of the trunnion shaft, and accordingly, the power roller is removed from the neutral position, and a side slip is generated between the disc and the disc. As a result, the power roller is tilted. As a result, a shift occurs.

  In order to hold the trunnion holding the power roller at a predetermined position in the radial direction of the disk, for example, up and down (or front and back) of a pair of trunnions arranged at positions symmetrical to the rotation center axis of the disk The shafts at both ends are connected by a link member such as a yoke. On the other hand, since the load in the radial direction via the power roller acts on the central portion of the trunnion, the trunnion and the shaft connecting the power roller to the trunnion are deformed such as curved. Since the trunnion is connected to a shaft or a link for moving the trunnion up and down, the shaft and the link are also displaced along with the deformation of the trunnion or the like. Furthermore, since there is an inevitable play (clearance) between the components, the play is clogged by the action of a load, and relative displacement may occur accordingly.

  The above-described deformation, the operation of the speed change mechanism, or the speed change due to a sensor error is a speed change caused by a mechanism factor and is not a speed change intended based on a drive request or the like, but a speed shift called a torque shift. There is an error factor. The main cause of the torque shift is a tangential force based on the input torque and a clamping pressure for clamping the power roller to set a torque capacity corresponding to the input torque for each gear ratio.

  When performing shift control, it is necessary to control the shift in consideration of an error due to the torque shift or a shift in the gear ratio. For example, in the invention described in Patent Document 1, feedforward control that compensates for torque shift based on input torque is performed. In doing so, the first-order lag time constant and the dead time are set based on values before and after the change in throttle opening related to the input torque.

Further, in the invention described in Patent Document 2, a shift for compensating for the torque shift is also executed through a normal shift control mechanism, so that a delay in the shift control mechanism may also occur in the torque shift compensation control. Therefore, the torque shift compensation is executed after the advance compensation for the shift response delay is performed for the torque shift compensation. Note that the line pressure is also taken into account in the advance compensation. Further, Patent Document 3 describes an invention in which a shift command value is corrected based on an input torque, a gear ratio, and a line pressure, using a torque shift compensation amount that takes into account a positional deviation of the power roller.
Japanese Patent Laid-Open No. 11-351363 JP 2002-106700 A Japanese Patent Application Laid-Open No. 2002-346991

  As described above, since torque shift acts as an error for shift control, it is necessary to compensate for this. In the invention of Patent Document 3, the shift command value is corrected by the torque shift compensation amount. In the invention of Document 2, advance compensation is performed at the time of compensation, and in the invention of Patent Document 1, the first-order lag time constant and dead time, which are dynamic characteristics of torque shift, are throttles corresponding to the amount of change in input torque. It is changed according to the amount of change in opening.

  The torque shift is mainly caused by the input torque or the clamping pressure set in relation thereto. Therefore, for example, the invention described in Patent Document 1 described above performs torque shift compensation by feedforward control based on input torque. However, when the torque shift compensation control is performed, a shift occurs, so the input rotational speed changes, and the input torque changes accordingly. Then, feedforward control for torque shift compensation based on the input torque thus changed is executed. Eventually, so-called hunting may occur in which the shift for torque shift compensation and the accompanying change in input torque are repeated.

  The present invention has been made paying attention to the above technical problem, and an object thereof is to provide a control device capable of preventing hunting of shift control when performing torque shift compensation in a toroidal-type continuously variable transmission. To do.

  In order to achieve the above-mentioned object, the invention of claim 1 is characterized in that a power roller sandwiched between a pair of disks and held by a holding member is moved between the disks together with the holding member. In a transmission control device for a toroidal type continuously variable transmission that tilts a roller to change a gear ratio, position detection means for detecting the position of the power roller by detecting the position of the holding member, and the toroidal type A delay processing means for obtaining an input torque processing value by performing a delay processing on an input torque for the step transmission or an estimated value of the input torque; an actual position of the power roller and the detection means based on the input torque processing value; And a correction means for correcting a deviation from the position detected in step (b).

  According to a second aspect of the present invention, the power roller held by the holding member is sandwiched between a pair of disks facing each other, and the power roller is parallel to the central axis of each disk on a plane including the rotation surface. In a shift control device for a toroidal-type continuously variable transmission that changes the transmission ratio by tilting the power roller by moving the holding roller together with the holding member, the position of the power roller is detected by detecting the position of the holding member. Based on the input torque processing value, position detecting means for detecting the input torque, delay processing means for performing a delay process on the input torque for the toroidal type continuously variable transmission or an estimated value of the input torque, and obtaining an input torque process value Correction means for correcting a deviation between the actual position of the power roller and the position detected by the detection means; It is the shift control apparatus according to claim is e.

  Further, according to the invention of claim 3, the power roller held by the holding member is sandwiched between a pair of disks opposed to each other, and the power roller is parallel to the central axis of each disk on a plane including the rotation surface. In a shift control device for a toroidal-type continuously variable transmission that changes the transmission ratio by tilting the power roller by moving the holding roller together with the holding member, the position of the power roller is detected by detecting the position of the holding member. Based on the input torque for the toroidal-type continuously variable transmission or an estimated value of the input torque, the deviation between the actual position of the power roller and the position detected by the detection means is corrected. Correction value calculation means for obtaining a correction value for performing correction, and a delay processing method for performing a delay process on the correction value to obtain a correction process value When a shift control apparatus characterized by comprising a correction means for correcting the deviation between the detected position in the actual position and the detection means of the power rollers by the correction value.

  Furthermore, the invention of claim 4 is the invention according to any one of claims 1 to 3, wherein the pressing force with which each disk sandwiches the power roller is set to an input torque not subjected to delay processing or an estimated value of input torque. A shift control device for a toroidal-type continuously variable transmission, further comprising a pressing force setting means for setting based on the pressing force.

  According to a fifth aspect of the invention, in any one of the first to fourth aspects of the invention, the processing constant used for the delay processing is made different depending on the magnitude of the input torque or the absolute value of the estimated value of the input torque. A shift control device for a toroidal-type continuously variable transmission, further comprising processing constant setting means.

  According to the first or second aspect of the invention, the position of the power roller between the input disk and the output disk is detected by the position of the holding member that holds the power roller. In order to correct the deviation between the measured position and the actual position of the power roller, first, an input torque processing value is obtained by performing a delay process such as a smoothing process or a first-order delay process on the input torque or its estimated value. Then, correction such as obtaining a correction value of the position of the power roller or a correction value of the gear ratio based on the input torque processing value or performing shift control with the correction value added is executed. Therefore, the correction of the so-called positional deviation of the power roller or the correction of the shift control does not directly reflect the input torque but reflects it with a predetermined delay, so even if the gear ratio changes with the above correction, Control hunting can be prevented or suppressed.

  According to a third aspect of the invention, instead of performing a delay process on the input torque or the estimated value thereof in the first aspect of the invention, the power roller obtained based on the input torque or the estimated value is provided. A delay process is performed on the correction value of the positional deviation, and the correction of the position of the power roller, the correction of the gear ratio, or the correction of the shift control is executed based on the correction process value. Therefore, the correction of the so-called positional deviation of the power roller or the correction of the shift control does not directly reflect the input torque but reflects it with a predetermined delay, so even if the gear ratio changes with the above correction, Control hunting can be prevented or suppressed.

  Further, according to the invention of claim 4, the correction of the so-called positional deviation of the power roller is executed with the delay process as described above, whereas the pressing force (clamping force) that each disk holds the power roller. (Pressure) control is executed based on the input torque without delay processing. Therefore, it is possible to set a pressing force according to the input torque, and it is possible to prevent or suppress an excessive slip between each disk and the power roller.

  According to the fifth aspect of the present invention, the tendency or degree of so-called positional deviation of the power roller is different between the case where the absolute value of the input torque is large and the case where the absolute value of the input torque is small. It is possible to set a processing constant, and as a result, it is possible to prevent hunting associated with the correction of the displacement of the position of the power roller, and to optimize the correction.

  Next, the present invention will be described based on specific examples. First, a continuously variable transmission and its hydraulic control system to which the present invention can be applied will be described. FIG. 4 is a sectional view of a half-toroidal continuously variable transmission cut along a plane perpendicular to the central axis of the disk. The vertical direction in FIG. 4 is the vertical direction in use. A pair of power rollers 1 and 2 are arranged on both the left and right sides of the rotating shaft 3 such as an input shaft or an output shaft, and these power rollers 1 and 2 are fitted to the rotating shaft 3 or are loosely fitted. It is sandwiched between the disks 4 on the input side and the output side.

  The power rollers 1 and 2 are held by trunnions 5 and 6, respectively. These trunnions 5 and 6 are for holding the power rollers 1 and 2 so as to be rotatable and tiltable. The trunnions 5 and 6 are provided on both upper and lower sides of the holding portions 7 and 8 having flat surfaces facing the center. 9 and 10 are formed to extend. The upper trunnion shafts 9 and 10 in FIG. 4 are fitted to the upper yoke 11 via bearings, and the lower trunnion shafts 9 and 10 in FIG. 4 are fitted to the lower yoke 12 via bearings. ing. Accordingly, the trunnions 5 and 6 are connected to each other by the yokes 11 and 12 so as to be rotatable about the trunnion shafts 9 and 10, respectively.

  The power rollers 1 and 2 are rotatably held by pivot shafts 13 and 14 attached to the holding portions 7 and 8 of the trunnions 5 and 6, and the power rollers 1 and 2 are connected to the trunnions 5 and 6. Thrust bearings 15 and 16 are interposed therebetween. These trunnions 5, 6 and pivot shafts 13, 14, thrust bearings 15, 16 and the like correspond to the holding member of the present invention.

  The lower trunnion shafts 9 and 10 in FIG. 4 in each trunnion 5 and 6 are connected to pistons 19 and 20 of hydraulic cylinders 17 and 18 provided corresponding to the respective power rollers 1 and 2. These hydraulic cylinders 17 and 18 are used to move the power rollers 1 and 2 back and forth in a direction parallel to the central axis of each disk 4 on a plane including the rotation surface thereof. (Or 2) is moved upward in FIG. 4, and at the same time, the other power roller 2 (or 1) is moved downward in FIG. For example, the hydraulic chamber above the piston 19 in the left hydraulic cylinder 17 in FIG. 4 is a high oil chamber 17H for shifting to a high speed side with a small gear ratio, and the lower hydraulic chamber opposite to this is shifted. The low oil chamber 17L is used for shifting to a low speed side having a large ratio. In addition, the hydraulic chamber above the piston 20 in the right hydraulic cylinder 18 in FIG. 4 is a low oil chamber 18L for shifting to a low speed side with a large gear ratio, and the lower hydraulic chamber opposite to this is shifted. This is a high oil chamber 18H for shifting to a high speed side with a small ratio. The high oil chambers 17H and 18H and the low oil chambers 17L and 18L communicate with each other.

  A shift control valve 21 is provided for performing a shift by supplying and discharging hydraulic pressure to and from these hydraulic chambers. In the example shown in FIG. 4, a spool valve is employed as the speed change control valve 21, and the spool valve communicates with the high-side port 22 that communicates with the high oil chambers 17H and 18H and the low oil chambers 17L and 18L. A low-side port 23, an input port 24 to which line pressure is input, two drain ports 25 and 26, and a spool 27 that moves in the axial direction and switches the communication state of these ports. The spool 27 closes the input port 24 and the drain ports 25, 26 with respect to both the high-side port 22 and the low-side port 23, and simultaneously connects the input port 24 to the high-side port 22. An upshift state in which the low-side port 23 communicates with the drain port 26, and a downshift state in which the low-side port 23 communicates with the input port 24 and at the same time the high-side port 22 communicates with the drain port 25. It is configured to switch to.

  The shift control using the shift control valve 21 is configured to be executed by electrical feedback control. That is, a stroke sensor 28 is provided to detect the position of each power roller 1, 2 as the position or movement amount of the trunnions 5, 6. For example, the stroke sensor 28 is attached to the trunnion shaft 9 (or 10) of one trunnion 5 (or 6), and electrically detects the amount of movement in the axial direction and outputs it as a detection signal. It is configured.

  On the other hand, a control port for applying a signal pressure as an axial pressing force to the spool 27 is formed at one end in the axial direction of the spool valve, and an electromagnetic valve 29 is communicated with the control port. Yes. The electromagnetic valve 29 is a known valve that outputs a signal pressure corresponding to a duty ratio or a current value. In order to return the spool 27 against the signal pressure, a spring (not shown) may be provided on the opposite side of the spool 27 from the control port.

  An electronic control unit (ECU) 30 is provided that outputs a command signal to the electromagnetic valve 29 to execute shift control. The electronic control unit 30 is mainly composed of a microcomputer, and various kinds of signals such as a detection signal from the stroke sensor 28, a vehicle speed signal, a throttle opening signal of an engine (not shown), and a rotation speed signal of each input / output disk. A signal is being input. Then, the electronic control unit 30 performs an operation based on these input signals and prestored data and programs, and outputs a command signal for shifting to the electromagnetic valve 29, and the disk is connected to the power. A command signal for setting a pressing force (clamping pressure) for sandwiching the rollers 1 and 2 is output, and further, the positional deviation of the power rollers 1 and 2 is corrected.

  Note that the toroidal type continuously variable transmission shown in FIG. 4 is also configured to set a torque capacity corresponding to the input torque in order to transmit the input torque. Specifically, a hydraulic actuator (not shown) that presses the disk 4 from the back side so that each disk 4 sandwiches the power rollers 1 and 2 is provided, and a command based on the input torque or its estimated value is provided. The pressing force (clamping pressure) is set by a signal.

  The torque transmission and shift by the toroidal-type continuously variable transmission will be described. When torque is input to the input disk 4 from a power source such as an engine, the power that is in contact with the input disk 4 via traction oil Torque is transmitted to the rollers 1 and 2, and torque is further transmitted from the power rollers 1 and 2 to the output disk 4 via traction oil. In that case, the traction oil undergoes glass transition by being pressurized, and torque is transmitted by the large shearing force associated therewith, so that the pressure corresponding to the input torque is generated between each disk 4 and the power rollers 1 and 2. Pressed.

  Further, since the peripheral speed of the power rollers 1 and 2 and the peripheral speed at the torque transmission point of each disk 4 (the point where the power rollers 1 and 2 are in contact via traction oil) are substantially the same, the power roller 1 and 2 are tilted, and each disk 4 according to the radius from the rotation center axis of the torque transmission point to the input disk 4 and the radius from the rotation center of the torque transmission point to the output disk 4. The rotation speed (rotation speed) is different, and the ratio of the rotation speed (rotation speed) becomes the gear ratio.

  The tilting of the power rollers 1 and 2 for setting the gear ratio in this way occurs when the power rollers 1 and 2 are moved in the vertical direction in FIG. For example, when the spool 27 is moved in the right direction in FIG. 4 so that the input port 24 communicates with the high port 22 and the low port 23 communicates with the drain port 26, the high oil in each of the hydraulic cylinders 17 and 18 is obtained. Line pressure is supplied to the chambers 17H and 18H, the left power roller 1 in FIG. 4 moves downward, and the right power roller 2 in FIG. 4 moves upward. As a result, a force (side slip force) for tilting the power rollers 1 and 2 is generated between the power rollers 1 and 2 and the disc 4, and the power rollers 1 and 2 tilt. When each of the power rollers 1 and 2 is tilted by a predetermined angle, the side slip force is not generated, and a neutral state is established at the gear ratio. That is, since the power rollers 1 and 2 are tilted according to the stroke amount from the previous neutral position, the gear ratio is set according to the stroke amount.

  The electronic control unit 30 obtains a tilt angle corresponding to a target gear ratio based on a required drive amount represented by a throttle opening or the like, a vehicle speed, and the like, and an electromagnetic valve so as to achieve the tilt angle. A command signal is output to 29. The target tilt angle can be achieved by causing the power rollers 1 and 2 to stroke with the trunnions 5 and 6, so that the stroke amount of the power rollers 1 and 2 is detected by the stroke sensor 28, and the detected stroke amount and stroke are detected. A command signal (for example, a duty ratio) for the electromagnetic valve 29 is feedback controlled using a deviation from the command amount as a control deviation.

  The stroke amount of the power rollers 1 and 2 is controlled as a distance from a preset reference position, but when torque is transmitted through the power rollers 1 and 2, the tangent line between the power rollers 1 and 2 and the disk 4 The load of pushing the power rollers 1 and 2 outward in the radial direction of the disk 4 is generated by the load in the direction and the pressing force, and the trunnions 5 and 6 are deformed by these loads, or the displacement due to clogging occurs. Further, the rotation shafts such as pivot shafts 13 and 14 supporting the power rollers 1 and 2 are deformed. Due to such deformation or displacement, the relative position between the stroke sensor 28 and the trunnion 6 changes, and as a result, a deviation occurs between the actual position of the power rollers 1 and 2 and the position detected by the stroke sensor 28. A shift signal is output so as to correct such a shift, and the shift is called a torque shift. Since this torque shift is an unintended shift and is preferably corrected, the control device of the present invention is configured to perform torque shift compensation (or correction) as described below.

  FIG. 1 is a block diagram for explaining an example thereof, and includes an input torque estimating means 40 for obtaining an input torque input to the toroidal type continuously variable transmission. When the above-mentioned continuously variable transmission is mounted on a vehicle that uses an internal combustion engine as a power source, a map is used based on the load factor (or the amount of intake air per rotation) of the internal combustion engine and the rotational speed. Can be sought. In addition, you may obtain | require directly using a torque sensor, and when torque conversion mechanisms, such as a torque converter, are arrange | positioned between a power source and a continuously variable transmission, the conversion rate (torque amplification factor) Therefore, the input torque is determined in consideration of the above.

  Input torque smoothing means 41 is provided for applying a delay process to the obtained input torque. This delay process is a process called smoothing process or first-order delay process or filter process, and constants such as a smoothing coefficient in the smoothing process, a time constant in the first-order delay process, or a band in the filter process are as follows: A predetermined value is adopted. In particular, in the present invention, constants having different magnitudes are switched and employed depending on the magnitude of the absolute value of the input torque.

  That is, FIG. 2 is a diagram schematically showing the relationship between the amount of deviation from the neutral position X0 where the tilting force does not act on the power rollers 1 and 2 and the input torque Tin, and the input torque Tin gradually increases to a predetermined value. Until the value T1 is reached, the variation gradient of the deviation amount is large, and when the input torque Tin increases beyond the predetermined value T1, the variation gradient of the deviation amount becomes relatively small. This is because, in a state where the input torque Tin is small, the play (clearance) inevitably existing between the components is clogged rather than the deformation of the components such as the trunnions 5 and 6, and the relative to the stroke sensor 28. This is probably because, after a large displacement or substantial deformation occurs and the backlash is clogged, the components are deformed and a relative displacement or deformation with respect to the stroke sensor 28 appears. As described above, since the deviation in the state where the input torque Tin is small is larger than that in the case where the input torque Tin is large, in the control device of the present invention, the processing constant of the delay process is made different according to the characteristic of the deviation. It is like that.

  Further, gear ratio calculation means 42 is provided. This is for calculating the actual gear ratio, and therefore, the gear ratio is calculated as the ratio between the detected rotational speed of the input disk 4 and the rotational speed of the output disk 4.

  As described above, the shift or displacement of the positions of the power rollers 1 and 2 due to deformation called a torque shift or relative position fluctuation depends on the input torque and the pressing force (clamping pressure) for each gear ratio. Therefore, in addition to the estimation of the input torque and the calculation of the gear ratio, the pressing force is obtained, and the pressing force calculation means 43 is provided for this purpose. For example, the pressing force calculating means 43 first obtains the maximum friction coefficient between the disk 4 and the power rollers 1 and 2 based on the oil temperature, the rotational speed, etc., and calculates the maximum friction coefficient, the input torque, and the speed change. The pressing force (clamping pressure) is calculated from the map based on the ratio.

  Further, a correction value calculation means 44 is provided. This correction value is for correcting a deviation between the actual position of the power rollers 1 and 2 and the position detected by the stroke sensor 28. More specifically, the correction value is from a neutral position where no side slip occurs. This is for correcting the displacement of the power rollers 1 and 2, and is configured to calculate the displacement based on the smoothed value of the input torque, the gear ratio, and the pressing force. The calculation may be performed by substituting the numerical values described above into an arithmetic expression prepared in advance, but the relationship between the data may be prepared in advance as a map and obtained from the map.

  The correction value thus obtained is reflected in the shift control by the shift control means 45, and the gear ratio is set. FIG. 3 is a conceptual block diagram of the shift control means 45, and the deviation between the target tilt angle φo corresponding to the target gear ratio and the actual tilt angle φ is obtained. The calculation of the target gear ratio and the tilt angle corresponding to the target gear ratio can be performed in the same way as conventionally performed in the shift control in the toroidal type continuously variable transmission. For example, the required driving force is calculated based on the required driving amount represented by the accelerator opening and the vehicle speed, and the target output is obtained from the required driving force and the vehicle speed, and the target output is achieved with the minimum fuel consumption. The rotational speed of the internal combustion engine is obtained, and the target gear ratio and the target tilt angle φo are obtained so that the input rotational speed of the continuously variable transmission becomes a rotational speed corresponding to the rotational speed of the internal combustion engine.

  The deviation is processed by a predetermined gain K1, and the stroke amount (stroke amount from the neutral point) Xo of the power rollers 1 and 2 is obtained. A correction process (addition and subtraction as an example) is performed on the deviation between the stroke amount Xo and the actual stroke amount X using the correction value Xz obtained by the correction value calculation means 44 described above. The stroke amount thus determined is processed by a predetermined gain K2, and a command signal (for example, a duty ratio) is obtained for the electromagnetic valve 29. The shift control valve 21 is operated by the hydraulic pressure output from the electromagnetic valve 29. Then, the continuously variable transmission CVT performs a speed change operation.

  The amount of change in the gear ratio or the amount of change in the tilt angle due to the speed change control includes the correction of the displacement of the position of the power rollers 1 and 2 described above. If a deviation is detected, a shift occurs. That is, the neutral point is corrected. In that case, the input torque or its estimated value is immediately reflected in the control of the pressing force, and the pressing force according to the input torque is set, so that slippage in the continuously variable transmission is avoided. On the other hand, in order to obtain the correction value, a delay process such as a smoothing process is applied to the input torque or its estimated value, and the correction value is calculated based on the processed value. For this reason, even if the input torque changes due to a shift caused by the correction of the neutral point position, this does not immediately affect the correction value, so-called torque that corrects the positional deviation of the power rollers 1 and 2. Even if the control based on the input torque is performed during the shift compensation, the occurrence of hunting in the control is avoided or suppressed.

  Here, the relationship between the above specific example and the present invention will be briefly described. The stroke sensor 28 and the electronic control unit 30 described above correspond to the position detecting means of the present invention, and the input torque smoothing means shown in FIG. Corresponds to the delay processing means of the invention of claim 1 or 2, and the correction value calculation means 44 corresponds to the correction means of the invention of claim 1 or 2. Further, the pressing force calculation means shown in FIG. 1 corresponds to the pressing force setting means of the present invention, and the processing constant is set based on the fact that the deviation amount change characteristic varies depending on the input torque as shown in FIG. The means for changing corresponds to the processing constant setting means of the present invention.

  In the above specific example, the input torque or its estimated value is configured to be delayed, but in the present invention, the power roller is based on the input torque or its estimated value, instead of the configuration of the above specific example. It is configured to obtain a correction value for the displacement of the positions 1 and 2, apply a delay process to the correction value, correct the position of the power rollers 1 and 2 based on the processed value, or perform a shift control. May be. The means for obtaining the correction value in this case corresponds to the correction value calculation means of the invention of claim 3, and the means for performing the delay processing corresponds to the delay processing means of the invention of claim 3, and based on the processing value. The means for performing correction control corresponds to the correction means in the invention of claim 3.

It is a block diagram for demonstrating one specific example of this invention. FIG. 4 is a diagram schematically showing a relationship between a displacement of a power roller position and an input torque. It is a control block diagram for demonstrating an example of the shift control by the apparatus based on this invention. It is a figure which shows typically the toroidal type continuously variable transmission and hydraulic system which are made into object by this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1, 2 ... Power roller 4 ... Disc 5, 6 ... Trunnion 17, 18 ... Hydraulic cylinder, 21 ... Shift control valve, 28 ... Stroke sensor, 29 ... Solenoid valve, 30 ... Electronic control unit, 40 ... Input torque Estimating means 41... Input torque smoothing means 42. Transmission ratio calculating means 43 43 Pressing force calculating means 44 44 Correction value calculating means 45 45 Shift control means

Claims (5)

A toroidal-type continuously variable transmission that changes the transmission ratio by tilting the power roller by moving a power roller sandwiched between a pair of disks and held by a holding member together with the holding member between the disks. In the gear shift control device of the machine,
Position detecting means for detecting the position of the power roller by detecting the position of the holding member;
A delay processing means for performing a delay process on an input torque for the toroidal-type continuously variable transmission or an estimated value of the input torque to obtain an input torque processing value;
A toroidal-type continuously variable transmission comprising correction means for correcting a deviation between an actual position of the power roller and a position detected by the detection means based on the input torque processing value. Shift control device. The power roller held by the holding member is sandwiched between a pair of disks facing each other, and the power roller is moved together with the holding member in a direction parallel to the central axis of each disk on a plane including the rotating surface. In the transmission control device of the toroidal type continuously variable transmission that tilts the power roller to change the transmission ratio,
Position detecting means for detecting the position of the power roller by detecting the position of the holding member;
A delay processing means for performing a delay process on an input torque for the toroidal type continuously variable transmission or an estimated value of the input torque to obtain an input torque processing value;
A toroidal-type continuously variable transmission comprising correction means for correcting a deviation between an actual position of the power roller and a position detected by the detection means based on the input torque processing value. Shift control device. The power roller held by the holding member is sandwiched between a pair of disks facing each other, and the power roller is moved together with the holding member in a direction parallel to the central axis of each disk on a plane including the rotating surface. In the transmission control device of the toroidal type continuously variable transmission that tilts the power roller to change the transmission ratio,
Position detecting means for detecting the position of the power roller by detecting the position of the holding member;
Correction for obtaining a correction value for correcting a deviation between the actual position of the power roller and the position detected by the detecting means based on the input torque for the toroidal-type continuously variable transmission or an estimated value of the input torque. A value calculating means;
A delay processing means for performing a delay process on the correction value to obtain a correction process value;
A shift control device for a toroidal-type continuously variable transmission, comprising correction means for correcting a deviation between an actual position of the power roller and a position detected by the detection means based on the correction processing value.   2. The pressing force setting means for setting the pressing force with which each of the discs sandwiches the power roller is set based on an input torque not subjected to delay processing or an estimated value of the input torque. 4. A transmission control device for a toroidal-type continuously variable transmission according to any one of 3 above.   5. The processing constant setting means for varying the processing constant used for the delay processing according to the magnitude of the absolute value of the input torque or the estimated value of the input torque is further provided. A shift control device for a toroidal continuously variable transmission according to claim 1.

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