JP2006283821A - Mechanical type automatic transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mechanical type automatic transmission having a means for learning the proper completed gear shift positions of gear shift stages. <P>SOLUTION: In this mechanical type automatic transmission 5 operated by an actuator 51 for gear shifting, a controlled target learning means 437 operates the actuator by setting such a maximum or minimum target value that the actuator is pressed to learn proper values as stroke values in the shift direction and select direction of the gear shift stages of the actuator 51 of gear shifting. Then the controlled target learning means returns a drive output to the actuator to zero to learn the proper values without rebound by the force of repulsion from a pressed portion so as to prevent the jump out of gears and an increase in load on the transmission from occurring. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a mechanical automatic transmission for a vehicle, and more particularly to a mechanical automatic transmission having a learning function of gear position information for determining which gear stage of the mechanical automatic transmission is shifted.

In recent years, mechanical automatic transmissions have been developed and put to practical use as automatic transmissions, with automatic transmissions provided by attaching actuators to transmission gear mechanisms and clutch mechanisms similar to those of manual vehicles. It is put into practical use mainly for large vehicles such as buses.
In such a vehicle, an actuator attached to the mechanical automatic transmission is operated by a controller (ECU) mounted on the vehicle, and the mechanical automatic transmission realizes shifting of the shift stage by the movement of the actuator. That is, when the driver requests a shift shift by operating the change lever, or when the ECU determines that a shift shift is necessary from the travel state such as the accelerator opening, the vehicle speed, and the engine output torque, the ECU Gives the target stroke position value in the shift direction and the target stroke value in the select direction to the actuator, and the actuator changes the gear position according to this value, so that the gear of the mechanical automatic transmission is actually Movement and shift of gear position are executed.
In this case, an appropriate gear shift cannot be realized unless the shift direction stroke target value and the select direction stroke target value set for the actuator are appropriate values. For this reason, a method has been proposed in which an appropriate gear position is learned for each shift stage before the vehicle is shipped (see Patent Document 1).
In this method, even if the shift operation at the time of learning is not erroneously performed up to the full stroke position, it is detected that the stroke is not full stroke by storing the reference range in the ECU in advance. Then, learning is performed only when it is determined that the position has been shifted to the full stroke position, and the stroke value in the half stroke is recognized as a full stroke and is not learned.

However, learning by the above method is a method of learning by actually putting a shift lever manually into each shift stage, and there is a problem that learning is not fully automated.
Although there is a means for avoiding erroneous learning due to a half stroke, there is a problem that rebound due to repulsive force after shifting to a full stroke position is not considered.

FIG. 6 is a diagram for explaining mislearning due to the rebound.
In the gear position learning at a certain gear, when the actuator is driven so as to be pressed with a full stroke, a maximum voltage of 24 V is applied to the actuator. The actuator position information sensor attached to the actuator operates by applying the maximum voltage of 24 V, and becomes constant at the position where the actuator is pressed (deep detection position). If it is determined that this is the abutting position and the applied voltage is instantaneously returned to 0, the actuator is rebounded by the repelling force that was pressed, and even after the repulsive force disappears, it returns due to inertia and returns to the shallow detection position.
During learning, if this shallow detection position is detected by the gear position sensor and learned as the gear engagement completion position of this gear, the position before the correct contact position is set as the gear engagement completion position. If you put in, there will be a problem that the gear will come off.
Further, when the pressed position (deep detection position) is detected by the gear position sensor and learned as the gear engagement completion position, the gear engagement completion position is too deep, which causes a problem that the load on the transmission increases.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a mechanical automatic transmission having means for learning an appropriate gearing completion position of each gear.

  The present invention for solving the above-described problems is a mechanical automatic transmission that can automatically change a target shift speed of a vehicle according to a driving situation of the vehicle based on a preset shift map. A gear shift actuator for driving the mechanical automatic transmission, and a gear shift control means for controlling the movement of the gear shift actuator. It is a mechanical automatic transmission characterized by having control target learning means for learning an appropriate value as a target value of the insertion completion position.

  The control target learning means gives a drive output for obtaining the maximum stroke of each shift stage to the gear shift actuator when learning the gear set completion position target value for each shift stage, and then gradually decreases the drive output to drive the gear. The actual gear position of the gear shift actuator after the decrease in output is learned as the gear position of the gear stage. It is desirable that the control target learning means gently decrease the drive power over a time period of about 0.5 seconds to 1 second after giving a drive output capable of obtaining the maximum stroke of each gear.

  The control target learning means gives the actuator a drive output that can obtain the maximum stroke, so that the actuator is pressed at the deepest position. Thereafter, the drive output is not instantaneously set to 0, for example, 0. By returning to 0 over 5 seconds, the actuator is gradually converged to an appropriate actuator position without rebounding from the pressed state. By reading this value with the gear position sensor and setting it as the gear complete position, gear complete position learning without gear disengagement and no load on the transmission can be performed.

  The gear shift gear position learning of the mechanical automatic transmission according to the present invention can accurately learn the gear engagement completion position, increase the load on the gear shift that occurs when a deep value is learned, or gear loss that occurs when a shallow learning is performed. It is possible to prevent the occurrence of the above.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a configuration diagram showing a configuration of a mechanical automatic transmission according to an embodiment of the present invention, FIG. 2 is a functional configuration diagram of the mechanical automatic transmission, and FIG. 3 is a processing flow of transmission gear position learning. FIG. 4 is a diagram for explaining proper learning, FIG. 5 is a diagram for explaining the gear position in the shift direction selection direction, and FIG. 6 is a diagram for explaining the gear-filling completion position by the conventional learning method. .

As shown in FIG. 1, the engine output shaft 7 protruding from the engine 1 is connected to a mechanical automatic transmission 5 via an automatic clutch device 3. As a result, the output of the engine 1 is transmitted to the mechanical automatic transmission 5 and the gear shift is performed. The mechanical automatic transmission device 5 is an automatic transmission type transmission mechanism having a reverse speed (R) and a plurality of forward speeds (for example, 6 speeds), and in addition, a manual speed change is also possible.
The automatic clutch device 3 is automatically connected and disconnected when the mechanical automatic transmission 5 is shifted.
On the other hand, the engine 1 is provided with an engine rotation sensor 11 for detecting the rotation speed of the engine output shaft 7 of the engine 1, that is, the engine rotation speed.

  The mechanical automatic speed change mechanism 5 is driven by a gear shift actuator 51 to perform a speed change operation. The gear shift actuator 51 is for driving each gear shift member in the select direction and the shift direction in the mechanical speed change mechanism 5, and is composed of, for example, two sets of electric motors. By driving the gear shift members in the select direction and the shift direction and switching the meshing state of the mechanical automatic transmission mechanism 5, the gear position is shifted to a desired state.

A gear position sensor 53 is provided in the vicinity of the gear shift actuator 51, and a shift stroke value and a select stroke value, which are amounts of movement of the gear shift actuator 51 in the shift direction and the select direction, are output as a shift select stroke signal 531.
As the gear shift actuator 51, a fluid pressure actuator such as a pneumatic actuator using an air cylinder or a hydraulic actuator using a hydraulic cylinder can be used in addition to an electric motor.

The automatic clutch device 3 is brought into a connected state by press-contacting a clutch disc (friction clutch, also simply referred to as a clutch) 33 to the flywheel 31, while being brought into a disconnected state by separating the clutch disc 33 from the flywheel 31. A normal mechanical friction clutch is automatically operated.
A clutch connecting / disconnecting actuator 35 is connected to the clutch disk 33. When a voltage is applied to the actuator 35 to shift from the non-operating state to the operating state, the clutch disk 33 moves in the separating direction, whereby an automatic clutch device is provided. 3 changes from a connected state to a disconnected state. On the other hand, in a non-operating state in which no voltage is applied to the actuator 35, the clutch disc 33 is in pressure contact with the flywheel 31, and in this case, the automatic clutch 3 is held in the connected state.
Such an automatic clutch device 3 is provided with a clutch stroke sensor 39 for detecting the amount of movement of the clutch disk 33, that is, the clutch stroke. A clutch rotation sensor 37 that detects the number of rotations of the clutch disk 33 is provided in the vicinity of the clutch disk 33.

  The gear shift actuator 51, the clutch connection / disconnection actuator 35, and the engine 1 are controlled by a gear shift actuator drive signal 511, a clutch actuator drive signal 351, and an engine control signal 113, respectively, output from an electronic control unit (ECU) 40.

  The ECU 40 controls the central processing unit CPU 401 that executes arithmetic processing according to the control program, the control program for the mechanical automatic transmission including the program for the control target learning means 439 for the gear to be described later, the control for the engine 1 and the automatic clutch device 3. A read only memory (ROM) 403 for storing programs and necessary data, a random access memory (RAM) 405 for storing calculation results, an input / output interface 407, a timer 409, and the like are included.

  The ECU 40 has an input / output interface 407 via an input / output interface 407, a change lever operation signal 151 as an operation signal of the change lever unit 15, an accelerator opening signal 131 by an accelerator depression amount sensor attached to the accelerator pedal 13, and an actuator for clutch connection / disconnection. 35, a clutch stroke signal 391 from the clutch stroke sensor 39 attached to 35, a shift select stroke signal 531 output from the gear position sensor 53 attached to the gear shift actuator 51, and a clutch rotation sensor 37 attached to the automatic clutch device 3. By the obtained clutch rotation speed signal 371, the vehicle speed signal 551 obtained by the vehicle speed sensor 55 provided on the output side of the mechanical automatic transmission mechanism 5, and the engine rotation sensor 11 provided in the engine 1 An engine speed signal 111 which is is input.

  The ECU 40 processes these input signals to drive the engine 1, the gear shift actuator 51, the clutch connection / disconnection actuator 35, the engine control signal 113, the gear shift actuator drive signal 511, and the clutch actuator drive. The signal 351 is output via the input / output interface 407.

  Based on the gear shift actuator drive signal 511 and the clutch actuator drive signal 351 output from the ECU 40, appropriate voltages are respectively applied to the gear shift actuator 51 and the clutch connecting / disconnecting actuator 35 to drive them. Thereby, the gear shift of the mechanical automatic transmission device 5 and the clutch connection / disconnection of the automatic clutch device 3 are realized.

  The driver can operate by changing the automatic shift mode and the manual shift mode by the change lever unit 15. That is, in the state where the driver puts the lever of the change lever unit 13 in the drive “D”, the driving state signals (vehicle speed signal 551, engine speed signal 111, engine load, etc.) as various sensor outputs In addition, the ECU 40 controls the clutch connecting / disconnecting actuator 35, the gear shifting actuator 51, and the engine 1 so as to shift the gear to the optimum gear position (automatic shift mode).

  On the other hand, it is also possible for the driver to issue a gear shift command by manual operation. When the driver puts the lever of the change lever unit 15 into “+” or “−”, the current gear shift stage is increased by one stage. Alternatively, a change lever operation signal 151 for lowering one step is input to the ECU 40. Based on this signal, the ECU 40 controls the clutch connecting / disconnecting actuator 35, the gear shift actuator 51, and the engine 1 (manual shift mode).

  That is, in the automatic shift mode, the ECU 40 determines the necessity of changing the gear position based on the travel state information such as the vehicle speed and the engine load. In the manual shift mode, the ECU 40 is based on the driver's shift command. The shift signal is output to control the clutch disengagement-gear shift-clutch connection, and appropriately control the output of the engine 1.

FIG. 2 is a functional configuration diagram of the mechanical automatic transmission.
As shown in the figure, the ECU 40 includes a shift signal generating means 415, a gear shift control means 419, a clutch control means 421, and an engine output control means not shown in the figure. It is stored in a storage device such as the ROM 403 of the ECU 40. When the CPU 401 executes these programs, the ECU 40 controls the automatic shift and causes the vehicle to travel.

That is, when the shift signal generating means 415 sets the gear shift gear and a shift is required, the shift signal generating means 415 sends a shift request to the gear shift control means 419 and the clutch control means 421, and the clutch control means 421 Prior to this, the clutch connecting / disconnecting actuator 35 is controlled to operate the automatic clutch device 3 to disconnect the clutch.
On the other hand, in response to a shift request from the shift signal generation unit 415, the gear shift control unit 419 controls the gear shift actuator 51 to shift the mechanical automatic transmission 5 to the selected shift gear stage. When the shift is completed, the clutch control unit 421 connects the automatic clutch device 3 again by driving the clutch connecting / disconnecting actuator 35. During this time, the engine output control means 423 controls the output of the engine 1 at the time of the shift in conjunction with the clutch control means 421 in response to a shift request from the shift signal generation means 415.

The gear shift actuator 51 includes a shift electric motor 501 and a select electric motor 502, and operates the gear shift member in the shift direction and the gear shift member in the select direction of the mechanical automatic transmission 5, respectively.
These electric motors 501 and 502 are driven by a shift electric motor drive signal 5111 and a select electric motor drive signal 5112 generated by the gear shift control means 419, which will be described later.

FIG. 2 will be described in more detail.
A manual / automatic shift command 411 is input to the shift signal generating means 415 when the driver selects manual or automatic shift by operating the change lever unit 15 while the vehicle is traveling. In the case of the manual shift mode, the shift stage is determined by a shift-up or shift-down request generated by the driver's operation of the change lever unit 15.

On the other hand, when the automatic shift mode is selected by the manual / automatic shift command 411, the shift signal generation means 415 normally receives the vehicle speed signal 551, the accelerator opening signal 131, etc., which are input via the input / output interface 407 of the ECU 40. Is received as the driving state information 413, and the gear position is determined based on the information.
That is, the shift map 417 is stored in the ROM 403 of the ECU 40. By referring to the shift map 417 using the vehicle speed and the accelerator opening as a key, the shift gear stage corresponding to the traveling state at that time is selected.
When the transmission gear stage is selected, the shift signal generation means 415 sends signals to the gear shift control means 419, the clutch control means 421, and the engine output control means 423, respectively, and the mechanical automatic transmission device 5 and the automatic clutch device, respectively. 3. Control the engine 1 to execute gear shift.

Next, the gear shift control means 419 will be described.
The shift signal generation unit 415 sends a signal requesting gear shift to the control target setting unit 431 of the gear shift generation unit 419. At this time, in the case of the automatic shift mode, a shift request to the shift stage obtained by referring to the shift map 417 based on the accelerator opening information and the vehicle speed of the traveling state information 413 is issued. Further, in the manual shift mode, the shift signal generating means 415 raises or lowers the current gear position by one step (+ or −) or reverses the gear (R) by the operation of the change lever unit 15 by the driver. Alternatively, a shift request to be put in neutral (N) is determined, and a shift request is issued to the control target setting unit 431 of the gear shift control unit 419.

The control target setting unit 431 sets a target value for controlling to the gear stage to be shifted in response to the shift request received from the shift signal generation unit 415.
FIG. 5 is a diagram for explaining the control target value.
For example, when entering the third speed, the shift stroke target value is set to 3.13V, and the select stroke target value is set to 1.75V. Similarly, for the first speed, the shift stroke target value is set to 3.13V, and the select stroke target value is set to 0.68V. The shift stroke target value, the select stroke target value, and the neutral shift stroke target value for the first to sixth speeds and the back (R) are stored in the control target value storage means 439. The control target setting means 431 With reference to target value storage means 439, control target values in the shift direction and select direction are set for the shift request gear stage generated by shift signal generation means 415. The control target value storage means 439 is provided in a ROM 403 such as an EEPROM in the ECU 40.
Further, since the control target value of each gear stage stored in the control target value storage means 439 varies depending on the individual mechanical automatic transmission device 5, the control target learning means 437 described later before shipment of the vehicle or at the time of overhaul. And stored in the control target value storage means 439.

  When the control target setting unit 431 completes the setting of the shift stroke target value and the select stroke target value for the shift stage requested by the shift signal generation unit 415, each value is then converted into the current shift stroke value (shift stroke signal). 5311) and the select stroke value (select stroke signal 5313) are compared (4411, 4412). Thus, the amount of displacement from the current shift stroke position and select stroke position is calculated, and these values are input to PID controls 4331 and 4332, respectively. Here, the PID controls 4331 and 4332 are known methods for controlling the actual shift stroke value and the select stroke value to converge to the control target value.

The output values of PID controls 4331 and 4332 are input to shift electric motor drive control means 4351 and select electric motor drive control means 4352, respectively.
The shift electric motor drive control means 4351 calculates the applied voltage to the shift electric motor 501 necessary for realizing the displacement to the shift stroke target value, which is the output value of the PID control 4331, and drives the shift electric motor. The power circuit 71 is driven as a signal 5111 and a voltage is applied to the shift electric motor 501.
On the other hand, the selection electric motor drive control means 4352 similarly calculates the applied voltage to the selection electric motor 502 necessary for realizing the displacement to the selection stroke target value which is the output value of the PID control 4332, and selects The power circuit 71 is driven as the electric motor drive signal 5112 for use, and a voltage is applied to the electric motor 502 for selection.
As a result, the shift electric motor 501 and the select electric motor 502 are operated to drive the shift direction member and the select direction member of the mechanical automatic transmission device 5, and the shift signal generating means 415 returns to the shift stage designated. A shift is performed.
A gear position sensor 53 is provided for each of the shift electric motor 501 and the select electric motor 502, and a shift stroke signal 5311 and a select stroke 5312 are input to the gear shift control means 419, respectively.

Next, the control target learning means 437 for each shift stage will be described.
FIG. 3 is a flowchart showing a process flow of the control target learning unit 437.
First, the default value of the control target is read (s4311).
As shown in the upper right of FIG. 3, the default value of the control target is, for example, 1st and back select and stroke target value 0.6, 3rd and 2nd select, and stroke target value 1.7, 5th and 4th. Speed Select and Stroke Target Value 3.0, 6 Speed Select and Stroke Target Value 4.2, 1st Speed, 3rd Speed, 5th Speed Shift Stroke Target Value 3, Back (R), 2nd Speed, 4th Speed, 6 The speed shift stroke target value 1.5 and the neutral shift stroke target value 2.3 are set in advance and stored in the control target storage means 439.

Next, the control item M to be learned is set to 1 for convenience (s4312).
As shown in the upper left of FIG. 3, here, M = 1 is neutral shift value learning, M = 2 is 6-speed select value learning, M = 3 is 1-speed and back (R) select value learning, M = 4 is 1st speed shift value learning, M = 5 is R shift value learning, M = 6 is 2nd speed and 3rd speed select value learning, M = 7 is 2nd speed shift value learning, M = 8 is 3rd speed Shift value learning, M = 9 4th and 5th speed select value learning, M = 10 4th speed shift value learning, M = 11 5th speed shift value learning, M = 12 6th speed shift value Learning is performed, and learning processing is executed in order from M = 1.

First, a processing method is selected based on the value of M (s4313 and s4319).
In the case of M = 1, 6, 9 (yes in s4313), it is learning of the shift value of the neutral and the select value of the second speed, the third speed, the fourth speed, and the fifth speed. 5 is the learning of a value located in the middle of 5. In this case, the stroke target value is learned by the processing of s4314 to s4318.
On the other hand, in the case of M = 3, 5, 7, 10, 12 (s4319), learning of the select value of 1st speed and back (R) and the shift value of back (R), 2nd speed, 4th speed, 6th speed The learning is performed by setting the target stroke value to the minimum 0. In this case, the stroke target value is learned by the processing of s4320 to s4323.
Further, in the case of M = 2, 4, 8, and 11 (s4319), it is learning of the 6th speed select value, 1st speed, 3rd speed, and 5th speed shift value, and the target stroke value is set to 5 as the maximum. To learn. In this case, the stroke target value is learned by the processing of s4324 to s4327.
Hereinafter, the process flow of learning the stroke target value in each case will be described.

In the case of M = 1, 6, 9 (yes in s4313), the default value of the gear position to be learned is referred to by the control target storage unit (control target storage unit 439), the stroke target value is obtained, and the corresponding electric motor is supplied. The applied voltage is calculated (s4314).
For example, when M = 1, 2.3, which is the default value of the neutral shift stroke, is read out, set as a control target, compared with the current shift stroke value 5311 (4411), and for shift through the PID control 4331 Input to the electric motor drive control means 4351. As a result, the shift electric motor drive control unit 4351 calculates the voltage applied to the shift electric motor 501.
Next, a control target is set so that the select value is changed over time in the stroke range 0 to 5 if the gear position to be learned is a shift value and the shift value is selected if the gear position to be learned is a select value. The applied voltage to the corresponding electric motor is calculated and output to the power circuit 71 together with the other applied voltage calculated in s4314 to drive the shift electric motor 501 and the select electric motor 502 of the gear shift actuator 51 ( s4315).
For example, when M = 1, the control target is set so as to change the neutral selection value between 0 and 5 in time, and is compared with the current selection stroke value 5312, and the electric motor for selection is set via the PID control 4332. This is input to the motor drive control means 4352. As a result, the selection electric motor drive control means 4352 calculates the voltage applied to the selection electric motor 502 that changes over time.

Through the above processing, the gear shift actuator 51 operates. At this time, it is determined whether or not the select stroke signal 5312 and the shift stroke signal 5311 appropriately change toward the set target (s4316).
That is, in the case of M = 1, when the select value is temporally changed from 0 to 5 in the neutral shift value 2.3, if the select stroke signal 5312 changes following, the appropriate change has occurred. If it does not follow, it is determined that it is not appropriate.
If it does not change properly (no in s4316), the default value previously set in s4314 is slightly changed (s4317), and the processing in s4314 to s4316 is repeated.
When it changes appropriately (yes in s4316), the default value at that time is stored in a learned matrix (for example, lower left in the figure) (s4318).
In the case of M = 1, when the neutral shift value is set to 2.4, if the select stroke is made variable and the select stroke signal 5312 is appropriately followed, the neutral shift value 2.4 is learned as an appropriate value. Stored in a completed matrix.
The learned matrix is provided in the RAM 405 in the ECU 40, for example.

When the processing of s4314 to s4318 is completed by the above processing, the value of M is incremented by 1 (s4328). If the value of M is 12 or less (no in s4329), the processing returns to s4313 and the learning processing is continued. .
Assuming that the learning process of M = 1 is completed and M = 2, M = 2 in s4319, and the learning process of s4324 to s4327 is executed.

In addition to M = 2, when M = 4 (shift value of 1st speed), M = 8 (shift value of 3rd speed), and M = 11 (shift value of 5th speed), the learning process of s4324 to s4327 is executed. . In the learning process of s4324 to s4327, first, the learned value that is not the gear position to be learned is read and set (s4324). For example, in the case of M = 2, since the 6th speed select value is learned, the neutral shift value 2.4 already learned and stored in the learned matrix is set as the target value of the shift stroke.
Next, the stroke target value of the gear position to be learned (select value of 6th speed when M = 2) is set to the maximum 5 V (s4325). As a result, the gear shift actuator 51 in the corresponding shift direction or select direction is pressed in the maximum direction.

Next, the target values of the shift and select strokes set in s4324 and s4325 are compared with the current shift stroke signal 5311 and the select stroke signal 5312 (s4411 and s4412), and input to the PID control 4331 and PID control 4332, respectively. Are respectively input to the shift electric motor drive control means 4351 and the selection electric motor drive control means 4352 to calculate the applied voltages of the shift electric motor 501 and the selection electric motor 502 and pass through the power circuit 71. The voltage is applied to actuate the gear shift actuator 51.
Here, the actual stroke value (shift stroke signal 5311 and select stroke signal 5312) of the gear shift actuator 51 is continuously measured, and the stroke signal (5311 or 5312) corresponding to the maximum 5 V set in s4325 is the maximum constant. When the value converges, the voltage applied to the electric motor (501 or 502) is gradually returned to 0 during time T as shown in FIG. 4 (s4326). At this time, the time T is determined in advance and is set to about 0.5 seconds, for example.

  Then, the value of the stroke signal (5311 or 5312) corresponding to the gear position to be learned is read as the gear engagement completion position and stored in the learned matrix (s4327).

When M = 2, shift stroke target value 2.4, select stroke target value 5
Is set, the shift electric motor 501 and the select electric motor 502 are operated, and the gear shift actuator 51 is operated.
When the value of the select stroke signal 5312 is saturated at the maximum value, the applied voltage of the selection electric motor 502 is returned to 0 over time T, and the value of the select stroke signal 5312 after the time T is set in the 6th speed select direction. This is read as the gear-setting completion position (for example, 4.34) and stored in the learned matrix.

  As a result of the above processing, as shown in FIG. 4, the applied voltage is gradually decreased from the deep detection position obtained by setting the maximum stroke target value 5 and applying the voltage to the electric motor. An appropriate detection position value that does not rebound due to the repulsive force of the actuator as shown can be obtained.

As described above, when the processing of s4324 to s4327 is completed, the value of M is incremented by 1 (s4328) as before, and if M is 12 or less, the processing returns to s4313 and continues the learning processing.
Assuming that the process of M = 2 is completed and the value of M is incremented to 3, M = 3 in s4319, and the learning process of s4320 to s4323 is executed. M = 5 (back (R) shift value), M = 7 (2nd gear shift value), M = 10 (4th gear shift value), M = 12 (6th gear shift value) ), The learning process of s4320 to s4323 is executed.

In the learning process of s4320 to s4323, first, the learned value that is not the gear position to be learned (if M = 3, the selected value of the first speed and the back (R)) is read from the learned matrix and set. When M = 3, the neutral shift value 2.4 that has already been set is set as the target value for the shift stroke (s4320).

Next, the stroke target value of the gear position to be learned (select value of 1st speed and back (R) when M = 3) is set to the minimum 0 V (s4321). As a result, the gear shift actuator 51 in the corresponding shift direction or select direction is pressed in the minimum direction.

Next, the target values of the shift and select stroke set in s4320 and s4321 are compared with the current shift stroke signal 5311 and the select stroke signal 5312 (s4411 and s4412), and input to the PID control 4331 and PID control 4332, respectively. Are respectively input to the shift electric motor drive control means 4351 and the selection electric motor drive control means 4352 to calculate the applied voltages of the shift electric motor 501 and the selection electric motor 502 and pass through the power circuit 71. The voltage is applied to actuate the gear shift actuator 51.
Here, the actual stroke value (shift stroke signal 5311 and select stroke signal 5312) of the gear shift actuator 51 is continuously measured, and the stroke signal (5311 or 5312) corresponding to the minimum 0 V set in s4321 is the minimum value. When it converges, the applied voltage to the electric motor (501 or 502) is gradually returned to 0 during the time T as in the case of s4324 to s4327 (s4322). At this time, the time T is determined in advance and is set to about 0.5 seconds, for example.
Then, the value of the stroke signal (5311 or 5312) corresponding to the gear position to be learned is read as the gear engagement completion position and stored in the learned matrix (s4323).

When M = 3, shift stroke target value 2.4, select stroke target value 0
Is set, the shift electric motor 501 and the select electric motor 502 are operated, and the gear shift actuator 51 is operated.
When the value of the select stroke signal 5312 is saturated at the minimum value, the voltage applied to the select electric motor 502 is returned to 0 over time T, and the value of the select stroke signal 5312 after time T is set to 1st speed and back (R). Is read as the gearing completion position in the select direction (for example, 0.68) and stored in the learned matrix.

As described above, when the processing of s4324 to s4327 is completed, the value of M is incremented by 1 (s4328) as before, and if M is 12 or less, the processing returns to s4313 and the learning processing is continued for M = 4 to 12.
For example, when M = 4, it is learning of the shift value of the first speed, and learning is performed by the processing of s4324 to s4327. When the target value of the selected stroke is set to 0.68 that has already been learned (s4324), the shift value is set to the maximum value 5 (V) (s4325), and the shift stroke signal 5311 converges to the maximum value, the time T And the applied voltage is returned to 0 (s4326), and the convergence value of the shift stroke signal 5311 after time T is stored in the learned matrix as the gearing completion position in the first-speed shift direction (eg, 3.15).

Similarly, when M = 5, it is back (R) shift value learning, and a learning process is executed in s4320 to s4323. Similarly, learning processing is executed in s4320 to s4323 for M = 7 (second-speed shift value), M = 10 (fourth-speed shift value), and M = 12 (6-speed shift value).
On the other hand, when M = 8 (shift value of the third speed) and M = 11 (shift value of the fifth speed), the learning process is executed by the above-described processes of s4324 to s4327 that set the shift stroke target value to the maximum 5V. Is done.
Further, when M = 6 (second speed, third speed select value) and M = 9 (fourth speed, fifth speed select value), the above-described learning process of s4314 to s4318 is executed.

Through the above processing, for example, the selection value and shift value of 1st to 6th speed, and the back (R), and the neutral shift value can be learned.
The above learning process is executed before the vehicle is shipped or overhauled, and the appropriate shift stroke value and select stroke value are stored in the ROM 403 such as an EEPROM so that the shift signal generating means 415 shifts the transmission gear stage. When requested, it is possible to perform an appropriate shift operation without gear loss or an increase in load on the transmission.

The present invention is not limited to the embodiment described above, and various modifications are possible, and these are also included in the technical scope of the present invention. For example, in the present embodiment, the value of the time T is 0.5 seconds, but this value is not limited to this, and may be 1 second, for example.
Further, in the description of the present embodiment, the learning value of the shift value and the selection value of each gear stage is stored in the learned matrix, but the value of this learned matrix may be used during actual shifting, A representative value of these values may be used as a stroke target at the time of shifting. For example, each learning value may be used as the shift value of the first speed, the third speed, and the fifth speed, or 3.16 that is the maximum value among them may be used. By using the maximum value, it is possible to avoid gear loss due to gear setting being too shallow at any gear stage. Conversely, as the shift value of the back (R), 2nd speed, 4th speed, and 6th speed, the respective learning values may be used, or 1.64 which is the minimum value with no problem of gear loss may be used. .

The block diagram which shows the structure of the mechanical automatic transmission concerning embodiment of this invention Functional configuration diagram of mechanical automatic transmission The flowchart which shows the flow of a process of the stroke control target learning means of a gear stage Explanatory diagram of learning method for proper detection position Explanatory drawing of shift value and select value of each gear stage Explanatory diagram of learning that does not consider actuator bounce due to repulsive force

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Engine 3 ... Automatic clutch apparatus 5 ... Automatic mechanical transmission 51 ... Gear shift actuator 53 ... Gear position sensor 419 ... Gear shift control means 421 ... Clutch control means 431 Control target setting means 437 Control target learning means 439 Control target storage means 501 Shift electric motor 502 502 Select electric motor 4351 Shift electric motor drive control means 4352 ......... Selection electric motor drive control means 511 ......... Gear shift actuator drive signal 5311 ......... Shift stroke signal 5312 ......... Select stroke signal

Claims (3)

A mechanical automatic transmission that can automatically change a target shift stage of a vehicle according to a driving situation of the vehicle based on a preset shift map,
A gear shift actuator for driving the mechanical automatic transmission;
Gear shift control means for controlling the movement of the gear shift actuator,
The mechanical automatic transmission apparatus, wherein the gear shift control means includes control target learning means for learning an appropriate value as a target value of a gear engagement completion position of each shift stage for operating the gear shift actuator.   The control target learning means gives a drive output capable of obtaining the maximum stroke of each shift stage to the gear shift actuator when learning the target gear position completion value for each shift stage, and then gradually decreases the drive output. 2. The mechanical automatic transmission according to claim 1, wherein an actual gear position of the gear shift actuator after the drive output is reduced is learned as a gear position of the gear stage. The control target learning means gently reduces drive power over a period of about 0.5 seconds to 1 second after giving a drive output capable of obtaining the maximum stroke of each gear stage. 3. The mechanical automatic transmission according to 2.

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