JP2007315428A - Select assist device of automatic transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a select assist device of an automatic transmission, which enables range changing operation in the case of a failure by mechanically connecting a selecting lever to a selecting position changing device, and can improve a degree of freedom of layout by making the selecting lever compact, and further can achieve the selecting lever operating force characteristic suitable for a requirement. <P>SOLUTION: A controller 3 comprises an FB control section 31 for calculating a first drive command value so as to decrease a relative displacement, a detent force equivalent drive command value calculating section 32 for calculating the second drive command value to compensate the force generated by a detent mechanism of the automatic transmission 5, and an adder 33 for calculating a final drive command value from the first drive command value and the second drive command value. <P>COPYRIGHT: (C)2008,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. The operating position detecting means for detecting the operating position of the assist actuator is provided, and the relative displacement is calculated. A relative displacement amount detecting means that outputs the assist actuator, and an assist control means for controlling the drive of the assist actuator, wherein the assist control means calculates a first drive command value so that the relative displacement amount decreases. Drive command value calculating means and second drive command value calculating means for calculating, from the operating position, a second drive command value that is compensation for the force generated by the detent mechanism that stabilizes the range position in the select position switching device. And means for calculating a final drive command value from the first drive command value and the second 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 includes a position sensor 62 (operating position detecting means) that detects the stroke angle of the second rotating portion 17 with respect to the fixed member, that is, the operating angle (operating position) of the control lever 51 of the automatic transmission 51. Further, a position at which the stroke angle of the second rotation unit 17 with respect to the first rotation unit 13 or the stroke angle of the first rotation unit 13 with respect to the second rotation unit 17 is detected at the fulcrum shaft 19 portion. A sensor 6 (corresponding to a relative displacement amount detection means) is provided.

  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 sensor 6 and output to the controller 3.
Further, the change in the operating angle on the second rotating unit 17 side is detected by the position sensor 62 and output to the controller 3.

The controller 3 includes an FB control unit 31 (corresponding to a first drive command value calculation unit), a detent force equivalent drive command value calculation unit 32 (corresponding to a second drive command value calculation unit), and an adder 33 (final The motor drive control unit 34 has a main configuration.
The FB control unit 31 uses the relative displacement amount as a deviation input, calculates a drive command value so as to reduce the deviation, and outputs the drive command value to the adder 33 and the detent force equivalent drive command value calculation unit 32. The calculation of the drive command value is feedback control, and PID control is given as a specific example.

The detent force equivalent drive command value calculator 32 calculates and outputs a drive command value corresponding to the detent force.
The adder 33 adds the amount corresponding to the detent force to the feedback control, calculates the final drive command value, and outputs it.
The motor drive control unit 34 drives the assist actuator 2 in accordance with the control command value.

FIG. 8 is a block diagram of the detent force equivalent drive command value calculation unit 32 of the controller 3 according to the first embodiment.
The detent force equivalent drive command value calculation unit 32 includes a PL direction table 321, an LP direction table 322, an operating position change direction determination unit 323, a switch 324, and a multiplier 325.
The PL direction table 321 calculates a torque corresponding to the detent force received in the PL direction with reference to the table data when the operating direction is the direction from the P range position to the L range position. Output to.

The LP direction table 322 calculates a torque corresponding to the detent force received in the LP direction when the operation direction is a direction from the L range position to the P range position with reference to the table data, and switches the switch 324. Output to.
The operation position change direction determination unit 323 includes a calculation unit 323a, an adder 323b, and a sign determination unit 323c, and determines the change direction of the operation position.

The calculation unit 323a outputs the calculation represented by Z− ¹ , that is, the operation position before one calculation to the adder 323b as a subtraction amount.
The adder 323b performs a calculation for subtracting the previous operation position from the current operation position, and outputs the result to the sign determination unit 323c.
The sign determination unit 323c determines whether the operating position has increased or decreased from the one before the calculation based on the output from the adder 323b, and outputs a plus or minus sign.

  When the output from the operating position change direction determining unit 323 is a plus sign, the switch 324 passes the output from the PL direction table 321 and outputs it as the output of the switch 324, and the operating position change direction determining unit. When the output from 323 is a minus sign, the output from the LP direction table 322 is passed and used as the output of the switch 324.

  The multiplier 325 multiplies the gain 1 / G so as to convert the torque corresponding to the input detent force into a drive command value. G is a gain considering the voltage of the assist actuator, motor resistance, torque constant, reduction gear ratio, and the like.

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 detected value of the relative position displacement amount from the position sensor 6 is input, and the displacement amount from the midpoint of the relative position is read.

  In step S2, the first drive command value is calculated so that the deviation becomes smaller with the relative displacement amount as the deviation.

  In step S3, the detection value from the position sensor 62 is input and the operating position is read.

  In step S4, the drive command value corresponding to the detent force is calculated from the operating position as the second drive command value.

  In step S5, the final drive command value is calculated by adding the first drive command value and the second drive command value.

  In step S6, the electric motor of the assist actuator 2 is driven according to the motor torque command value.

[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 position of the middle point, that is, in a state having a margin in both operation directions (see FIG. 7A).

  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 sensors 6 and 60, and the motor drive control command value corresponding to the deviation of the relative position is set by the FB control unit 31, 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.
In other words, the relative position displacement is maintained near the midpoint of the relative position by the control of the FB control unit 31 to follow the movement by the operation of the select lever 11 as shown in FIGS. Thus, 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. 6 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

[Influence of detent characteristics]
In the automatic transmission select assist device, until the first half of the operation, the detent force that was trying to suppress the movement of the operating position is reduced due to the strong non-linearity that assists with the force direction reversed from the middle. Resulting in. The plant is stable until the first half of the operation (returns to the original position), while the second half of the operation is unstable (does not return to the original position). It is difficult to control such changes in the plant with the same tuning parameters. Although it is conceivable to change the parameter according to the operating position, it becomes a trial and error method and it takes time for tuning, which is not preferable.
The select assist device for the automatic transmission according to the first embodiment solves these problems.

[Defeating detent characteristics]
In the select assist device for the automatic transmission according to the first embodiment, when the assist control is activated by the detent force equivalent drive command value calculation unit 32 having the operation position as an input, and the displacement occurs in the operation position, the change in the operation position is as follows. The operation position change direction determination unit 323 detects the change.

The operation position change direction determination unit 323 subtracts the operation position one calculation before from the operation position input for the current calculation by the adder 323b. Therefore, when the operation direction has not changed from the previous calculation, it is positive. Thus, if the previous calculation and the direction of operation have changed, the result is negative.
As a result, the switch 324 switches between the PL direction table 321 and the LP direction table.

At the contact portion between the detent pin 55 provided on the detent plate 53 and the spring plate 54, friction is generated in a direction that suppresses the movement of the operation position.
Therefore, detent force data at the operating position can be obtained from the table data corresponding to the operation direction.

By multiplying the detent force thus obtained by the gain 1 / G, a drive command value corresponding to the detent force is calculated and output as a second drive command value.
As a result, the first drive command value calculated by the FB control unit 31 does not need to consider this detent characteristic.
Therefore, the control is very stable, and the followability of the operation position with respect to the operation position is good.

FIG. 9 is a graph showing the result of comparison of the effects of the presence / absence of the detent force equivalent drive command value calculation unit 32 in the selection assist device for the automatic transmission according to the first embodiment.
In FIG. 9, the presence / absence of the detent force equivalent drive command value calculation unit 32 is shown with and without compensation, and the case where there is no detent force is also shown for reference.
It can be seen that those without the detent force equivalent drive command value calculation unit 32 are affected by the detent force shown in FIG. That is, a characteristic is shown in which the relative displacement amount in the first half of the operation increases to the negative increase in the relative displacement amount in the second half of the operation. On the other hand, when the detent force equivalent drive command value calculation unit 32 allows the FB control unit 31 to perform control that is not affected by the detent force, the characteristics are substantially the same as those without the detent force, and the relative displacement The increase in quantity is well controlled. That is, it can be seen that the operating position follows the operating position satisfactorily.

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, the controller 3 compensates for the force generated by the FB control unit 31 that calculates the first drive command value so that the relative displacement amount becomes small and the detent mechanism of the automatic transmission 5. A detent force equivalent drive command value calculation unit 32 that calculates the drive command value of 2 from the operating position, and an adder 33 that calculates the final drive command value from the first drive command value and the 2 drive command value, The control can be made very stable, and the followability of the operation position with respect to the operation position can be made good.

The second embodiment is an example in which more dynamic correction is performed with respect to the correction of the detent force of the first embodiment.
FIG. 10 is a block diagram of the detent force equivalent drive command value calculation unit 32 of the controller 3 according to the first embodiment. In addition, about the block similar to FIG. 8, the same code | symbol is attached | subjected and description is abbreviate | omitted.

Dynamic calculation unit 326, a tau ₁ and delay time constant of the assist actuator 2, the tau ₂ as a value smaller than tau _1, the calculation of _{(1 + τ 1 s) /} (1 + τ 2 s), the output of the multiplier 325 To do.
This calculation is dynamic correction and is phase advance processing. In other words, in the second embodiment, the multiplier 325 that receives the detent force as input and multiplies the gain of 1 / G to calculate and outputs the drive command value is used as a static drive command value calculator. The calculation unit 325 performs dynamic correction.

The operation will be described.
[Dynamic compensation action]
Even if the drive command value for compensating the detent generation force is calculated, there is a time delay for the motor of the assist actuator 2 to generate a drive force corresponding to the drive command value. It is difficult to keep the apparent plant without any influence of detent force due to delay.

In the second embodiment, in order to suppress the influence of this delay, phase advance processing calculation is performed as dynamic correction for the drive command value.
As the processing, the driving command value output from the multiplier 325 is set as a static driving command value, and the dynamic calculation unit 326 calculates (1 + τ ₁ s) / (1 + τ ₂ s).
Thereby, the compensation delay time constant is changed from τ ₁ which is the delay time constant of the assist actuator 2 to τ ₂ , and the delay can be reduced by setting τ ₂ to a value smaller than τ ₁ . Therefore, the followability of the operation position with respect to the operation position can be further improved.

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 detent force equivalent drive command value calculation unit 32 includes a PL direction table 321 and an LP direction table 322 that calculate the detent generation force from the operation position based on the relationship between the operation position of the detent mechanism and the detent generation force. From the operating position change direction determination unit 323, the switch 324, the multiplier 325 for calculating the driving force of the assist actuator 2 necessary for canceling the detent generating force, and the assist actuator driving force for canceling the detent generating force, And a dynamic calculation unit 326 that obtains a second drive command value based on a dynamic delay until an actual drive force is generated with respect to the drive command value to the assist actuator, Position followability can be improved.

(Other embodiments)
As described above, the embodiment of the present invention has been described based on the first embodiment. However, the specific configuration of the present invention is not limited to the embodiment, and design changes and the like within the scope of the invention are not limited. Even if it exists, it is included in this 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 the first embodiment, 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, coupling with both coupling members is permitted while allowing elastic displacement up to the limit elastic displacement amount. An elastic coupling mechanism may be used.
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 embodiment and the second embodiment, as an example of the play coupling mechanism, a groove, a protrusion, and an assist actuator that allow play amount are provided in the select portion. However, as shown in FIG. 11, the second rotating portion 17 and the assist actuator are provided. May be provided in the automatic transmission 5. Specifically, referring to FIG. 11, the control arm 51 of the automatic transmission 5 is connected to the second rotating unit 17, and the control arm 51 switches the range position by the rotation of the second rotating unit 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. 12, 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.

  In the embodiment, the angular displacement of the second rotating part 17 with respect to the fixed member is directly detected as the operating position (operating angle) in order to detect the operating position, but the angular displacement of the first rotating part 13 with respect to the fixed member is detected as the operating position. It may be detected as (operation angle), and the operation position may be obtained by calculation from the operation position and the relative displacement amount.

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 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. 3 is a block diagram of a detent force equivalent drive command value calculation unit 32 of the controller 3 of Embodiment 1. FIG. FIG. 6 is a graph showing a result of comparison of effects depending on the presence / absence of a detent force equivalent drive command value calculation unit 32 in the automatic transmission select assist device according to the first embodiment. 3 is a block diagram of a detent force equivalent drive command value calculation unit 32 of the controller 3 of Embodiment 1. FIG. 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 axis 2 Assist actuator 21 Warm 3 Controller 31 FB Control Unit 32 Detent Force Equivalent Drive Command Value Calculation Unit 321 PL Direction Table 322 LP Direction Table 323 Operating Position Change Direction Determination Unit 323a Calculation Unit 323b Adder 323c Sign Determination Unit 324 Switch 325 Multiplier 326 Dynamic Operation unit 33 Adder 34 Motor drive control unit 4 Control cable 5 Automatic transmission 51 Control arm 52 Rotating shaft 53 Detent plate 53a Cam crest 53b Groove (valley)
54 Spring plate 55 Detent pin 56 Parking rod 57 Cam-shaped plate 58 Parking gear 6 Position sensor 62 Position sensor 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 Warm

Claims (2)

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,
An operating position detecting means for detecting the operating position of the assist actuator is provided,
A relative displacement amount detecting means for detecting the relative displacement amount is provided,
Provide assist control means for controlling the drive of the assist actuator,
The assist control means includes
First drive command value calculating means for calculating a first drive command value so that the relative displacement amount is reduced;
In the select position switching device, a second drive command value calculating means for calculating a second drive command value serving as compensation for the force generated by the detent mechanism that stabilizes the range position from the operating position;
Means for calculating a final drive command value from the first drive command value and the second drive command value;
A selection assist device for an automatic transmission. In the automatic transmission select assist device according to claim 1,
The second drive command value calculation means
Means for calculating the detent generation force from the operation position based on the relationship between the operation position of the detent mechanism and the detent generation force;
Means for calculating the driving force of the assist actuator required to cancel the detent generation force;
A second drive command value is obtained from the drive force of the assist actuator for canceling the detent generation force based on a dynamic delay until the actual drive force is generated with respect to the drive command value to the assist actuator. Means,
A selection assist device for an automatic transmission, comprising:

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