JP2007271036A - Control device for range change-over device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for a range change-over device automatically moving to an accurate range position without moving to a failsafe condition even when a manual valve changing over shift range according to a position stops at a neutral position. <P>SOLUTION: A stop detection means detects stop of the manual valve based on detection of a position sensor detecting position θms of a manual valve, in an embodiment, when velocity of a manual valve gets to predetermined velocity or less and an neutral stop determination means determines whether a position where the manual valve stops is a neutral position between range positions. If it is determined that the manual valve stops at a neural position, a torque re-distribution means rives and control a motor to output re-distribution torque Tmr higher than the maximum load torque of cogging torque of the motor by a predetermined quantity and energizes movement of the manual valve. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a control device for a range switching device that switches a shift range of a power transmission device such as an automatic transmission or a hybrid drive device mounted on a vehicle or the like, and more specifically, for example, a command from an operating means such as a shift lever. The control device of the range switching device that drives and controls the motor based on the above and moves and drives the range switching member that switches the shift range.

  Conventionally, for example, in an automatic transmission mounted on a vehicle or the like, range switching for switching a shift range (for example, P range, R range, N range, D range) in a hydraulic control device of the automatic transmission according to its position. A member (hereinafter also referred to as “manual valve”) is provided, and this manual valve is connected to a shift lever provided near the driver's seat via a rod mechanism or the like, that is, the machine is operated by moving the shift lever. The position can be switched automatically.

  Further, in recent years, in order to improve the degree of freedom in design and downsizing of the vehicle, the operation of the shift lever is converted into an electric signal, and the motor is driven and controlled based on the electric signal. Development of a range switching device that moves and drives a position, a so-called shift-by-wire (SBW) system, is underway.

  By the way, in such a range switching device, for example, when the vehicle is in an extremely cold region and the lubricating oil of the mechanism portion that transmits the driving force of the motor to the manual valve becomes low temperature, the sliding resistance of the mechanism portion is low. If it increases, even if the same motor drive as normal temperature etc. is performed, there exists a possibility that a manual shaft may not move to the range position which should move, but may stop in an intermediate position. When the manual shaft is stopped at such an intermediate position, the motor torque is calculated based on the deviation between the range position to be moved and the stop position, and the calculated torque is reapplied by the motor. However, because the calculated torque becomes small due to, for example, the movement distance becoming small (that is, the deviation is small), the manual shaft does not actually move, and further, the motor torque There is a risk that a re-granting will be performed, so-called hunting state.

  In view of this, there has been proposed one that attempts to prevent such hunting when such a manual shaft stops at an intermediate position (see Patent Document 1). This is a fail-safe condition when the manual valve stops at an intermediate position.For example, when the driver operates the emergency switch, the motor torque is temporarily increased to be higher than usual, so that the manual valve stops at the intermediate position. This makes it possible to move the manual valve.

JP 2003-161369 A

  However, the one that temporarily increases the motor torque allows the manual valve to come out of the state where it has stopped at the intermediate position, but overshoots to move the manual shaft with a large torque. Therefore, there is a problem that it becomes necessary to operate the emergency switch in a fail-safe state. Therefore, even if the manual valve stops at an intermediate position, it is desirable to develop a device that can move the manual valve to the accurate range position automatically, eliminating the need to shift to the fail-safe state as much as possible. It was rare.

  Therefore, the present invention is configured such that the motor can be driven and controlled to output the re-applying torque when it is determined that the position where the range switching member stops is the intermediate position, and thus the range in which the above problem is solved. An object of the present invention is to provide a control device for a switching device.

The present invention according to claim 1 (see, for example, FIG. 1 to FIG. 10) includes an operating means (2) that can select and command a travel range, a motor (4), and a plurality of range positions (for example, θ _P , θ _R , The range switching member (7) for switching the shift range (for example, P, R, N, D) of the power transmission device (12) based on the switching to [theta] _N , [theta] _D ) and the rotational drive of the motor (4) A drive mechanism (3) for moving and driving the position of the range switching member (7); and motor control means (111, 130) for driving and controlling the motor (4) based on a command from the operation means (2). In the control device (100) of the provided range switching device (1),
Position detecting means (8, 112) for detecting the position (for example, θ) of the range switching member (7);
A stop detection means (113) for detecting that the range switching member (7) stops based on the detection of the position detection means (8, 112);
When the stop detecting means (113) detects that the range switching member (7) is stopped, the position where the range switching member (7) stops is the range position (for example, θ _P , θ _R , θ _N , θ _D ), an intermediate stop determining means (117) for determining an intermediate position,
The motor (4) is configured to output a re-applying torque (Tmr) when it is determined by the intermediate stop determining means (117) that the range switching member (7) stops at an intermediate position between the range positions. Torque reapplying control means (118) for driving and controlling
This is in the control device (100) of the range switching device.

In the present invention according to claim 2 (see, for example, FIGS. 4 and 8), the re-applying torque (Tmr) is a predetermined amount greater than the maximum load torque (−Tcmax) of the cogging torque (Tc) of the motor (4). The motor (4) is driven and controlled to output a large amount.
It exists in the control apparatus (100) of the range switching apparatus of Claim 1.

According to a third aspect of the present invention (see, for example, FIGS. 4 and 9), the torque reapplying control means (118) is configured such that the intermediate switching determination means (117) causes the range switching member (7) to move between the range positions. The reapplying time (for example, tdb, tdc) for the motor (4) to output the reapplying torque (Tmr) according to the position of the range switching member (7) when it is determined to stop at the intermediate position. Re-grant time setting means (119) for setting
It exists in the control apparatus (100) of the range switching apparatus of Claim 1 or 2.

According to a fourth aspect of the present invention (see, for example, FIGS. 4 and 9), the stop detection means (113)
Based on the detection of the position detecting means (112), a speed drop detecting means (114) for detecting that the moving speed (ω) of the range switching member (7) is equal to or lower than a predetermined speed (ωa);
Decrease in speed that is determined by the speed reduction detection means (114) to determine that the moving speed (ω) of the range switching member (7) is below a predetermined speed (ωa) for a set time (tv) or longer. A time determination means (115),
When it is determined by the speed reduction time determination means (115) that the state of the range switching member (7) below the predetermined speed (ωa) has continued for the set time (tv) or longer, the range switching member (7) Detecting that stops
It exists in the control apparatus (100) of the range switching apparatus in any one of Claim 1 thru | or 3.

According to the fifth aspect of the present invention (see, for example, FIGS. 4 and 9), the speed reduction time determination unit (115) detects when the speed reduction detection unit (114) detects the predetermined speed (ωa) or less. The farther the position (eg, Pa, Pb, Pc) of the range switching member (7) is from the range position (eg, θ _P , θ _R , θ _N , θ _D ), the set time (eg, tva, tvb, tvc). )
It exists in the control apparatus (100) of the range switching apparatus of Claim 4.

According to a sixth aspect of the present invention (see, for example, FIGS. 4 to 7), the reapplying that counts the number of times the reapplying torque (Tmr) of the motor (4) is output by the torque reapplying control means (118). Frequency counting means (120);
A number-of-failure determination means (126) for determining a failure state when the number of times counted by the re-grant count counting means (120) reaches a predetermined number.
It exists in the control apparatus (100) of the range switching apparatus in any one of Claim 1 thru | or 5.

According to the seventh aspect of the present invention (see, for example, FIGS. 4 to 7), the range switching member (7) is detected each time the stop detection means (113) detects that the range switching member (7) is stopped. Stop position recording means (121) for recording the position where the motor stops;
The stop position before the output of the reapplying torque (Tmr) of the motor (4) recorded by the stop position recording means (121) by the torque reapplying control means (118) and the stop position after the output. A moving minute determination means (122) for determining that the moving distance is within a predetermined moving distance;
When the movement minute determination means (122) determines that the movement distance of the stop position before and after the output of the re-applying torque (Tmr) is within a predetermined movement distance, the stop position after the output is the range position ( For example, error tolerance determination means (123) for determining that the position is within a predetermined distance with respect to θ _P , θ _R , θ _N , θ _D ),
When it is determined by the error tolerance determination means (123) that the stop position after the output is a position within a predetermined distance with respect to the range position (for example, θ _P , θ _R , θ _N , θ _D ), the output Range position learning means (124) for learning the range positions (for example, θ _P , θ _R , θ _N , θ _D ) based on the front and rear stop positions;
It exists in the control apparatus (100) of the range switching apparatus in any one of Claim 1 thru | or 6.

According to the eighth aspect of the present invention (see, for example, FIGS. 4 to 7), the stop position after the output is set to the range position (for example, θ _P , θ _R , θ _N , θ _D ) by the error tolerance determination means (123). ) Provided with non-moving failure determination means (127) for determining a failure state when it is determined that the position is not within a predetermined distance with respect to
It exists in the control apparatus of the range switching apparatus of Claim 7.

According to a ninth aspect of the present invention (see, for example, FIGS. 1 and 2), the drive mechanism (3) is connected to the range switching member (7) and rotated by the rotational drive of the motor (4). And a plurality of engagement grooves (a, c, e, g) corresponding to the plurality of range positions (for example, θ _P , θ _R , θ _N , θ _D ) of the range switching member (7) are formed. A detent mechanism (9) comprising a detent lever (40) and a detent spring (41) that can be urged and engaged toward the plurality of engagement grooves (a, c, e, g); Become
It exists in the control apparatus (100) of the range switching apparatus in any one of Claim 1 thru | or 8.

  In addition, although the code | symbol in the said parenthesis is for contrast with drawing, this is for convenience for making an understanding of invention easy, and has no influence on the structure of a claim. It is not a thing.

  According to the first aspect of the present invention, when the stop detection means detects that the range switching member is stopped, the position where the intermediate stop determination means stops is the intermediate position between the range positions. Since the torque reapplying control means controls the drive of the motor so as to output the reapplying torque, in the case where the range switching member stops at an intermediate position between the range positions, the motor automatically The re-applying torque can be applied to energize the range switching member, the frequency of transition to the fail safe state can be reduced, and the range switching member can be automatically moved to an accurate range position. can do.

  According to the second aspect of the present invention, the torque reapplying control means controls the drive of the motor so that the reapplying torque is output a predetermined amount larger than the maximum load torque of the cogging torque of the motor. In the case of stopping at an intermediate position between the range positions, it is possible to prevent a hunting state due to a load due to the cogging torque of the motor, and to reduce the frequency of transition to the fail-safe state. Therefore, it is possible to move the range switching member to an accurate range position.

  According to the third aspect of the present invention, according to the position of the range switching member when the reassignment time setting unit determines that the range switching member stops at the intermediate position between the range positions by the intermediate stop determination unit, Since the reapplying time for the motor to output the reapplying torque is set, it is possible to move the range switching member to the correct range position.

  According to the fourth aspect of the present invention, when the speed reduction time determination means determines that the state of the range switching member below the predetermined speed has continued for the set time or longer, it detects that the range switching member stops. It is possible to output the re-applying torque by the motor before the range switching member stops completely.

  According to the fifth aspect of the present invention, the speed reduction time determination means sets the set time shorter as the position of the range switching member when the speed reduction detection means detects a predetermined speed or less is farther from the range position. As the position of the range switching member is far from the range position and the driving force needs to be assisted earlier, the re-applying torque can be output more quickly by the motor.

  According to the sixth aspect of the present invention, the number-of-times failure determination means determines that the failure state has occurred when the number of times that the re-applying torque is output by the re-application number counting means reaches a predetermined number. This failure can be detected even in the case of a failure, and it is possible to prevent a hunting state in which a re-applying torque is continuously output despite the occurrence of the failure.

  According to the seventh aspect of the present invention, the stop position recording means records the position at which the range switching member stops each time the stop detection means detects that the range switching member stops, and the movement minute determination means It is determined whether or not the moving distance between the stop position before the output of the motor reapplying torque by the torque reapplying control means recorded by the position recording means is within the predetermined moving distance, and the error is allowed. When the determination means determines that the movement distance of the stop position before and after the output of the re-applying torque is within the predetermined movement distance by the movement minute determination means, the stop position after the output is a position within the predetermined distance with respect to the range position. Output when the range position learning means determines that the stop position after output is within a predetermined distance from the range position by the error tolerance determination means. Since the range position is learned based on the later stop position, the accurate range position can be learned even if there is a product error or the like in the range switching device, and the range switching member can be moved to the accurate range position. Can be possible. In addition, when the stop position after the output of the re-applying torque is not within a predetermined distance with respect to the range position, the range position is not learned. It is possible to prevent learning at the position of the range.

  According to the eighth aspect of the present invention, when the non-moving failure determination unit determines that the stop position after output is not within a predetermined distance with respect to the range position by the error tolerance determination unit, it is determined as a failure state. That is, it is possible to determine that the movement of the range switching member is a minute movement that is within a predetermined movement distance and is not within a predetermined distance from the range position as being stopped due to, for example, a failure of the range switching member. Thus, it is possible to prevent a hunting state in which a re-applying torque is continuously output despite a failure.

  According to the ninth aspect of the present invention, the drive mechanism is connected to the range switching member and is rotated by the rotational drive of the motor, and a plurality of engagement grooves corresponding to the plurality of range positions of the range switching member are formed. Since the detent mechanism is composed of the detent lever and the detent spring that can be urged toward the plurality of engagement grooves to engage, the range switching member stops at the intermediate position. Even if there is a re-applying torque larger than the cogging torque of the motor, it can be an auxiliary bias applied to the biasing force of the detent spring, thereby moving the range switching member to the range position. Can be possible.

  Hereinafter, a range switching device 1 for an automatic transmission 12 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. The range switching device 1 operates a shift lever (operation means) 2 to set four shift ranges of P range, R range, N range, and D range in the automatic transmission 12. For example, the present invention can be applied to an embodiment in which a shift switch type input device, a button switch, or the like is operated to set a shift range of three steps or less or five steps or more.

  As shown in FIG. 1, the range switching device 1 according to the present embodiment is applied to an automatic transmission (for example, a multistage automatic transmission or a continuously variable transmission (CVT)) 12 as a power transmission device mounted on a vehicle, for example. For example, based on a shift lever 2 as an operation means that allows a driver to select and command a shift range (P, R, N, D), and an electric signal (shift signal) S1 from the shift lever 2 A range switching control unit (control device for the range switching device) 100 that performs control to switch the shift range mainly by controlling the driving of the motor 4, and the motor 4 driven based on the control command of the range switching control unit 100, , Manual valves (spools) for setting the shift ranges (P, R, N, D) corresponding to the range positions to the hydraulic control device 11 of the automatic transmission 12 at a plurality of range positions. And Nji switching member) 7, and a drive mechanism 3 for moving driving position of the manual valve 7 by the driving of the motor 4. In addition, the range switching control unit 100, which will be described in detail later, receives an enabling signal from the range switching control unit 100 and performs A / T control for performing shift control (for example, clutch and brake engagement control) of the automatic transmission 12. The part 12a is connected.

  The shift lever 2 is a lever for selecting a required range that the driver wants to operate and set in the automatic transmission 12. The shift lever 2 displays shift modes of the P (parking) range, R (reverse) range, N (neutral) range, and D (drive) range of the automatic transmission 12. Then, the shift signal S1 corresponding to the required range set for switching is input to the range switching control unit 100 described later in detail.

  It should be noted that the shift lever 2 other than the shift lever 2 can be used as long as it can reflect the driver's intention, that is, can generate the shift signal S1 corresponding to the required range selected by the driver. You may replace it with something. For example, a shift switch, a shift button, a voice input device, etc. can be used.

  The drive mechanism 3 includes a ball screw mechanism 5 that converts a rotational motion of a motor 4 to be described later in detail into a linear motion, and an arm member 6 (see FIG. 2) that converts the linear motion of the ball screw mechanism 5 into a swing motion. The manual shaft 34 that is rotationally driven by the swinging motion of the arm member 6, the detent lever 40 fixed and connected to the manual shaft 34, and the detent spring 41 that biases the detent lever 40 to an angle corresponding to the shift range. And the manual valve 7 is connected to a detent lever 40 of the detent mechanism 9. A position sensor (position detecting means) 8 that detects the position of the manual valve 7 by detecting the angle of the manual shaft 34 is provided at the end of the manual shaft 34.

  Specifically, as shown in FIG. 2, the drive mechanism 3 includes a case member 10 fixed to the automatic transmission 12, and an output shaft is inserted into the case member 10 outside the case member 10. Thus, the motor 4 is attached. The case member 10 stores a ball screw mechanism 5 for driving the manual shaft 34, an arm member 6, a position sensor 8, and the like, and the manual shaft 34 protruding from the case member 10 includes the case member 10 10, the detent lever 40 disposed outside is rotated to move the manual shaft 7 in the axial direction. Note that a DC motor having a permanent magnet is used as the motor 4 of the present embodiment. Further, a control unit case (not shown) is fixed to the case member 10, and a range switching control unit 100 and a motor control circuit 4a (see FIG. 4) are stored in the control unit case. .

  An output gear 26 is fixed to the output shaft of the motor 4 and is transmitted from the output gear 26 to the gear 25 to rotate the ball screw shaft 21. In the present embodiment, the ball screw mechanism 5 is employed to convert the rotation of the gear 25 into a reciprocating motion. In the ball screw mechanism 5, a large number of balls 23 (not shown) are interposed between the ball screw shaft 21 and the ball nut 22 so as to be able to circulate, and the ball nut 22 moves in the axial direction with respect to the ball screw shaft 21. Engaged as possible.

  The ball nut 22 is rotationally stopped by a guide mechanism (not shown) formed in the case member 10 and is configured to be movable in the axial direction with respect to the rotation of the ball screw shaft 21. Engaging grooves 27 are formed on both side surfaces of the ball nut 22 in a direction perpendicular to the ball screw shaft 21. One end of an arm member 6 described later is engaged with the engagement groove 27.

  The ball screw mechanism 5 can convert the rotational motion into a linear motion and vice versa. When the ball screw shaft 21 is rotated, the ball nut 22 moves in the axial direction. On the other hand, even when the ball nut 22 is moved in the axial direction, the ball screw shaft 21 rotates relatively easily.

  Here, “relatively easy” means that the biasing force of the detent mechanism 9 acting on the ball screw shaft 21 causes the motor 4 to forcibly rotate from the outside through the output gear 26 from the gear 25, thereby causing the spool 7 to be in a predetermined state. It means that it is easy enough to be positioned to the stop position.

  The arm member 6 has a bifurcated portion 30 on the distal end side, and a disk-like portion at the distal end of the bifurcated portion 30 is engaged with the engagement groove 27 of the ball nut 22. A rectangular through hole 33 is formed on the rotation center side of the arm member 6, and a prismatic fitting portion 38 formed at one end portion of the manual shaft 34 is fitted into the through hole 33. . The manual shaft 34 connects the arm member 6 and the detent lever 40 and rotates integrally around the manual shaft 34. A prismatic fitting portion 44 formed at the other end of the manual shaft 34 is fitted in the through hole 43 of the detent lever 40.

  Accordingly, when the fork 30 rotates about the manual shaft 34 as the ball nut 22 moves in the axial direction, the arm member 6 rotates the manual shaft 34 to rotate the detent lever 40.

  The position sensor 8 detects the rotational angle position (the axial direction position of the manual valve 7) of the manual shaft 34 that is fixed to the case member 10 and rotatably disposed through the center. The position sensor 8 employs a potentiometer and outputs a voltage corresponding to the rotational angle position of the manual shaft 34.

  Since the rotational angle position of the manual shaft 34 and the axial position of the manual valve 7 are in one-to-one correspondence via the detent lever 40, in the following description, the axial direction of the manual valve 7 is determined by the output of the position sensor 8. Explain the position. The position sensor 8 may be an optical encoder or a magnetic scale that outputs a digital value corresponding to the angular position.

The manual valve 7 is a valve body member that is inserted into the valve body 11 and is movable in the axial direction (arrow AB direction). The manual valve 7 moves in the axial direction to switch the oil passage in the valve body 11 to set a predetermined shift range in the automatic transmission 12 (FIG. 1). The manual valve 7 can reciprocate between a P position corresponding to the P range, an R position corresponding to the R range, an N position corresponding to the N range, and a D position corresponding to the D range. A hook 36 is fixed to the tip of the manual valve 7, and the tip of the hook 36 is rotatably inserted into the engagement hole 37 of the detent lever 40. As described above, the position of the manual valve 7 is detected at the angular position detected by the position sensor 8, and therefore, in the following description, each of the P position, the R position, the N position, and the D position is indicated by an angle. The description will be given as “θ _P ”, “θ _R ”, “θ _N ”, and “θ _D ”.

  The detent mechanism 9 includes a detent lever 40, a detent spring 41, and a roller 42. A fitting portion 44 of the manual shaft 34 is fitted in the through hole 43 at the rotation center of the detent lever 40, and the detent lever 40 rotates around the manual shaft 34.

  The arm portion 46 which is one rotating end of the detent lever 40 is provided with the engagement hole 37 of the hook 36 described above. The rotating detent lever 40 pushes and pulls the hook 36 to move the spool 7 to the axial position. A through hole 45 is formed at an intermediate position of the detent lever 40 to engage a parking mechanism (not shown).

  On the other rotation end (upper part) of the detent lever 40, range grooves (engagement grooves) a, c, c corresponding to the four range positions (P range, R range, N range, D range) of the spool 7 are provided. e and g are formed, and the range grooves a, c, e, and g are separated from each other by convex portions b, d, and f.

  The detent spring 41 is formed of a long plate-like spring material, and the base end portion 48 is fixed to the valve body 11. A bifurcated portion 50 is formed at the tip of the detent spring 41, and a roller 42 is rotatably supported between the bifurcated portions 50.

  The detent spring 41 presses the rotatable roller 42 against the inclined surfaces of the range grooves a, c, e, and g of the detent lever 40, and the roller 42 reaches the bottom of each range groove a, c, e, and g. The detent lever 40 is rotated until Thereby, the spool 7 can be accurately positioned and held in the four range positions (P range, R range, N range, and D range).

  Next, the configuration of the motor 4 will be described in detail. As shown in FIG. 3A, the motor control circuit 4a turns on / off the four switch elements FET1, FET2, FET3, and FET4 connected by the bridge wiring 4b according to the output signal from the range switching control unit 100. The battery 50 is connected to the motor 4 by OFF control, and the start / brake / rotation direction of the motor 4 is controlled. The ON / OFF combinations of the switching elements FET1, FET2, FET3, and FET4 corresponding to the forward / reverse / braking operations are as shown in FIG.

  The meaning of ON and OFF described in (b) of FIG. 3 indicates that, for example, during forward rotation, FET1 and FET4 are in an energized state, and FET2 and FET3 are in a non-energized state. ing. For other reverse rotation, brake and stop states, as shown in FIG. 3 (b), FET1, FET2, FET3 and FET4 are turned on and off as described in the normal rotation state, respectively. Details are omitted to perform the / OFF control.

  In this embodiment, FET1, FET2, FET3, and FET4 are ON / OFF controlled as shown in FIG. 3 (b). However, if the motor 4 can be in the forward rotation, reverse rotation, brake, and stop states, Such ON / OFF control may be performed.

  Further, the forward rotation and the reverse rotation of the motor 4 shown in FIG. 3B merely define the predetermined rotation direction of the motor 4 as normal rotation and the reverse rotation direction as reverse rotation. The current flow during forward rotation illustrated in (a) of 3 is not limited to the setting as indicated by the broken line. Further, the brake of the motor 4 in FIG. 3B is to make the motor 4 difficult to rotate in both forward and reverse directions, that is, in a locked state. Stopping the motor 4 means that the motor 4 can be rotated freely in both forward and reverse directions, that is, in a state where it can rotate freely, and all of the FET1, FET2, FET3 and FET4 are made non-energized. is there.

  When braking, as shown in the brake row of FIG. 3B, a closed circuit of the motor 4, the switch element FET3, and FET4 is formed to cut off the power supply from the battery 50, and the motor 4 generates power. Consume energy. The voltage detection unit 3 c detects the voltage of the battery 50. Further, as braking, FET1 and FET2 may be turned on, and FET3 and FET4 may be turned off to form a closed circuit.

  Next, a range switching control unit (a control device for a range switching device) 100 according to the present invention will be described with reference to FIGS. As shown in FIG. 4, an angle sensor signal from the position sensor 8 is input to the range switching control unit 100 and, for example, a manual shaft (M / S) angle is output as an analog signal obtained by D / A conversion of the signal. A calculation unit 101 and an actual range determination unit 102 that determines an actual shift range (actual range position) based on the calculation result of the M / S angle calculation unit 101 are provided. A signal relating to the actual position of the manual shaft 7 and a signal relating to the actual shift range (hereinafter referred to as “actual range”) are input to 110.

  The range switching control unit 100 also includes a shift lever signal from the shift lever 2, a vehicle speed signal based on detection of a vehicle speed sensor (not shown) (an output shaft sensor of the automatic transmission 12), and an engine speed sensor (not shown). A shift request range determination unit 103 is provided to which an engine speed signal based on detection of an input shaft sensor of the automatic transmission 12 and a brake signal based on detection of a brake sensor provided on a foot brake (not shown) are respectively input. In detail, when the shift range requested by the shift lever 2 can be permitted based on the vehicle speed, the engine speed, and the brake signal, the control unit 110, which will be described in detail later, , “Required range”).

  Note that the state where the requested shift range can be permitted is a state where shift change should not be prohibited, and particularly the state that should be prohibited is, for example, a shift change to the R range during forward travel based on the vehicle speed, Shifting to the D range during reverse travel, shifting to the D range or R range from the engine idle state (more than the specified engine speed) in the N range or P range, stepping on the foot brake from the P range First, a shift change to another range can be considered.

  On the other hand, the range switching control unit 100 includes a motor output generation unit (motor control means) 130 that inputs a motor control command output from the control unit 110 and a battery voltage signal. The circuit 4a generates and outputs ON / OFF command and duty command signals for the switch elements FET1, FET2, FET3, and FET4. Thereby, the driving state of the motor 4 is freely controlled by the control of the control unit 110 described later in detail.

  Next, the control unit 110, which is a main part of the present invention, will be described. The control unit 110 includes a stop detection unit 113, an intermediate stop determination unit 117, a motor control unit 111, a position detection unit 112, a speed decrease detection unit 114, and a speed decrease time determination unit 115 having a set time map 116. Torque re-application control means 118 having application time setting means 119, re-application time counting means 120, stop position recording means 121, movement minute determination means 122, error tolerance determination means 123, range position learning means 124, frequency failure determination means 126 And a non-moving failure determination unit 127, respectively, and a failure determination unit 125.

When the motor control unit 111 differs from the actual range signal input from the actual range determination unit 102, the requested range signal input by the permission of the shift request range determination unit 103 based on the operation of the shift lever 2 is different. Then, control for moving and driving the manual valve 7 to the position of the required range is started. That is, the motor control means 111 moves the manual shaft 34 at an angle corresponding to the range position of the actual range (θ _{P for} the P range, θ _R for the R range, θ _N for the N range, θ _N for the N range, and D range. If there is a rotation position from θ _D ) to an angle (θ _P , θ _R , θ _N , θ _D ) that corresponds to the range position of the required range, first, a braking position (hereinafter referred to as a braking position) for starting the motor 4 is started. , “Braking point”). Then, the motor 4 is commanded to drive forward or reverse (see FIG. 3) up to the braking point, and up to the braking point by detecting the angular position of the manual shaft 34 of the position detecting means 112 based on the detection of the position sensor 8. When it is detected that the motor 4 has been reached, the motor 4 is commanded to be braked or stopped (see FIG. 3).

  This braking point is a convex immediately before the range groove of the detent lever 40 corresponding to the required range (a for P range, c for R range, e for N range, g for D range). The portion (b, d, f) is set to a position where the roller 42 of the detent spring 41 has passed, that is, after the motor 4 is braked or stopped, the detent lever 40 is attached to the range position by the urging force of the detent spring 41. Rush. In this case, for example, when the vehicle is in an extremely cold region and the lubricating oil such as grease in the drive mechanism 3 or the motor 4 is cured at a low temperature, it is particularly affected by the cogging torque of the motor. Become. Therefore, characteristic control of the present invention focusing on such background will be described below.

  As shown in FIG. 5, based on the position detection of the position detection means 112, it is detected that the angular position of the manual shaft 34 has reached the braking point, and when the motor control means 111 starts braking the motor 4 (S1- 1) First, the reassignment count counting unit 120 resets a correction counter, which will be described in detail later (S1-2). Subsequently, the process proceeds to step S1-3, and the stop detection means 113 repeatedly determines until the rotation of the manual shaft 34, that is, the movement of the manual valve 7 is stopped.

Specifically, when the speed decrease detection means 114 of the stop detection means 113 detects that the speed ωms of the manual shaft 34 has become equal to or less than a predetermined speed ωa, as shown in FIGS. 4 and 9, the speed decrease time determination means. 115 determines the stop of the manual shaft 34 when the set time tv is set with reference to the set time map 116 and it is determined that the acquired set time tv has elapsed. In the set time map 116, the position when the speed drop detecting means 114 detects that the speed ωms of the manual shaft 34 is equal to or lower than the predetermined speed ωa is the range position θ _P , θ _R , θ _N , θ _The set time tv is recorded such that the set time tv becomes shorter as the distance is farther from _{D. In} other words, the speed decrease time determination unit 115 detects that the speed decrease detection unit 114 detects the range positions θ _P , θ _R , θ _N , farther from θ _D, it is determined to stop the manual shaft 34 as soon as possible.

For example example of the upper shown in FIG. 9 shows a case where the manual shaft 34 is stopped at the normal range position theta _D. In this case, at the point Pa where the speed ωms-a of the manual shaft 34 is equal to or lower than the predetermined speed ωa, the speed decrease detecting means 114 is detected. Then, with reference to the set time map 116 according to the distance of the speed reduction time determination means 115 and the range position theta _D and the point Pa acquires the setting time tva, the manual shaft 34 when the set time tva has elapsed It is determined that the rotation has stopped (at least one of which stops).

Further, for example, the middle example shown in FIG. 9 is a case where the manual shaft 34 stops at an intermediate position. Thus, at a point Pb speed ωms-b of the manual shaft 34 is equal to or less than a predetermined speed .omega.a, the detection of the speed reduction detecting means 114 is performed, the speed reduction time determination means 115 range position theta _D and point Pb The set time map 116 is referred to according to the distance between the set time tvb and the set time tvb shorter than the set time tva is acquired, and when the set time tvb elapses, the rotation of the manual shaft 34 is stopped (at least Is determined to be stopped).

Further, examples of the lower of FIG. 9 for example, manual shaft 34 is a case of stopping at the intermediate position is when stopped at a position farther than the range position theta _D for the example above the middle. Thus, at a point Pc speed ωms-c of the manual shaft 34 is equal to or less than a predetermined speed .omega.a, the detection of the speed reduction detecting means 114 is performed, the speed reduction time determination means 115 range position theta _D and point Pc The set time map 116 is referred to according to the distance to the set time tva and the set time tvc shorter than the set time ttvb is acquired, and the rotation of the manual shaft 34 is stopped when the set time tvc has elapsed. Judgment is made (at least some of which will stop).

  In FIG. 9, since the speed ω becomes the position θ according to the time t, the horizontal axis shows the time t for the sake of convenience. Of course, the position θ coincides after the elapsed time. is not.

When the stop determination is made by the speed reduction time determination means 115 (Yes in S1-3), the stop position of the manual shaft 34 is within the range position region by the intermediate stop determination means 117 as shown in FIG. Whether or not it is an intermediate position between the range positions is determined (S1-4). For the determination of the stop position by the intermediate stop determination means 117, for example, the stop position after the set time tv has elapsed is estimated and calculated based on the predetermined speed ωa, and predetermined for the range positions θ _P , θ _R , θ _N , θ _D. For example, the stop position may be detected based on the detection result of the position detection unit 112 after the set time tv elapses, and the range position θ _P , θ _R , θ _N , θ _{D is} within the predetermined region. Further, for example, it is assumed that the position (for example, Pa, Pb, Pc in FIG. 9) that is equal to or lower than the predetermined speed ωa detected by the speed decrease detecting unit 114 is the stop position, and the range positions θ _P , θ _R. , Θ _N , θ _D may be determined as being within a predetermined region.

  As described above, when the intermediate stop determination unit 117 determines whether or not the stop position of the manual shaft 34 is within the range position region, the stop position is determined by the shift lever as in the example shown in the upper part of FIG. 2 is determined to be within the range of the range position requested (Yes in S1-4), the manual valve 7 has moved to the normally requested range position, and thus the shift switching is completed (S1). -5).

  On the other hand, when the intermediate stop determination means 117 determines that the stop position of the manual shaft 34 is not within the range position region, that is, the manual valve 7 stops at an intermediate position between the range positions (whichever stops at the intermediate position). ) (No in S1-4), the process proceeds to “B” in FIG. 5 and proceeds to the flowchart shown in FIG.

  Then, first, the re-assignment number counting means 120 determines whether or not the correction counter is equal to or greater than a predetermined number (for example, 3 times) (S2-1). Here, for example, assuming that it has been reset in step S1-2 (No in S2-1), the process proceeds to step S2-3. Further, in step S2-3, it is determined whether or not the correction counter is 0. Here, however, it is assumed that the correction counter remains reset in step S1-2 (Yes in S2-3), and step S2 Proceed to -4. In step S2-4, the stop position recording unit 121 records the stop position of the manual shaft 34 determined by the intermediate stop determination unit 117 in a non-illustrated nonvolatile memory or the like.

  Next, when the process proceeds to step S2-5, control for re-applying torque by the motor 4 by the torque re-applying control means 118 is started. Here, the cogging torque of the motor 4 will be described with reference to FIG. FIG. 8 is an explanatory diagram showing the relationship between the torque acting on the manual shaft 34 and the angular position θms, and schematically shows the detent torque Td and the cogging torque Tc of the motor 4.

A detent torque Td indicated by a solid line in FIG. 8 is a torque due to the urging force of the detent spring 41 with respect to the range grooves a, c, e, g and the convex portions b, d, f of the detent lever 40 described above. As shown in FIG. 8, when moving in the direction of the D range, torque is generated so as to reach the maximum torque toward each range position θ _P , θ _R , θ _N , θ _D , and each range position θ _P , Θ _R , θ _N , and θ _D are exceeded, a negative torque is generated in a direction to return to the range positions θ _P , θ _R , θ _N , and θ _D. The detent torque Td is reduced in magnitude (vertical direction in the figure), for example, when the range switching device 1 is in a low temperature state and the lubricating oil is hardened and the sliding resistance in the drive mechanism 3 including the detent mechanism 9 is increased. Will be.

  On the other hand, the cogging torque Tc of the motor 4 indicated by the broken line in FIG. 8 is a torque generated by the phase in the rotational direction due to the positional relationship between the permanent magnet and the coil in the motor 4 and is generated like a so-called sine curve. Torque. Note that the one-dot chain line in FIG. 8 is a line indicating a state in which the plus / minus of the cogging torque Tc is inverted.

That is, as shown in FIG. 8, for example, when the range switching device 1 is in a low temperature state and the detent torque Td decreases, the influence of the cogging torque Tc increases, and the maximum torque −Tcmax in the negative direction of the cogging torque Tc increases. As shown by -ΔT in the figure, the detent torque Td in the positive direction may be exceeded, that is, before the manual shaft 34 reaches each range position θ _P , θ _R , θ _N , θ _D. May stop at an intermediate position. Therefore, the torque reapplying control means 118 sets a reapplying torque Tmr that is a predetermined amount larger than the maximum negative torque −Tcmax of the cogging torque Tc and instructs the motor 4 to start outputting the reapplying torque Tmr. To do. Thereby, it is possible to prevent the manual shaft 34 from being stopped due to the influence of the cogging torque Tc.

At this time, the reapplying time setting means 119 of the torque reapplying control means 118 sets the reapplying time td for outputting the reapplying torque Tmr, and the intermediate stop determining means 117 stops the manual shaft 34 at the intermediate position. In accordance with the position θ of the manual shaft 34 when it is determined that the distance from the range position θ _P , θ _R , θ _N , θ _D is longer, the distance is set to be longer.

That is, for example, as in the example shown in the middle stage of FIG. 9, when it is determined that the speed ω of the manual shaft 34 is equal to or lower than the predetermined speed ωa at the point Pb and stops after the set time tvb, the time is relatively short. only outputs the reapplication torque Tmr, since should reach the range position theta _D, set to re-attachment time tdb, for example as in the example shown in the lower part of FIG. 9, the speed of the manual shaft 34 omega but when it stops at a point Pc after a predetermined speed ωa follows will set time tvc is determined, if not output reapplication torque Tmr a relatively long time, since it should not reach the range position theta _D The reassignment time tdc is set.

When the output of the re-grant torque Tmr is finished at the re-grant time td set as described above, as shown in FIG. 6, the process proceeds to step S2-6, and the re-grant count counter 120 adds 1 to the correction counter, Proceeding to “A” in FIG. 6, the process returns to step S1-3 shown in FIG. In the same manner as described above, the stop detection unit 113 determines stop of the manual shaft 34 (Yes in S1-3), and the intermediate stop determination unit 117 determines that the manual shaft 34 is in each range position θ _P , θ _R , θ _N , determines whether the theta _D within the region (S1-4).

Normally, as described above, the re-applying torque Tmr corresponding to the re-applying time td is output from the motor 4 by the torque re-applying control means 118, so that the manual shaft 34 has each range position θ _P , θ _R , θ _N , proceeds to theta _D within the region, i.e. even when the manual valve 7 is that would stop at the intermediate position, automatically the manual valve 7 is switched to the requested range position (S1-4: Yes ), The shift switching is completed (S1-5).

Next, a case will be described in which it is determined that the range positions θ _P , θ _R , θ _N , and θ _D have not been reached even if the above-described re-applying torque Tmr is output once. That is, even if the re-applying torque Tmr is output once, if it is determined that the position of the manual shaft 34 is the intermediate position (No in S1-4), the process proceeds to the flowchart shown in FIG.

  Similarly, first, the re-assignment number counting means 120 determines whether or not the correction counter is greater than or equal to a predetermined number (for example, 3 times) (S2-1), but here, in step S2-6 above Since 1 is added, that is, the correction counter is 1 (the retry count is the first), the process proceeds to step S2-3. In step S2-3, since the correction counter is 1 instead of 0 (No in S2-3), the process proceeds to step S2-7.

  When proceeding to step S2-7, the moving minute determination means 112 detects the previous stop position (see S2-4) recorded by the stop position recording means 121 and the current manual shaft based on the detection by the position detection means 112. The difference between the current stop position of 34, that is, the difference between the position before outputting the re-applying torque Tmr and the position after outputting is calculated. Subsequently, the movement minute determination means 112 determines whether or not the calculated position difference before and after the output of the re-applying torque Tmr is within a predetermined range, that is, the distance moved by the output of the re-applying torque Tmr is predetermined. It is determined whether it is within the moving distance (S2-8).

  For example, when the movement minute determination means 112 determines that the difference in position before and after the output of the re-applying torque Tmr is equal to or greater than a predetermined moving distance (No in S2-8), that is, the movement of the manual shaft 34 by the re-applying torque Tmr. Has been performed (not a little), but is still in the intermediate position, so the stop position is stored again (S2-4), and the re-applying torque Tmr is output (S2-5). The correction counter is incremented by 1 (S2-6), and the process returns to step S1-3.

  If the intermediate stop determination means 117 determines that the repositioning torque Tmr is repeatedly output in this way (S1-4), the shift switching is completed (S1- 5) That is, shift switching is automatically performed without entering a failure state described later.

  Here, for example, when the re-applying torque Tmr is output three times by the torque re-applying control unit 118 and it is determined by the intermediate stop determining unit 117 that the re-applying torque Tmr is still stopped at the intermediate position (No in S1-4), fail determination The number-of-times failure determination means 126 of the means 125 determines that the correction counter is 3 or more (3 or more times) (Yes in S2-1), and is determined as a failure state (S2-2). In other words, this state is a state where the manual valve 7 has moved three times but does not reach the required range position. For example, the position sensor 8 or the detent mechanism 9 has failed (the manual shaft 34 has not been rotated freely). ), Etc. Thus, for example, even if the range switching device 1 is out of order, the failure can be detected and a hunting state in which the re-applying torque is continuously output despite the occurrence of the failure is prevented. It is possible to do.

  When the failure state is determined in this way, the failure determination unit 125 displays the warning on the instrument display board of the driver's seat or outputs a warning sound, for example, so that the failure state is determined by the driver. To inform. At this time, a fail signal is also output from the fail determination means 125 of the range switching control unit 100 to the A / T control unit 12a (see FIG. 1), for example, the A / T control unit 12a performs the clutch of the automatic transmission 12 or the like. The automatic transmission 12 is set to the neutral state by releasing the brake or the like.

  Further, in the present embodiment, when the correction counter is 3 or more, that is, when the output of the reapplying torque Tmr is retried three times and the range position is not switched, the fail state is determined. Of course, this number may be set to any number as long as it is an appropriate number.

  On the other hand, when it is determined that the difference in position before and after the output of the reapplying torque Tmr is within the predetermined moving distance while the output of the reapplying torque Tmr is repeatedly performed, (Yes in S2-8), the process proceeds to “C” in FIG. 6 and proceeds to the flowchart in FIG. Then, first, the error tolerance determination unit 123 determines whether or not the current stop position of the manual shaft 34 is within a predetermined distance with respect to the requested range position (S3-1). This predetermined distance is set to a distance that takes into account, for example, a manufacturing error of the range switching device 1, that is, the error tolerance determination unit 123 is a position when the stop position is determined as the intermediate position by the intermediate stop determination unit 117. However, it is determined whether or not the position is an acceptable level as a manufacturing error.

Here, when it is determined by the error tolerance determination means 123 that the current stop position of the manual shaft 34 is not an allowable position as a manufacturing error (No in S3-1), that is, each range position θ _P. , Θ _R , θ _N , and θ _D corresponding to the range grooves a, c, e, and g of the detent lever 40 are output regardless of whether the detent spring 41 is engaged. However, since the movement of the manual shaft 34 is very small (or is not moving at all), it is determined as a failed state by the non-moving failure determination means 127 of the failure determination means 125 (S3-4). In other words, this state is a state in which the manual shaft 34 stopped at the intermediate position hardly moves even if the re-applying torque Tmr is output. For example, the foreign matter in the drive mechanism 3 is encroached, the motor 4 is disconnected, or the like. Thus, for example, even if the range switching device 1 is out of order, the failure can be detected and a hunting state in which the re-applying torque is continuously output despite the occurrence of the failure is prevented. It is possible to do.

  Similarly, when it is determined as a failure state, the failure determination means 125 notifies the driver of the failure state, and sets the automatic transmission 12 to the neutral state.

  On the other hand, when it is determined in step S3-1 that the error stop determination means 123 determines that the current stop position of the manual shaft 34 is acceptable as a manufacturing error (Yes in S3-1), step S3-1 is performed. Proceeding to S3-2, the range position learning means 124, for example, the stop position of the manual shaft 34 before the output of the re-applying torque Tmr (the previous stop position recorded by the stop position recording means 121) and the current manual shaft. The average value of the stop position of 34 (the current stop position) is set as the range position, that is, the range position is learned based on the stop position of the manual shaft 34, and the shift switching is completed (S3-3). Accordingly, it is possible to prevent a hunting state in which it is erroneously determined that the stop position of the manual shaft 34 is not the range position due to a manufacturing error of the range switching device 1 and the output of the reapplying torque Tmr is repeated. .

  Next, an example of outputting the re-applying torque based on the control of the range switching control unit 100 described above will be described with reference to the time chart of FIG. In the control example shown in FIG. 10, since the torque reapplying of the motor 4 is performed only once and is switched to the normal range position, the above-described correction count, fail state determination, and Although explanation about the learning of the range position is omitted, in practice, control (determination thereof) is performed along the above-described flowchart.

As shown in FIG. 10, in a state where for example the position θms of an N range state manual shaft 34 is in the range position theta _N, at time t1, the shift lever 2 is operated to the D range, the shift request range determining unit 103 When a request signal for the D range is input via the motor control means 111, the motor control means 111 sets a braking point and commands the motor 4 to drive. Then, the motor torque Tm is increased and the position θms of the manual shaft 34 starts to move.

  Next, when the position θms of the manual shaft 34 reaches the set braking point at time t2, the motor control means 111 commands the motor 4 to perform braking (S1-1), and the motor torque Tm is made negative. Braking is started. In addition, after the braking by the motor 4 is started, the detent lever 40 is given a detent torque Td in the traveling direction by the roller 42 of the detent spring 41 being urged from the convex portion f toward the range groove g. Then, the manual shaft 34 is once accelerated and the position θms moves quickly, and then the manual shaft 34 is decelerated due to the combined braking of the motor 4 and the cogging torque Tc.

Here, at time t3, when the speed drop detecting means 114 detects that the moving (turning) speed of the manual shaft 34 has become equal to or lower than the predetermined speed ωa based on the detection by the position detecting means 112, the manual shaft at this time t3. set the speed reduction time determination unit 115 sets time tv based on the distance between the position θms and range position theta _D of 34, at the time t4 when the set time tv has elapsed, thereby stopping the manual shaft 34 remains the (S1-3).

Then, at the time point t4, the intermediate stop determination unit 117 determines that the current position θms of the manual shaft 34 based on the detection of the position detection unit 112 is an intermediate position between the range positions θ _N and θ _D (S1-4). of No), re-attachment time setting means 119 based on the distance between the position θms and range position theta _D of the manual shaft 34 at this point t4 sets the re-attachment time td, the torque re-application control means 118 is the set Until the reapplying time td elapses, a reapplying torque Tmr that is a predetermined amount larger than the maximum load torque −Tcmax of the cogging torque Tc of the motor 4 is output. Thus, the position θms of manual shaft 34 is moved driven toward the range position theta _D.

At time t5 when the reapplying time td has elapsed, the output of the reapplying torque Tmr by the torque reapplying control means 118 is stopped, and the motor 4 is stopped. Thereafter, the inertia force of the manual shaft 34 and the detent torque Td of the detent mechanism 9 are combined to move the position θms of the manual shaft 34. At time t6, the position θms of the manual shaft 34 is in the D range. reach range position theta _D, i.e. the manual valve 7 is switched to the D position.

  As described above, according to the control device 100 of the range switching device according to the present invention, when the stop detection unit 113 detects that the manual valve 7 is stopped, the intermediate stop determination unit 117 stops the manual valve 7. When it is determined that the position is an intermediate position between the range positions, the motor 4 is driven and controlled so that the torque reapplying control means 118 outputs the reapplying torque Tmr, so that the manual valve 7 is set to the intermediate position between the range positions. In the case of stopping, it is possible to automatically apply the re-applying torque Tmr by the motor 4 to urge the manual valve 7 and reduce the frequency of shifting to the fail-safe state. Thus, it is possible to move the manual valve 7 to a more accurate range position.

  Further, since the torque reapplying control means 118 controls the motor 4 so that the reapplying torque Tmr is output a predetermined amount larger than the maximum load torque −Tcmax of the cogging torque Tc of the motor 4, the manual valve 7 is in the range. In the case of stopping at an intermediate position between the positions, it is possible to prevent a hunting state due to a load due to the cogging torque Tc of the motor 4, and to reduce the frequency of shifting to the fail-safe state, It is possible to automatically move the manual valve 7 to an accurate range position.

  Further, the reapplying time setting means 118 determines that the reapplying torque of the motor 4 depends on the position of the manual valve 7 when the intermediate stop determining means 117 determines that the manual valve 7 stops at an intermediate position between the range positions. Since the re-grant time td for outputting Tmr is set, the manual valve 7 can be moved to an accurate range position.

  Further, when the speed reduction time determination means 115 determines that the manual valve 7 is stopped at the predetermined speed ωa or less for a set time tv or more, it detects that the manual valve 7 is stopped. It is also possible to output the re-applying torque Tmr by the motor 4 before it completely stops.

  Further, the speed reduction time determination means 115 sets the set time td to be shorter as the position of the manual valve 7 when the speed reduction detection means 114 detects the predetermined speed ωa or less is farther from the range position. As the position of the motor is far from the range position and the assistance of the driving force is required earlier, the re-applying torque Tmr can be output more quickly by the motor 4.

  Further, when the number of times the fail determination unit 126 outputs the reapplying torque Tmr by the reapplying number counting unit 120 reaches a predetermined number (for example, 3 times), it is determined as a failed state. Even if it is a failure of itself, the failure can be detected, and it is possible to prevent a hunting state in which the re-applying torque Tmr is continuously output despite the occurrence of the failure.

  Further, every time the stop position recording means 121 detects that the manual valve 7 is stopped by the stop detection means 113, the position where the manual valve 7 stops is recorded, and the movement minute determination means 122 is recorded by the stop position recording means 121. It is determined whether or not the movement distance between the stop position before the output of the reapplying torque Tmr of the motor 4 by the recorded torque reapplying control means 118 is within a predetermined movement distance and an error tolerance determination. When the means 123 determines that the movement distance of the stop position before and after the output of the re-applying torque Tmr is within the predetermined movement distance by the movement minute determination means 122, the stop position after the output is within the predetermined distance with respect to the range position. The range position learning means 124 determines whether the stop position after the output by the error tolerance determination means 123 corresponds to the range position. When it is determined that the position is within the predetermined distance, the range position is learned based on the stop positions before and after the output, so that the accurate range position is learned even if there is a product error or the like in the range switching device 1, for example. The manual valve 7 can be moved to an accurate range position. In addition, when the stop position after the output of the re-applying torque Tmr is not within a predetermined distance with respect to the range position, the range position is not learned. For example, the erroneous stop position of the manual valve 7 stopped due to a failure or the like. It is possible to prevent learning with the range position.

  Further, since the non-moving failure determination unit 127 determines that the stop position after output is not within a predetermined distance with respect to the range position by the error tolerance determination unit 123, it is determined as a failure state, that is, the movement of the manual valve 7. Is a minute movement that is within a predetermined movement distance and is not within a predetermined distance from the range position, for example, it can be determined that it has stopped due to a failure of the manual valve 7 or the like, and a failure has occurred. Nevertheless, it is possible to prevent a hunting state in which the re-applying torque Tmr is continuously output.

  The drive mechanism 3 is connected to the manual valve 7 and is rotated by the rotational drive of the motor 4, and a detent lever in which range grooves a, c, e, g corresponding to the range position of the manual valve 7 are formed. 40, and a detent mechanism 9 comprising a detent spring 41 that can be urged and engaged toward the range grooves a, c, e, and g, so that the manual valve 7 is stopped at an intermediate position. Even in such a state, merely outputting a re-applying torque Tmr larger than the cogging torque Tc of the motor 4 can be an auxiliary bias applied to the biasing force of the detent spring 41. It is possible to move to the range position.

  In the above-described embodiment, the range switching device 1 has been described as switching the shift range of the automatic transmission 12. However, the present invention is not limited to this, and for example, a hybrid drive device having a travel drive motor or the like. The present invention can also be applied to those that switch the shift range in the power transmission apparatus. In addition, when applied to such a hybrid drive device or the like, for example, it is a range switching device that does not move the manual valve of the hydraulic control device but only engages / releases the parking gear. Can be considered. In the case of such a range switching device that only engages / releases the parking gear, the range switching member is not a manual valve but a detent lever as the range switching member.

It is a block diagram which shows the range switching apparatus which concerns on this invention. It is a perspective view which shows the drive mechanism of a range switching apparatus. It is explanatory drawing of a motor control circuit. It is a block diagram which shows the control apparatus of the range switching apparatus which concerns on this invention. It is a flowchart which shows the main control of a range switching apparatus. It is a flowchart which shows the torque reapplying control of a range switching apparatus. It is a flowchart which shows the range position learning control of a range switching apparatus. It is explanatory drawing which shows the relationship between the cogging torque of a motor, and a detent torque. It is explanatory drawing which shows the relationship between the speed of a manual shaft, and a detent position. It is a time chart which shows an example at the time of performing torque reapplying control.

Explanation of symbols

1 Range switching device 2 Operating means (shift lever)
3 Drive mechanism 4 Motor 7 Range switching member (manual valve)
8 Position detection means (position sensor)
9 Drive mechanism, detent mechanism 12 Power transmission device (automatic transmission)
40 Detent lever 41 Detent spring 100 Range switching device control device 111 Motor control means 112 Position detection means 113 Stop detection means 114 Speed drop detection means 115 Speed drop time determination means 117 Intermediate stop determination means 118 Torque reapplying control means 119 Reapplying Time setting unit 120 Number-of-reassignment counting unit 121 Stop position recording unit 122 Moving minute determination unit 123 Error tolerance determination unit 124 Range position learning unit 126 Number of times failure determination unit 127 Non-movement failure determination unit 130 Motor control unit (motor output generation unit)
P shift range (parking range)
R shift range (reverse range)
N shift range (neutral range)
D Shift range (drive range)
Tc Cogging torque-Tcmax Maximum load torque Tmr Re-applying torque td Re-applying time tv Setting time a Engaging groove c Engaging groove e Engaging groove g Engaging groove θ Position of the range switching member (manual shaft position)
θ _P range position (P range position)
θ _R range position (R range position)
θ _N range position (N range position)
θ _D range position (D range position)
ω Moving speed of range switching member (moving speed of manual shaft)
ωa predetermined speed

Claims (9)

An operating means that can select and command a travel range, a motor, a range switching member that switches a shift range of the power transmission device based on switching to a plurality of range positions, and a position of the range switching member by rotational driving of the motor In a control device for a range switching device, comprising: a drive mechanism that moves and drives; and a motor control means that drives and controls the motor based on a command from the operation means.
Position detecting means for detecting the position of the range switching member;
Based on the detection of the position detection means, stop detection means for detecting that the range switching member is stopped,
Intermediate stop determination means for determining that the position at which the range switching member stops when the stop detection means detects that the range switching member is stopped is an intermediate position between the range positions;
Torque reapplying control means for driving and controlling the motor to output reapplying torque when the intermediate stop determining means determines that the range switching member stops at an intermediate position between the range positions; Prepared,
A control device for a range switching device. The torque reapplying control means is configured to drive and control the motor so that the reapplying torque is output a predetermined amount larger than the maximum load torque of the cogging torque of the motor.
The control device of the range switching device according to claim 1. The torque re-applying control means is configured such that the motor is re-applied according to the position of the range switching member when the intermediate stop determining means determines that the range switching member stops at an intermediate position between the range positions. Re-grant time setting means for setting a re-grant time for outputting the applied torque;
The control device of the range switching device according to claim 1 or 2. The stop detection means includes
Based on the detection of the position detection means, a speed decrease detection means for detecting that the moving speed of the range switching member is a predetermined speed or less;
Speed reduction time determination means for determining that the state in which the moving speed of the range switching member is not more than a predetermined speed detected by the speed reduction detection means has continued for a set time or more,
When it is determined by the speed reduction time determination means that the state of the range switching member at a predetermined speed or less has continued for the set time or longer, it is detected that the range switching member stops.
The control device for the range switching device according to any one of claims 1 to 3. The speed reduction time determination means sets the set time shorter as the position of the range switching member when the speed reduction detection means detects the predetermined speed or less is farther from the range position.
The control device of the range switching device according to claim 4. Re-applying number counting means for counting the number of times the re-applying torque of the motor is output by the torque re-applying control means
When the number of times counted by the re-grant count unit reaches a predetermined number, a number of times failure determination unit that is determined as a failure state,
The control device for the range switching device according to any one of claims 1 to 5. Stop position recording means for recording the position at which the range switching member stops every time the stop detection means detects that the range switching member stops;
The movement distance between the stop position before the output of the reapplying torque of the motor by the torque reapplying control means recorded by the stop position recording means and the stop position after the output is determined to be within a predetermined moving distance. Moving minute determination means to
When the movement minute determination means determines that the movement distance of the stop position before and after the output of the re-applying torque is within a predetermined movement distance, the stop position after the output is a position within a predetermined distance with respect to the range position. An error tolerance determination means for determining that there is,
Range position learning means for learning the range position based on the stop positions before and after the output when the error tolerance determination means determines that the stop position after the output is within a predetermined distance from the range position; With
The control device for the range switching device according to any one of claims 1 to 6. A non-moving failure determination unit that determines a failure state when the error tolerance determination unit determines that the stop position after the output is not within a predetermined distance with respect to the range position;
The range switching device control device according to claim 7. The drive mechanism is connected to the range switching member and is rotated by the rotational drive of the motor, and a detent lever formed with a plurality of engagement grooves corresponding to the plurality of range positions of the range switching member; A detent mechanism comprising a detent spring that can be urged and engaged toward the plurality of engagement grooves,
The control device for a range switching device according to any one of claims 1 to 8.

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