JP2007225056A - Select assist device for automatic transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a select assist device for an automatic transmission, having a higher degree of freedom in layout with a reduced size of a select bar and select bar operating force property as required, while actualizing range change-over operation during fail with the mechanical connection of the select bar to a select position change-over device. <P>SOLUTION: D-preceding PI control is performed by subtracting a second drive command value from a first drive command value. Besides, an operating speed estimating part 32 for estimating an operating speed to be used for computing the second drive command value as a D control component introduces a false model for a transmission system to the select position change-over device, as a stage estimator, whereby an operating speed computing part 322 for estimating the operating speed is formed to compute an operating speed estimated value from a spring constant and an operating position found by a relationship between the operating position and the spring constant, and the drive command value. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to a technical field of a selection assist device for an automatic transmission that switches a selection position of the automatic transmission by control according to an operation of a driver's select lever in a vehicle equipped with the automatic transmission.

  Conventionally, a select lever of an automatic transmission is mechanically connected to a manual valve of the automatic transmission via an operating force transmission means such as a rod or a cable. The driver's operating force input to the select lever is transmitted to the manual valve via the operating force transmitting means, and the select position is switched according to the operation amount (see, for example, Patent Document 1).

On the other hand, what uses what is called shift-by-wire technique in which the select lever and the manual valve are electrically connected is known. In this prior art, an actuator that operates a manual valve is provided, and the select position is switched by driving the actuator by changing the rotation operation of the select lever into an electric signal (see, for example, Patent Document 2).
JP-A-9-323559 JP 2003-97694 A

  When the select lever is operated, a mechanical operating reaction force such as friction of the operating force transmission means, resistance of detent, etc. is generated, and thus a large operating force is required. Therefore, in order to reduce the necessary operating force of the driver, it is necessary to set the length of the select lever to a length that can obtain a sufficient lever force.

  Therefore, the former of the above prior arts has a problem that the shape becomes large due to the length of the select lever, so that there are many restrictions on the installation place and the degree of freedom in layout in the vehicle interior is low.

  On the other hand, in the latter, the selection lever can be designed shorter by adopting the actuator, and the degree of freedom in layout becomes higher than that in the former. However, since the select lever and the manual valve are not mechanically connected, the range cannot be switched during a failure.

  The present invention has been made paying attention to the above-mentioned problem, and the object of the present invention is to reduce the size of the select lever while enabling the range switching operation at the time of failure by mechanically connecting the select lever and the select position switching device. It is an object of the present invention to provide a selection assist device for an automatic transmission that can increase the degree of freedom in layout and can obtain select lever operation characteristics according to requirements.

  In order to achieve the above object, in the select assist device for an automatic transmission according to the present invention, a select lever and a select position switching device for the automatic transmission are connected by a select operation force transmission system, and the select operation force transmission system In the select assist device of the automatic transmission provided with an assist actuator for assisting the select operation force by the driver, the select operation force transmission system is connected to a first connecting member connected to a select lever and the select position switching device. A second connecting member that is connected, and a relative displacement allowable connecting mechanism that connects the two connecting members while allowing relative displacement up to a limit amount, and the assist actuator is set as the second connecting member. Assist control means for controlling the drive of the assist actuator is provided to detect the amount of relative displacement Relative displacement amount detecting means, and an operating position detecting means for detecting the operating position of the select position switching device is provided. The assist control means has a first drive command value so that the detected value of the relative displacement amount becomes small. First driving command value calculating means for calculating the operating speed, operating speed estimating means for estimating the operating speed, second driving command value calculating means for calculating the second driving command value from the operating speed, and first driving command And a final drive command value calculating means for calculating a final drive command value from the value and the second drive command value, wherein the operating speed estimating means sets the operating position of the select position switching device corresponding to each range position. The operating position from the operating position detecting means is a check spring constant that is a value corresponding to the inclination of the operating position of the force generated by the check mechanism provided in the select position switching device to be held at the position. The inertia of the select operation transmission system from the assist actuator including the assist actuator to the select position switching device, and the select operation connection system from the assist actuator including the assist actuator to the select position switching device. On the basis of the viscous friction coefficient, the check spring constant, the operating position, and means for calculating the operating speed from the drive command value are configured.

Here, the claim correspondence figure about this invention is demonstrated.
FIG. 19 is a diagram corresponding to the claims of the present invention.
Claim 1 corresponding to the claim correspondence diagram of FIG. 19 is shown below.

  The select lever of the automatic transmission is connected to a select position switching device of the automatic transmission by a select operation force transmission system, and the select operation force transmission system is provided with an assist actuator for assisting the select operation force by the driver. In the apparatus, the selection operation force transmission system includes a first connection member connected to a select lever, a second connection member connected to the select position switching device, and both the connection members while allowing relative displacement up to a limit amount. A relative displacement-permissible coupling mechanism, and the assist actuator is set as a second coupling member, and assist control means for controlling the drive of the assist actuator is provided to detect the relative displacement amount. Displacement detection means a is provided to detect the operating position of the select position switching device. Position detection means b is provided, and the assist control means is a first drive command value calculation means c that calculates a first drive command value so that a detected value of the relative displacement becomes small, and an operation speed that estimates the operation speed. An estimation means d, a second drive command value calculation means e for calculating a second drive command value from the operating speed, and a final drive command value from the first drive command value and the second drive command value A final drive command value calculating means f for performing the check, and the operating speed estimating means d is a check provided in the select position switching device for maintaining the operating position of the select position switching device at a position corresponding to each range position. Means d1 for obtaining an inclination equivalent value of the force generated by the mechanism with respect to the working position as a check spring constant from the working position from the working position detecting means, and the assist actuator including the assist actuator The check spring constant based on the inertia of the select operation transmission system from the actuator to the select position switching device and the viscous friction coefficient of the select operation connection system from the assist actuator including the assist actuator to the select position switching device And the operation position and means d2 for calculating the operation speed from the drive command value.

  In the present invention, while maintaining the mechanical connection between the select lever and the select position switching device, the select position switching device of the automatic transmission is switched by the control drive according to the operation of the driver's select lever, so that at the time of failure Both securing the range switching operation and increasing the degree of layout freedom by downsizing the select lever can be achieved.

  Hereinafter, an embodiment for realizing a select assist device for an automatic transmission according to the present invention will be described based on examples.

First, the configuration will be described.
FIG. 1 is a side view showing a configuration of an automatic transmission apparatus according to a first embodiment, and FIG. 2 is a perspective view of a main part showing a detailed structure of a select section.

As shown in FIG. 1, the automatic transmission device according to the first embodiment mainly includes a selection unit 1, an assist actuator 2, a controller 3, a control cable 4, and an automatic transmission 5.
The select unit 1 includes a select lever 11, a select knob 12, a first rotating unit 13 (corresponding to a first connecting member), a check mechanism unit 14, a worm wheel 16, and a second rotating unit 17 (corresponding to a second connecting member). ), A cable mounting lever 18 and a fulcrum shaft 19.
The select lever 11 is provided at a position where it can be operated from the driver's seat, and a select knob 12 is attached to the tip of the select lever 11 for a driver to hold when selecting. The select lever 11 is attached to the first rotating unit 13, and the first rotating unit 13 is rotated about a fulcrum shaft 19. As a result, the select lever 11 can be rotated. The select lever 11 is set to 100 mm, which is 250 mm shorter than a conventional general select lever.

Further, the fulcrum shaft 19 is provided with a second rotating portion 17 so as to be rotatable. The second rotating part 17 is coaxial with the first rotating part 13 but has a structure capable of relative rotation.
A worm wheel 16 is provided on one end side of the second rotating portion 17, and a cable attachment lever 18 is provided on the opposite side of the worm wheel. The end of the control cable 4 is attached to the cable attachment lever 18, and the opposite end is attached to the control arm 51 of the automatic transmission 5.
In the first rotating unit 13 and the second rotating unit 17 that can rotate relative to the same rotating shaft (fulcrum shaft 19), the first rotating unit 13 has a play having a predetermined length in the circumferential direction. A groove 131 is provided. The second rotating portion 17 is provided with a protrusion 171 so as to be positioned in the play groove 131. As a result, the relative rotation between the first rotating portion 13 and the second rotating portion 17 is within a range in which the protrusion 171 can move between the play grooves 131. (The idle groove 131 of the first rotating portion 13 and the protrusion 171 of the second rotating portion 17 constitute an idle connecting mechanism which is a relative displacement allowable connecting mechanism.)

The assist actuator 2 is an electric motor. A worm 21 is provided on the output shaft of the assist actuator 2 to be engaged with the worm wheel 16 to form a worm gear. The assist actuator 2 rotates the second rotating portion 17. .
Further, the fulcrum shaft 19 is provided with a position sensor 62 (corresponding to an operating position detecting means) for detecting a stroke angle of the second rotating portion 17 with respect to the fixed member, that is, an operating angle connected to the control lever 51. The fulcrum shaft 19 includes a position sensor 6 (relative displacement detection) that detects a stroke angle of the second rotation unit 17 with respect to the first rotation unit 13 or a stroke angle of the first rotation unit 13 with respect to the second rotation unit 17. Corresponding to the means).

  Furthermore, a check mechanism portion 14 is provided on the opposite side of the first rotating portion 13 to the select lever 11. The check mechanism portion 14 includes a pin 141 that protrudes from the first rotating portion 13 to the outer peripheral side, and a groove portion 142 that engages with the pin 141. Although not shown in detail, the pin 141 has a structure in which the tip is biased by a spring in the protruding direction from the inside. The tip of the pin 141 is engaged with the groove 142. The groove part 142 is wave-shaped so as to form a valley part 142a corresponding to five ranges (P, R, N, D, and L). ). The check mechanism unit 14 holds the selected select position, and prevents an unintended range select input due to, for example, vibration of the vehicle without any operation.

The controller 3 (corresponding to the assist control means) sets a command value for the assist actuator 2 based on the detected relative position, and performs PWM control on the output duty ratio of the electric motor.
FIG. 3 shows a control block diagram of the controller 3.
In the selector 1, the change in the stroke of the select lever 11 that has been subjected to the range switching operation becomes a relative rotational change in the first rotating part 13 and the second rotating part 17, and a change in the relative displacement amount between the play groove 131 and the protrusion 171. . This change in relative rotation is detected by the position sensors 62 and 6 and output to the controller 3.
The controller 3 mainly includes a first drive command value calculation unit 31, an operation speed estimation unit 32, a second drive command value calculation unit 33, a final drive command value calculation unit 34, and a motor drive control unit 35.

The first drive command value calculation unit 31 calculates a drive command value so that the detected value of the relative displacement amount is a deviation, and the deviation approaches zero. Specifically, the drive command value is calculated by PI control calculation.
The operation speed estimation unit 32 estimates the operation speed from the detected value of the operation position and the final drive command value.

The second drive command value calculation unit 33 calculates a second drive command value by multiplying the operating speed by a predetermined gain.
The final drive command value calculation unit 34 calculates a final drive command value by a calculation that subtracts the second drive command value from the first drive command value.
The motor drive control unit 35 drives the assist actuator 2 according to the control command value.

Next, the operation speed estimation unit 32 will be further described.
FIG. 9 is a block diagram of an operation speed estimation unit according to the first embodiment.
The operation speed estimation unit 32 according to the first embodiment includes a spring constant calculation unit 321 and an operation speed calculation unit 322.
When the detent mechanism is a spring model, the spring constant calculation unit 321 receives the detected value of the operating position from the table data provided in advance so as to indicate the relationship between the operating position and the spring constant shown in FIG. Is output.
The relationship between the operating position and the spring constant in FIG. 12 is obtained from the relationship between the operating position and the spring generation force in the detent mechanism shown in FIG.
The operating speed calculator 322 calculates and outputs the operating speed with the spring constant, the operating position, and the final drive command value as inputs. Details will be described later.

Next, the operation speed calculation unit 322 will be further described.
FIG. 10 is a block diagram of an operation speed calculation unit according to the first embodiment.
In the operating speed calculation unit of the first embodiment, as shown in FIG. 11, the control arm 51 and the detent mechanism of the automatic transmission 5 via the control cable 4 from the second rotating unit 17, that is, the backlash downstream by the play groove 131. First, let us consider a control model of the side (AT side) as one plant. Then, the operation speed is calculated by taking it in as an observer.

FIG. 13 is a block diagram of a plant that is a control target on the automatic transmission side from the second rotating unit of the first embodiment.
The symbols in the figure will be described. 10 and 13, J is an inertia around the driven shaft, D is a viscous friction coefficient around the driven shaft, K is a spring constant, G is a reduction ratio, and s is a Laplace operator.
The outline of FIG. 13 will be explained. In order to obtain the output of the displacement (operation angle) of the operation position by the input driving torque, the output is received while being influenced by the resistance due to the generated force of the spring system and the viscous resistance. It can be seen that it is. It is desirable that this model has been confirmed by experiments.

The operation speed calculation unit 322 of FIG. 10 in which the plant shown in FIG. 13 is captured in the form of an observer includes multipliers 322a, 322b, 322e, 322h, 322i, 322j, a setting output unit 322c, calculation units 322d, 322g, addition Units 322f and 322k.
The multiplier 322a multiplies the drive command value by a gain corresponding to the reduction ratio.
The multiplier 322b multiplies the output value of the multiplier 322a by a gain corresponding to 1 / J.
The setting output unit 322c stores and outputs A that is set. The value A is set such that the pole value of f (u) calculated by the calculation unit 322d is a negative value.

The calculation unit 322d performs a calculation represented by f (u) = − uD / J. This calculation output becomes the pole of the observer.
The multiplier 322e multiplies the output of the calculation unit 322d and the estimated operation speed that is the output of the operation speed calculation unit 322.
The adder 322f adds the output of the multiplier 322e and the output of the multiplier 322b.
The calculation unit 322g performs an integration calculation represented by 1 / s on the output of the adder 322f.

The multiplier 322 h performs a calculation of multiplying the detected value of the operating position by the spring constant from the spring constant calculation unit 321.
The multiplier 322i multiplies the output value of the multiplier 322h by a gain corresponding to 1 / J.
The multiplier 322j performs an operation of multiplying the value A that is the output of the setting output unit 322c and the detected value of the operating position.
The adder 322k adds the output of the multiplier 322j and the output of the calculation unit 322g, and outputs the result as an estimated operation speed.

Next, the detent structure of the automatic transmission 5 will be described.
FIG. 4 is a perspective view showing a detent structure of the automatic transmission 5.
The control arm 51 is provided with a rotation shaft 52, and a detent plate 53 is supported on the rotation shaft 52. At the upper end of the detent plate 53, a valley portion 53b corresponding to five ranges (P, R, N, D, and L) is formed between the cam peaks 53a. Then, the detent pin 55 formed at the tip of the spring plate 54 is engaged with the valley portion 53b, and the selected selection position is held, thereby preventing an unintended range selection due to vehicle vibration or the like. Yes.

  That is, the rotating shaft 52 is rotated by the operating force of the assist actuator 2 or the operating force of the select lever 11, and the detent plate 53 is moved relative to the detent pin 55 according to this rotation. At this time, the detent pin 55 gets over the cam crest 53 a and engages with the valley 53 b corresponding to the adjacent range, and the engaged state is held by the elastic force of the spring plate 54. This elastic force becomes the main load force when performing the selection operation.

Note that one end of a parking rod 56 is rotatably connected to the detent plate 53. The parking rod 56 prevents rotation of the parking gear 58 via the cam-like plate 57 and locks driving wheels (not shown) when the select lever 11 is moved to the P range. As a result, when the vehicle is parked on the slope road in the P range, a vehicle load is applied so as to lock the drive wheels according to the slope, and acts as a force for biting the parking rod 56.
In the first embodiment, the detent force (check force) works in the automatic transmission 5 and the selection unit.

Next, the operation will be described.
[Automatic transmission select position control process]
FIG. 5 is a flowchart showing a basic process flow of the select position control process executed by the controller 3.

  In step S1, the relative position displacement amount signal from the position sensor 6 is input, and the displacement amount of the relative position is read.

  In step S2, the deviation from the midpoint of the relative position is calculated from the read relative position.

  In step S3, a motor torque command value is set from the deviation from the midpoint of the relative position.

  In step S4, the electric motor of the assist actuator 2 is driven according to the motor torque command value.

[Operation reaction force characteristics of automatic transmission]
FIG. 6 is a characteristic diagram showing an operation reaction force generated on the output shaft of the assist actuator 2 in the P → R range direction and an operation reaction force generated on the select knob 12 in the connected state. This operation reaction force characteristic is obtained by comparing the operation reaction force [N] on the output shaft and the operation reaction force [N] on the select lever 11 with the operation position (stroke angle) of the select lever 11.

  When the operation force of the select lever 11 is transmitted to the automatic transmission 5, the operation reaction force in the select lever 11 is combined with the load force generated by the detent in the select unit 1 described above and the frictional force of the mechanism. It is a thing. Therefore, when the range switching operation is performed during the range switching control, a manual operation exceeding this operation reaction force is required.

The operation reaction force on the output shaft of the electric motor of the assist actuator 2 is a combination of the load force generated by the detent of the automatic transmission 5 described above and the frictional force of the control cable 4 and the inertia of the electric motor. . Therefore, the range switching by the assist actuator 2 requires a driving force that is greater than the operation reaction force.
As shown in FIG. 6, the operation reaction force generated when the select lever 11 is operated in the P → R range direction is the same as the operation direction of the select lever 11 or the driving direction of the assist actuator 2 between the ranges. It occurs in the reverse direction (D → N range direction), changes direction after the peak, occurs in the same direction as the operation direction (P → R range direction), and converges to zero near the range switching position (stop position) Become. This characteristic is caused by a load force generated when the detent pin 55 or the pin 141 gets over the cam mountain 53a or the cam mountain of the groove 142. That is, until the detent pin 55 or the pin 141 gets over the cam crest 53a or the cam crest of the groove 142, a resistance force is generated by a biasing force of a spring (not shown) that biases the spring plate 54 or the pin 141. This is because the detent pin 55 or the pin 141 falls into the groove or the groove 53b of the next cam mountain 53a and the pulling force (inertial force) is generated after the pin 141 gets over the cam mountain 53a or the cam mountain of the groove 142. .

[Automatic transmission range switching control]
In the select assist device for the automatic transmission according to the first embodiment, as an example of the state before the operation, the first rotating portion 13 and the second rotating portion 17 are in a non-connected state, and the protrusion 171 has a relative position in the idle groove 131. Is in the middle position, that is, in a state having a margin with respect to either operation direction (see FIG. 8A).

  From this state, for example, when the select lever 11 is started to operate, the relative displacement amount of the play groove 131 and the protrusion 171 changes. However, since it is within the position range in the unconnected state, the control cable 4 does not move. This change in the relative displacement is detected by the position sensor 6, and the first drive command value calculation unit 31, the second drive command value calculation unit 33, and the final drive command value calculation unit 34 respond to the relative position deviation. The drive control command value is set, and the electric motor of the assist actuator 2 is driven. The drive output of the assist actuator 2 is transmitted to the worm wheel 16 by the worm 21, the second rotating portion 17 rotates, and the control arm 51 of the automatic transmission 5 is driven via the control cable 4 to select the automatic transmission. The position is switched.

In addition, when the control cable 4 advances and retreats by the rotation of the second rotating portion 17, the relative position of the play groove 131 and the protrusion 171 returns to the vicinity of the midpoint.
That is, by controlling the drive command value calculation unit 31, the relative position displacement amount is held near the midpoint of the relative position, so that the movement by the operation of the select lever 11 is performed as shown in FIGS. Following this, the control arm 51 of the automatic transmission is driven to switch the select position.
This movement is as if the select lever 11 and the control arm 51 of the automatic transmission 5 are connected by the control cable 4.
As an example, FIG. 7 shows a change state of the relative position when moving from the P range to the R range. When the angle input to the select lever 11 is an operation angle and the angle of the control arm 51 is an operation angle, the relationship between the operation angle and the operation angle is as shown in FIG. That is, at the beginning of the control, the operating angle follows the operating angle with a delay, and the operating angle precedes the operating angle in the second half of the control by the suction force to the next range by detent.

[Improved operation feeling]
In the first embodiment, when the normal control is performed as described above, the relative positions of the play groove 131 of the first rotating portion 13 and the protrusion 171 of the second rotating portion 17 are maintained at the middle point. Therefore, the first rotating portion 13 and the second rotating portion 17 are connected as a mechanical transmission system in the middle of the operation, and the shock is not transmitted to the select lever 11 and the operation feeling is not lowered.

  Thereby, the operation feeling in the first embodiment is generated only by the check mechanism unit 14 of the selection unit 1. Therefore, the shape and size of the cam crest in the groove 142 and the pin 141, the strength of the spring, and the like can be configured to make the light operation feeling of the select lever 11 smaller than the conventional one very excellent.

[Improves the feeling of operation when starting on a steep slope and reduces the size and weight]
When performing a select operation from the P range to the D range in an attempt to start a steep slope, the force for pulling out the parking rod increases and the operation force increases. In the select assist device for the automatic transmission according to the first embodiment, when the load is large as described above, the protrusion 171 comes into contact with the end of the play groove 131, that is, there is no play amount in the play mechanism. The operation force input to the select lever 11 is transmitted to the second rotating portion 17 and the control cable 4, and the assist force of the electric motor of the assist actuator 2 is added to this to pull out the parking rod 56. Is a light operation, and as a system, the rating of the electric motor can be reduced and the system can be reduced in size and weight.

[Improving operation feeling and reducing costs in sudden shift operations]
In the select assist device for the automatic transmission according to the first embodiment, when a sudden selection operation is performed, the protrusion 171 contacts the end of the play groove 131, that is, there is no play amount in the play mechanism. The operating force input to the select lever 11 is transmitted to the second rotating portion 17 and the control cable 4, and the assist force of the electric motor of the assist actuator 2 is added thereto. As a result, the operation feeling is light, and the system requires less responsiveness to the electric motor, thereby reducing the rated size of the motor.

[Mechanical connection of select lever and control arm of automatic transmission]
Further, in the first embodiment, during a failure, if the select lever 11 is operated beyond the position range of the non-connected state, the movable amount, that is, the play amount disappears in the operation direction, and the control cable 4 enters the connected state. The control arm 51 of the automatic transmission 5 can be operated by the operating force via

[Control method of assist actuator]
As a feedback control method in the select assist device of the automatic transmission of the first embodiment, there is PID control. PID control adds proportional control (P control), integral control (I control), and differential control (D control).
In the case of this PID control, the target value is the operation position, the control amount is the operating position, and the deviation is the relative displacement amount.

On the other hand, it was devised to control the assist actuator 2 by D-preceding PI control.
When the assist actuator 2 is controlled by D-preceding PI control, the input of D control is not a deviation but a control amount, and is different from PID control in that the calculated value is not added to the PI control amount but subtracted. It became.

  Furthermore, when the assist actuator 2 is controlled by the D-preceding PI control, the D control does not react directly to the change of the operation position, and the D control only works after the operating position (operating angle) starts moving by the PI control. Therefore, it is possible to prevent the operation position from reacting unnecessarily to changes in the operation position (operation angle) that are not intended to change the range due to a hand bump or vehicle vibration. Therefore, it was considered that this control system is compatible with the aim of the automatic transmission select assist device that wants to reduce the operating force.

D The calculation of D control in the preceding PI control is to differentiate the control amount, that is, the operating position and apply a predetermined gain, but in a microcomputer that executes this, in order to perform a discrete time calculation with a predetermined sampling time It is not possible to perform a pure differential operation. For this reason, it is conceivable to perform pseudo-differentiation or directly detect the differential value (operation speed). However, pseudo-differential has poor control performance, and direct detection corresponding to the differential value requires a sensor and increases costs. There was a problem of being connected.
The select assist device for the automatic transmission according to the first embodiment solves these problems.

[Assist control processing]
FIG. 14 is a flowchart showing the flow of assist control processing executed by the controller 3 of the first embodiment. Each step will be described below.

  In step S11, the relative displacement amount and the operating position are detected by the position sensors 6 and 62.

  In step S12, a first drive command value is calculated from the relative displacement amount.

  In step S13, the spring constant is obtained from the operating position (see FIG. 12).

  In step S14, the operation speed is obtained from the spring constant, the operation position, and the drive command value.

  In step S15, a second drive command value is calculated from the operating speed.

  In step S16, the drive command value is obtained by subtracting the second drive command value from the first drive command value.

[Effect of assist control by estimating accurate operation speed]
In the automatic transmission select assist device according to the first embodiment, the operation speed estimation unit 32 includes the operation speed calculation unit 322 that functions as a state estimator (observer), so that the operation speed is not detected by the sensor and is accurately detected. The operating speed can be estimated.
Further, in order to estimate the operation speed by the function as the state estimator, the spring constant calculation unit 321 prepares a data table of the operation position and the spring constant in advance as shown in FIG. Thus, the accuracy of the operation speed estimation is further improved.

Therefore, it is possible to use the characteristics of the D-preceding PI control while suppressing the cost.
FIG. 15 is a Bode diagram of a round transfer function in the controller of the select assist device for the automatic transmission according to the first embodiment.
In FIG. 15, D-preceding PI control for calculating the operating speed by the pseudo-differentiator, D-preceding PI control for detecting the operating speed by the speed sensor, and D for estimating the operating speed incorporating the state estimator of the first embodiment. The preceding PI control was comparatively tested, and the results are shown on the Bode diagram.

The frequency at which the gain crosses 0 dB indicates good control responsiveness. In FIG. 15, all the values are adjusted to be the same value, and the responsiveness is set to the same level.
The one that performs the operation speed estimation of the first embodiment can be improved more than the one that performs pseudo differentiation, and is close to the one that actually detects the operation speed by the sensor, that is, it is possible to perform the accurate control by the accurate estimation.

This also appears as a stability margin (gain margin) in FIG. 15A and as a stability margin (phase margin) in FIG. 15B.
In other words, a stable margin is created by being able to control accurately according to reality.

Next, the effect will be described.
In the automatic transmission select assist device of the present embodiment, the following effects can be obtained.
(1) The select lever 11 has a projection amount of about 150 mm less than the conventional select lever, and the select lever 11 and the control arm 51 are connected via the control cable 4 with a play amount. Therefore, the degree of freedom of the vehicle interior layout is greater than that of the conventional product, and the select lever 11 can be set at any location in the vehicle interior such as an instrument panel.
Further, since the select lever 11 and the control arm 51 are mechanically connected by the control cable 4 with a play amount, the driver manually switches the select position even when the assist actuator 2 or the controller 3 fails. be able to.

In addition, the engagement of the idle groove 131 of the first rotating portion 13 and the protrusion 171 of the second rotating portion 17 provides a non-connected state and a connected state, and maintains a neutral state within the set play amount. At this time, it is possible to prevent a sense of incongruity due to the transition from the unconnected state to the connected state.
Further, in the first embodiment, since the normal state is set to the non-connected state, it is preferable to operate with a light force in accordance with the downsizing of the select lever 11 without receiving the subsequent frictional resistance received in the connected state. An operation feeling can be generated by the check mechanism unit 14 of the selection unit 1.
Further, in the first embodiment, since there is a play amount in a non-connected state, adjustments that are synchronized with each other when the select lever 11 side and the automatic transmission 5 side are assembled can be simplified, and can be assembled to a vehicle. Can be improved.

  Further, when starting on a steep slope where the load of the select operation system is excessive or when performing a rapid select operation, the assist force of the motor is added to the operation force of the driver, and the operation can be lightened. In addition, since the operating force can be transmitted, the system can be downsized in the motor rating and the response to the motor can be eased.

Further, advantageous effects on the shift-by-wire system in the selection assist device of the automatic transmission according to the first embodiment will be described in comparison.
In the above-described operation and effects, (A) In normal operation, the range is switched by the operating force of the actuator without transmitting the manual operating force to the automatic transmission. (B) At the time of failure, the range is switched by manual operation force without using the actuator operation force. (C) When an excessive load occurs, the range is switched by adding the manual operating force and the actuator operating force (assist state). In particular, (B) and (C) are advantageous effects for the shift-by-wire system.

  Furthermore, it is advantageous that the states (A) and (C) are also variable. That is, in the select assist device for the automatic transmission according to the first embodiment, the ratio between the driver's operating force and the assist force by the assist actuator can be changed according to the traveling state. For example, when shifting from the R range to the P range when the traveling speed is high, by weakening the assist force of the motor, the driver's operation force is increased (heavier operation) due to erroneous finger touch selection. It is possible to prevent the vehicle from stopping suddenly. As described above, in addition to the improvement of the operation feeling, it is possible to prevent erroneous selection and to suppress those connected to it by making the operation heavy.

Furthermore, compared to a shift-by-wire system, the shift-by-wire system provides better control system responsiveness and positioning accuracy against disturbances such as the zero point of the potentiometer (position sensor) over time, fluctuations in power supply voltage, and circuit input voltage drift. Easy to deteriorate. In the select assist device of the automatic transmission according to the first embodiment, even if there is some fluctuation in the control system, the driver can operate by absorbing the fluctuation through the mechanical link, and thus the system has excellent robust stability.
Furthermore, when the shift-by-wire system goes down, it is necessary to search for an emergency lever and perform an operation different from the normal operation, which puts a heavy burden on the panicked driver. In the select assist device of the automatic transmission of the first embodiment, even if the operation force is heavy, the operation can be continued with normality with the same select operation as usual.

  Further, in the first embodiment, a position sensor 6 (relative displacement amount detection means a) for detecting the relative displacement amount is provided, and a position sensor 62 (operation position detection means b) for detecting the operation position of the select position switching device is provided. The assist control unit estimates a first drive command value calculation unit 31 (first drive command value calculation unit c) that calculates a first drive command value so that a detected value of the relative displacement amount is small, and an operating speed. An operation speed estimation unit 32 (operation speed estimation unit d), a second drive command value calculation unit 33 (second drive command value calculation unit e) that calculates a second drive command value from the operation speed, and a first drive A final drive command value calculation unit 34 (final drive command value calculation unit f) that calculates a final drive command value from the command value and the second drive command value is provided, and an operation speed estimation unit 32 (operation speed estimation unit d). ) Is the operating position of the select position switching device A check spring constant obtained from the operating position from the operating position detecting means as a check spring constant as a value corresponding to the inclination of the operating position of the force generated by the check mechanism provided in the select position switching device to be held at a position corresponding to each range position. Inertia of a select operation transmission system from the assist actuator including the assist actuator to the select position switching device and the viscous friction coefficient of the select operation connecting system from the assist actuator including the assist actuator to the select position switching device. Based on the check spring constant, the operation position, and the operation speed calculation unit 322 (means d2) for calculating the operation speed from the drive command value. While detecting the operating speed with a sensor Noto equivalent control performance can be obtained.

The select assist device for an automatic transmission according to the second embodiment is an example in which the operation speed is estimated from the spring generation force, the operation position, and the drive command value.
FIG. 16 is a block diagram of an operation speed estimation unit according to the second embodiment.
In the second embodiment, the operation speed estimation unit 32 includes a spring generation force calculation unit 361 and an operation speed calculation unit 362.
The spring generation force calculation unit 361 obtains the spring generation force using table data as the relationship between the operating position and the spring generation force, which are the characteristics of the detent mechanism shown in FIG.
The operation speed calculation unit 362 will be described later.

FIG. 17 is a block diagram of the operation speed calculation unit 362 according to the second embodiment. In addition, about the thing which performs the process similar to FIG. 10, the same code | symbol is attached | subjected and description is abbreviate | omitted.
In the block diagram of the operation speed calculation unit 362 according to the second embodiment, the spring force is not calculated by the multiplier 322h as compared with FIG.

The operation will be described.
[Assist control processing]
FIG. 18 is a flowchart showing the flow of assist control processing executed by the controller 3 of the second embodiment. Each step will be described below. In addition, about the process similar to FIG. 14, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In step S21, the spring generation force is obtained from the operating position (see FIG. 11).

  In step S22, the operating speed is obtained from the spring generation force, the operating position, and the drive command value.

[Effect of assist control by estimating accurate operation speed]
In the second embodiment, the operation speed calculation unit 362 that estimates the operation speed by the function as the state estimator accurately estimates the operation speed without detecting the operation speed by the sensor.
Furthermore, the spring generation force calculation unit 361 prepares a data table of the operation position and the spring generation force in advance as shown in FIG. 11 and uses them, thereby further improving the accuracy of the operation speed. Even in this case, it is possible to utilize the characteristics of the D-preceding PI control while suppressing the cost.

  Furthermore, the calculation for obtaining the spring constant can be omitted. Further, since the spring constant changes according to the operating position, it is necessary to obtain it with table data using the operating position as an input. The detent mechanism tends to sharpen the top of the peak of the detent plate 53 in order to make it difficult to cause an intermediate stop. As a result, the table data has a value near the top that is very high compared to other areas. Large value. Therefore, when obtaining the spring constant, the quantization error of the spring constant is likely to be a problem. In the second embodiment, this problem can be avoided.

Explain the effect. The select assist device for an automatic transmission according to the second embodiment has the following effects in addition to the effect (1).
(2) The operation speed estimation unit 32 includes a spring generation force calculation unit 361 and an operation speed calculation unit 362, and estimates the operation speed from the spring generation force, the detection value of the operation position, and the drive command value. Further, the spring generation force calculation unit 361 obtains the spring generation force from the table data of the operation position and the spring generation force. Therefore, it is not necessary to obtain the spring constant, the problem of quantization error can be prevented, and the control performance equivalent to detecting the operation speed with the sensor can be obtained while suppressing the cost.

(Other embodiments)
The embodiment of the present invention has been described based on the first and second embodiments. However, the specific configuration of the present invention is not limited to the embodiment, and the scope of the present invention is not deviated. Design changes and the like are included in the present invention.
The shape and size of the select lever 11 are arbitrary, and may be a switch shape that can be operated with a fingertip.
As an example of the position sensor, a potentiometer whose contact position between the brush and the substrate is variable will be described as an example.
In addition to the position sensor 62, as a relative displacement amount detection means other than the position sensor 6, a position sensor that detects the stroke angle of the first rotating portion 13 with respect to the fixed member in addition to the position sensor 62 (as an operation position detection means). (Corresponding) may be provided. In that case, a relative displacement amount can be obtained by calculation using a combination of two sensors.

In the first and second embodiments, the idle coupling mechanism is shown as an example of the relative displacement permissible coupling mechanism. However, even if other than the idle coupling mechanism, for example, both couplings are allowed while allowing an elastic displacement up to the limit elastic displacement amount. It may be an elastic coupling mechanism that couples with a member.
The elastic coupling mechanism will be described in detail. In the first embodiment, the midpoint from both ends of the play groove 131 to the protrusion 171 that engages with the play groove 131 of the first rotating portion 13 and is located in the play groove 131. The springs are provided on both sides so as to bias the protrusion 171 toward the position. The check mechanism unit 14 is not provided. Then, the spring is expanded and contracted by the protrusion 171 of the second rotating portion 17 that is positioned by rotating to the operating position via the control cable 4 by the detent force of the automatic transmission 5, and the first rotating portion 13, that is, the select lever is extended by the spring force. 11 position is determined. In the elastic coupling mechanism, an operation reaction force to the select lever 11 is generated by transmitting the detent on the automatic transmission side through the spring in this way. Similarly, the control is performed so that the midpoint position of the play groove, that is, the elastic displacement amount is set to 0, so that the operation of the automatic transmission 5 follows the operation of the select lever 11. This elastic coupling mechanism is also an example of a relative displacement allowable coupling mechanism.

In the first and second embodiments, as an example of the play coupling mechanism, a groove, a protrusion, and an assist actuator that allow play amount are provided in the selection unit. However, as shown in FIG. May be provided in the automatic transmission 5. Specifically, referring to FIG. 19, the control arm 51 of the automatic transmission 5 is provided connected to the second rotating portion 17, and the control arm 51 switches the range position by the rotation of the second rotating portion 17. To do. The second rotating portion 17 is provided with a worm wheel 16 to engage the worm 21 of the assist actuator 2. Therefore, the assist actuator 2 is provided on the automatic transmission 5 side. One end of the control cable 4 is attached to the protrusion 171 that moves in the play groove 131 of the first rotating portion 13 provided with the select lever 11, and the other end is attached to the second rotating portion 17. Such a configuration may be used.

Moreover, as an example of an idle connection mechanism, the example which provided the idle connection mechanism and the assist actuator in the middle of the control cable is shown in FIG. 21, FIG.
In this example, the idle coupling mechanism is formed by a connection portion between the control cable 8a and the control cable 8b, and the relative displacement is detected by the position sensor 71. The control cable 8 b on the select lever 11 side is connected to the input lever 92 by the joint 91, and the control cable 8 e on the automatic transmission 5 side is connected to the output lever 95 by the joint 96. The input lever 92 and the output lever 95 are connected to an output shaft 94 that is the same rotation shaft. A worm wheel 93 is provided on the output shaft 94, and a worm 98 is provided on the output shaft of the electric motor 97 of the assist actuator to be engaged with the worm wheel 93. As described above, the play coupling mechanism and the assist actuator may be provided in the middle of the control cable, or the displacement amount may be directly detected at a portion where the relative position displacement amount is generated in the play coupling mechanism.

  The configurations and flowcharts shown in the first embodiment and the second embodiment are provided with software or a circuit or the like, depending on the specifications and performance required of the automatic transmission select assist device, either the first embodiment or the second embodiment. May be the best mode. Further, a configuration in which a part of the first embodiment and the second embodiment is combined may be used depending on a request to the device, a device configuration, for example, silence of the assist actuator, a vibration transmission path, and the like.

It is a side view which shows the structure of the automatic transmission of 1st Example. It is a principal part perspective view which shows the detailed structure of an actuator. It is a control block diagram of a controller. It is a perspective view which shows the structure of the detent of an automatic transmission. It is a flowchart which shows the basic flow of the process of range switching control performed with a control unit. It is a characteristic view which shows the operation reaction force which generate | occur | produces in a select lever in the P → R range direction. It is explanatory drawing which shows the characteristic of the operating angle of a select lever, the operating angle of an actuator, and a relative position in operation to P-> R range. It is explanatory drawing which shows operation of a select lever, and operation | movement of an actuator. It is a block diagram of the operation speed estimation part of Example 1. FIG. 3 is a block diagram of an operation speed calculation unit according to the first embodiment. It is a graph which shows the relationship between the operation position which is table data, and a spring generation force. It is a graph which shows the relationship between the operation position which is table data, and a spring constant. It is a block diagram of the plant which is the controlled object by the side of an automatic transmission from the 2nd rotation part of Example 1. 3 is a flowchart showing a flow of assist control processing executed by a controller 3. FIG. 3 is a Bode diagram of a round transfer function in the controller of the select assist device of the automatic transmission according to the first embodiment. It is a block diagram of the operating speed estimation part in Example 2. FIG. 10 is a block diagram of an operation speed calculation unit 362 according to the second embodiment. 6 is a flowchart illustrating a flow of assist control processing executed by a controller 3 according to the second embodiment. It is a claim corresponding figure of the present invention. It is a figure which shows the other example of the selection assistance apparatus of the automatic transmission of an Example. It is a figure which shows the other example of the selection assistance apparatus of the automatic transmission of an Example. It is a figure which shows the link part of the other example of the selection assistance apparatus of the automatic transmission of an Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Select part 11 Select lever 12 Select knob 13 1st rotation part 131 Play groove 14 Check mechanism part 141 Pin 142 Groove part 142a Valley part 16 Worm wheel 17 2nd rotation part 171 Protrusion 18 Cable mounting lever 19 Support shaft 2 Assist actuator 21 Warm 3 Controller 31 First Drive Command Value Calculation Unit 32 Operating Speed Estimation Unit 33 Second Drive Command Value Calculation Unit 34 Final Drive Command Value Calculation Unit 35 Motor Drive Control Unit 321 Spring Constant Calculation Unit 322 Operating Speed Calculation Unit 322a Multiplier 322b Multiplication Unit 322c Setting output unit 322d Operation unit 322e Multiplier 322f Adder 322g Operation unit 322h Multiplier 322i Multiplier 322j Multiplier 322k Adder 361 Spring force calculation unit 362 Operating speed calculation unit 4 Control cable 5 Automatic change Machine 51 the control arm 52 rotates the shaft 53 the detent plate 53a cam nose 53b groove (valley)
54 Spring plate 55 Detent pin 56 Parking rod 57 Cam plate 58 Parking gear 6 Position sensor 62 Position sensor 7 Ignition switch 8a Control cable 8b Control cable 8e Control cable 91 Joint 92 Input lever 93 Warm wheel 94 Output shaft 95 Output lever 96 Joint 97 Electric motor 98 Worm

Claims (1)

The select lever and the automatic transmission select position switching device are connected by a select operation force transmission system, and the select operation force transmission system is provided with an assist actuator for assisting the select operation force by the driver. In the device
The select operating force transmission system is connected to a first connecting member connected to a select lever, a second connecting member connected to the select position switching device, and the connecting members are connected to each other while allowing relative displacement up to a limit amount. A relative displacement permissible coupling mechanism, and the assist actuator is set as the second coupling member,
Provide assist control means for controlling the drive of the assist actuator,
A relative displacement amount detecting means for detecting the relative displacement amount is provided,
An operating position detecting means for detecting an operating position of the select position switching device is provided,
The assist control means includes
First drive command value calculating means for calculating the first drive command value so that the detected value of the relative displacement amount becomes small;
An operating speed estimating means for estimating the operating speed;
Second drive command value calculating means for calculating a second drive command value from the operating speed;
Final drive command value calculating means for calculating a final drive command value from the first drive command value and the second drive command value;
With
The operating speed estimation means includes
The operating position is defined as a check spring constant, which is a value corresponding to an inclination with respect to the operating position of the force generated by the check mechanism provided in the select position switching device that attempts to hold the operating position of the select position switching device at a position corresponding to each range position. Means for obtaining from the operating position from the detection means;
The inertia of the select operation transmission system from the assist actuator including the assist actuator to the select position switching device, and the viscous friction coefficient of the select operation connection system from the assist actuator including the assist actuator to the select position switching device. Based on the check spring constant, the operating position, and means for calculating the operating speed from the drive command value,
Configured to consist of
A select assist device for an automatic transmission.

Images