JP2008144881A - Shift controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a shift controller enhanced in control responsiveness of a gear ratio. <P>SOLUTION: The shift controller finds a control amount to be used when a gear ratio between an input rotation speed and an output rotation speed of a transmission is controlled, and has: a requirement determination means for determining a requirement degree of a variation speed of the gear ratio (step S11); and a control amount calculation means for determining the control amount by separately using first feedback control and second feedback control based on the requirement degree of the variation speed of the gear ratio (step S12). In the first feedback control, control for reducing deviation of a target gear ratio and an actual gear ratio, based on the deviation of the target gear ratio and the actual gear ratio is included, and in the second feedback control, control for reducing deviation of a target variation speed of the gear ratio and an actual variation speed of the gear ratio, based on the deviation of the target variation speed of the gear ratio and the actual variation speed of the gear ratio, is included. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a speed change control device for obtaining a control amount used when controlling a speed change ratio between an input speed and an output speed of a transmission.

  Conventionally, in a vehicle, a transport machine, an industrial machine, etc., a transmission is provided in a transmission path of torque output from a power source, and a transmission control for controlling a transmission ratio between the input rotation speed and the output rotation speed of the transmission An apparatus is known, and an example of the shift control apparatus is described in Patent Document 1. The shift control device described in Patent Document 1 controls a toroidal continuously variable transmission, and the toroidal continuously variable transmission has an input disk and an output disk. A roller is sandwiched between the input disk and the output disk. One side of the roller is in contact with the input disk, and the other side of the roller is in contact with the output disk. The torque of the input disk is transmitted to the output disk. The roller is supported by a trunnion, and the trunnion can move in the axial direction and can rotate about the axis. When controlling the gear ratio of the toroidal-type continuously variable transmission, if the trunnion is offset in the axial direction, a force is applied to the rollers to move the peripheral side of the input disk (tilting force). When the offset amount returns to zero, the position where the roller contacts the input disk and the output disk is displaced in the radial direction. As a result, the gear ratio of the toroidal continuously variable transmission changes.

  As a configuration for such gear ratio control, the toroidal continuously variable transmission is provided with a hydraulic piston chamber, and the axial displacement amount (stroke amount) in the trunnion is controlled by the hydraulic pressure from the hydraulic piston chamber. It is comprised so that. The gear ratio is changed by controlling the stroke amount of the trunnion. Further, the tilt angle and stroke amount of the trunnion are detected by a sensor, and the signal of the sensor is input to the controller. The controller receives signals such as the accelerator opening and the vehicle speed. The controller determines a target gear ratio from the accelerator opening and the vehicle speed, and corresponds to the target gear ratio and the tilt angle detected by the sensor. The target stroke amount is determined based on the deviation from the actual gear ratio. The hydraulic control valve is controlled based on the target stroke amount to control the trunnion stroke amount. In Patent Document 1, it is basically only necessary to perform the feedback control as described above. In addition, the technique regarding the speed change control apparatus used for a transmission is described also in patent documents 2 thru | or 4.

JP 2003-336732 A JP 2005-61511 A JP 2003-56785 A JP-A-5-332435

  However, as described in Patent Document 1, even when the trunnion stroke amount is feedback-controlled based on the deviation between the target gear ratio and the actual gear ratio, the speed change speed of the transmission is rapidly increased. The request could not be met.

  The present invention has been made paying attention to the above technical problem, and an object of the present invention is to provide a shift control device capable of enhancing the responsiveness to a request for a change speed of a gear ratio in a transmission. It is.

  In order to achieve the above object, a first aspect of the present invention is directed to a transmission control apparatus for obtaining a control amount used when controlling a transmission ratio between an input rotation speed and an output rotation speed of a transmission. Request determining means for determining the degree of change speed request, and control amount calculation means for determining the control amount by selectively using the first feedback control and the second feedback control based on the degree of change speed request for the gear ratio. In the first feedback control, the target speed ratio between the input speed and the output speed and a deviation between the actual speed ratio between the input speed and the output speed are determined based on the target speed ratio. A control for reducing a deviation between the transmission gear ratio and the actual transmission gear ratio is included, and the second feedback control includes a target change speed of the transmission gear ratio between the input rotation speed and the output rotation speed; Control is included to reduce the deviation between the target change speed of the transmission ratio and the actual change speed of the transmission ratio based on the deviation of the actual change speed of the transmission ratio between the input rotation speed and the output rotation speed. It is characterized by that.

  According to a second aspect of the present invention, in addition to the first aspect of the invention, the request determining means determines whether a required speed change ratio is lower or higher than a predetermined speed change speed. And the control amount calculation means uses the first feedback control when it is determined that the required speed change rate of the gear ratio is lower than a predetermined speed change rate. Means for determining the amount and not using the second feedback control, and when it is determined that the required change speed of the transmission ratio is higher than a predetermined change speed of the transmission ratio. The feedback control is used, and means for obtaining the control amount is used without using the first feedback control or without using the first feedback control.

  In addition to the structure of claim 1 or 2, the invention of claim 3 is an input disk and an output disk which are arranged on the same axis and rotate, and a power roller sandwiched between the input disk and the output disk And a holding mechanism for holding the power roller so as to be tiltable about the center line, the toroidal continuously variable transmission is provided, and the center line is disposed along a plane parallel to the axis. In addition, the axial line and the center line are arranged at right angles in the plane, and the toroidal continuously variable transmission is the transmission, and the holding mechanism is parallel to the center line. To generate a slip force at the contact point between the power roller and the input disk, and to tilt the power roller about the center line by the slip force. Thus, an actuator for controlling a transmission gear ratio of the transmission is provided, and the control amount calculation means obtains the control amount used for controlling the actuator when the first feedback control and the second feedback control are performed. It is characterized by including a means for properly using.

  According to the first aspect of the present invention, when the control amount for controlling the transmission ratio between the input rotation speed and the output rotation speed of the transmission is obtained, the degree of change speed of the required transmission ratio is determined, The first feedback control and the second feedback control having different speed change ratios are selectively used based on the degree of speed change speed change. Therefore, it is possible to enhance the change responsiveness of the change ratio of the transmission ratio in accordance with the required change ratio of the transmission ratio.

  According to the second aspect of the invention, in addition to obtaining the same effect as the first aspect of the invention, when the required change speed of the gear ratio is low, the control amount is calculated using the first feedback control. And the second feedback control is not used. On the other hand, when the required change speed of the gear ratio is high, the control amount is calculated using the second feedback control, and the first feedback control is used or not used. Therefore, when the required speed change ratio is high, the control response of the speed change speed can be further improved.

  According to the invention of claim 3, in addition to obtaining the same effect as the invention of claim 1 or 2, a power roller is sandwiched between the input disk and the output disk, and the torque of the input disk is It is transmitted to the output disk via the power roller. Specifically, traction oil is interposed at a contact point between the input disk and the power roller and a contact point between the output disk and the power roller, and power is transmitted according to the principle of traction transmission. The transmission ratio of the toroidal-type continuously variable transmission is defined by the radius of the contact point between the input disk and the power roller centered on the axis, and the contact point between the power roller and the output disk centered on the axis. The value depends on the ratio to the radius. Further, by operating a holding mechanism by the power of the actuator, a slip force is generated at a contact point between the power roller and the input disk, and the power roller is tilted about the reference point by the slip force. The transmission ratio between the input disk and the output disk is controlled. The power generated by the actuator is controlled based on the control amount obtained from the mixing ratio of the first feedback control and the second feedback control.

  Next, the present invention will be described more specifically. The transmission targeted by the present invention is capable of changing the speed ratio, which is the ratio between the input speed and the output speed, and in particular, the continuously variable transmission capable of changing the speed ratio continuously (steplessly). It is effective when used for. In addition, an actuator for controlling the transmission gear ratio is provided, and the control characteristic of the transmission gear ratio can be changed based on a control amount used for controlling the actuator. The continuously variable transmission targeted by the present invention, more specifically, the toroidal continuously variable transmission, is arranged so that the input disk and the output disk can rotate on the same axis, and between these disks, A continuously variable transmission configured such that a power roller is arranged and sandwiched so that the rotation center axis is substantially perpendicular to the rotation center axis of each disk, and torque is transmitted between the disks via the power roller. It is. Further, the present invention is not limited to a so-called single cavity type continuously variable transmission provided with a pair (one set) of input disks and output disks, but a double cavity type continuously variable transmission provided with two pairs (two sets) of input disks and output disks. It may be. And it is sufficient that a plurality of power rollers sandwiched between the input disk and the output disk are provided at equal intervals in the circumferential direction of the disk.

  Further, the toroidal type continuously variable transmission targeted by the present invention is configured to generate a so-called clamping pressure for clamping the power roller by hydraulic pressure. Further, the power roller is rotatably held by a holding member, and the holding member is moved substantially linearly, thereby displacing the power roller from the neutral position, and then returning the power roller to the neutral position. The actuator may be configured so as to be performed by an actuator that applies thrust to the holding member. As the actuator, a hydraulic cylinder, an electric cylinder, a pneumatic cylinder, or the like can be adopted. The holding member operates in accordance with the thrust force, and the power roller is displaced from the neutral position. And a change in the gear ratio occurs. Further, as the actuator, the rotation of the stepping motor can be converted into a linear motion using a rack and pinion mechanism, and the thrust can be applied to the holding mechanism.

  In the present invention, the first feedback control or the second feedback control is divided into a case where the required degree of the change speed of the gear ratio is higher than a predetermined value and a case where it is equal to or less than a predetermined value. A process using either one alone can be selected. Further, in the present invention, it is possible to select a process for adjusting the mixing ratio of the first feedback control and the second feedback control based on the required degree (request ratio) of the speed change ratio. Based on these two processes, the concept of selectively using the first feedback control and the second feedback control is extracted. The speed change ratio can be determined from the input speed change speed, the tilt angle change speed of the power roller holding mechanism, the stroke position change speed of the power roller holding mechanism, and the like.

  In the present invention, either of the first feedback control and the second feedback control is used to “use the first feedback control and the second feedback control properly based on the degree of request for the change speed of the gear ratio”. This means that the other control is not used. In addition, in order to “use the first feedback control and the second feedback control properly based on the degree of request for the speed change rate of the gear ratio”, both the first feedback control and the second feedback control are used in combination. Or the meaning of calculating | requiring a mixing ratio is also included. In addition, an actuator for controlling the transmission gear ratio is provided, and a control amount for controlling the actuator, or an operation amount (stroke amount) of an operating member that is operated by the actuator and sets the transmission gear ratio. From this, the concept of “control amount used when controlling the gear ratio” in the present invention is extracted. The movement amount of the movement member includes a stroke amount in the linear direction, a rotation angle in the rotation direction, and the like. Furthermore, the concept of the holding mechanism of the present invention is extracted from the configuration of a rod-shaped member (trunnion) that holds the power roller, a bearing that supports the trunnion, a link member to which the bearing is attached, and the like.

  2 and 3 schematically show an example of a double cavity type half toroidal continuously variable transmission. FIG. 2 is a longitudinal sectional view in the direction along the axis that is the rotation center of the input disk and the output disk, and the axis is arranged horizontally. FIG. 3 is a longitudinal sectional view along a plane orthogonal to the axis. The toroidal-type continuously variable transmission 50 is disposed, for example, in a power transmission path from a vehicle driving force source to wheels. Here, the driving force source is a device that outputs power transmitted to the wheels, and may be any of a plurality of types of driving force sources having different power generation principles or a single driving force source. Examples of the driving force source that can be used include an internal combustion engine (engine), an electric motor, a motor / generator, a hydraulic motor, and a flywheel system. In this toroidal-type continuously variable transmission 50, two pairs of input disks 1 and output disks 2 with their toroidal surfaces facing each other are arranged on the same axis A1. In the examples shown in FIGS. 2 and 3, two input disks 1 are arranged at a predetermined interval in a direction along the axis A1, in other words, in a direction parallel to the axis A1. An output disk 2 is arranged so-called back-to-back between the input disks 1 in the direction along the axis A1. Further, an output gear 3 as an output member of the toroidal continuously variable transmission 50 is disposed between the output disks 2 in the direction along the axis A1.

  The input shaft 4 passes through the center of each of the disks 1 and 2 and the output gear 3, so that each input disk 1 rotates integrally with the input shaft 4 and can move in the direction along the axis A1. Is attached. On the other hand, the output disk 2 and the output gear 3 are rotatably fitted to the input shaft 4, and each output disk 2 and the output gear 3 are connected so as to rotate together. ing. A lock nut 5 as a lock member for preventing the input disk 1 from coming off is attached to one end of the input shaft 4 (the left end in FIG. 2). A hydraulic cylinder 6 is attached to the opposite end (the right end in FIG. 2). The hydraulic cylinder 6 is a clamping pressure generating mechanism for generating a clamping pressure that presses each pair of the input disk 1 and the output disk 2 toward each other, and the cylinder 7 is fixed to the input shaft 4. At the same time, a piston 8 accommodated inside the cylinder 7 so as to be movable in the direction along the axis A1 is brought into contact with the back surface of the input disk 1. Accordingly, by supplying hydraulic pressure between the cylinder 7 and the piston 8, the piston 8 is pressed toward the left side in FIG. 2, and the input disk 1 arranged on the right side in FIG. It pushes toward the input disk 1 arrange | positioned at the left side. Note that this clamping pressure generation mechanism may be constituted by another mechanism such as a cam mechanism or a screw mechanism that changes the torque to a thrust in the direction along the axis A1 instead of the hydraulic cylinder 6.

  A plurality of power rollers 9 are sandwiched between each pair of input disk 1 and output disk 2. These power rollers 9 are so-called transmission members that mediate the transmission of torque between the input disk 1 and the output disk 2, have a substantially disk shape, and between the input disk 1 and the output disk 2, The disks 1 and 2 are arranged at equal intervals in the circumferential direction. Each power roller 9 is held by a trunnion 10 so as to rotate as the disks 1 and 2 rotate, and to tilt (tilt) between the disks 1 and 2. Here, the tilt and the tilt angle will be described with reference to FIGS. 2, 3, and 4. FIG. 4 is a plan view in a plane parallel to the axis A1. The power roller 9 is rotatably supported by the trunnion 10, and the trunnion 10 is configured to be rotatable within a range of a predetermined angle around the center line B1. The center line B1 is arranged along the vertical direction. In the plane shown in FIG. 4, the angle formed by the center line C1 of one power roller 9 and the line segment D1 is the tilt angle, and the behavior in which the tilt angle changes is tilt. Here, the line segment D1 is a line segment perpendicular to both the axis A1 and the center line B1 in the plane of FIG. In FIG. 4, the toroidal surfaces formed on the input disk 1 and the output disk 2 have a virtual minimum radius r3. Further, an angle formed by the center line C1 and a line segment from the center line B1 to the contact point S1 or the contact point S2 is a half apex angle θ. The center line B1 is depicted as a point B1 in FIG. 4 for convenience.

  Each trunnion 10 is for holding the power roller 9 so as to rotate and tilt freely, and trunnion shafts 12 extend on both upper and lower sides of a holding portion 11 having a flat surface facing the center. Yes. The upper trunnion shaft 12 in FIG. 3 is fitted to an upper yoke (upper link) 13 through a bearing, and the lower trunnion shaft 12 in FIG. 3 is connected to a lower yoke (lower link) 14 through a bearing. It is made to fit. Further, the upper yoke 13 is configured to be swingable about an axis (not shown) parallel to the axis A1, and the lower yoke 14 is swinged about an axis (not shown) parallel to the axis A1. It is configured to be possible. Each power roller 9 is rotatably held by a pivot shaft 15 attached to the holding portion 11 in each trunnion 10, and a thrust bearing 16 is interposed between each power roller 9 and each trunnion 10. . The trunnion 10, the pivot shaft 15, the thrust bearing 16, and the like serve as a holding mechanism that holds the power roller in a tiltable manner. In FIG. 3, for convenience, the trunnion 10 shown on the right side and the upper yoke 13 and the lower yoke 14 that support the trunnion 10 shown on the left side are shown separately on the left and right sides. The left and right trunnions 10 are supported by the integrally formed upper yoke 13 and the integrally formed lower yoke 14.

  The lower trunnion shaft 12 in each trunnion 10 in FIG. 3 is connected to an actuator that performs a linear up-and-down operation. The actuator is composed of a fluid pressure cylinder, an electric cylinder that outputs torque by changing it into thrust, and a hydraulic cylinder 17 is employed in the example shown in the figure. Specifically, the trunnion shaft 12 is connected to a piston 18 of a hydraulic cylinder 17 provided corresponding to each power roller 9. These hydraulic cylinders 17 are configured to move one power roller 9 upward in FIG. 3 and simultaneously move the other power roller 9 downward in FIG. 3. For example, the hydraulic chamber above the piston 18 in the left hydraulic cylinder 17 in FIG. 3 is a high oil chamber 17H for shifting to a high speed side with a small gear ratio, and the lower hydraulic chamber opposite to this is the gear ratio. The low oil chamber 17L is used for shifting to a low speed side with a large speed. 3 is a low oil chamber 17L for shifting the hydraulic chamber above the piston 18 in the right hydraulic cylinder 17 in FIG. 3 to the low speed side with a large gear ratio, and the lower hydraulic chamber opposite thereto is shifted. The high oil chamber 17H is used for shifting to a high speed side with a small ratio. The high oil chambers 17H and the low oil chambers 17L communicate with each other. Here, the configuration of the piston 18 will be described in detail. The piston 18 has a disk-shaped outward flange portion, and the outward flange portion allows the high oil chamber 17H and the low oil chamber to be formed. 17L. The outward flange portion is provided with a pressure receiving surface 18A to which the oil pressure of the high oil chamber 17H is applied and a pressure receiving surface 18B to which the oil pressure of the low oil chamber 17L is applied. Then, a thrust in the direction along the center line B1 is generated corresponding to a value obtained by multiplying the area of the pressure receiving surface 18A by the oil pressure of the high oil chamber 17H, and the area of the pressure receiving surface 18B includes the low oil chamber 17L. Corresponding to the value obtained by multiplying the hydraulic pressure, a thrust in the direction along the center line B1 is generated.

  A mechanism for shifting the power roller 9 from the neutral position to the upshift side or the downshift side (offset) will be described. Here, the displacement of the power roller 9 means a change in position in the direction along the center line B1. The displacement of the power roller 9 is achieved by the trunnion 10 moving in the direction along the center line B1. The neutral position is the position of the power roller 9 in the direction along the center line B1 so that the line segment D1 intersects the axis A1. The upshift side is a direction in which the power roller 9 is displaced so that the transmission ratio of the toroidal continuously variable transmission 50 is reduced. The downshift side is the toroidal continuously variable transmission 50. This is the direction in which the power roller 9 is displaced so as to increase the speed ratio. The mechanism for controlling the gear ratio of the toroidal-type continuously variable transmission 50 is a mechanism configured to operate an actuator such as the hydraulic cylinder 17, and in the example shown in FIGS. Is constituted by a solenoid valve 19 that is controlled. The electromagnetic valve 19 is a flow rate control valve that controls the flow rate of the pressure oil. Note that this type of control valve may be provided with two valves: a valve for controlling supply / discharge of hydraulic pressure to the high oil chamber 17H and a valve for controlling supply / discharge of hydraulic pressure to the low oil chamber 17L. You may comprise so that the supply / discharge of the hydraulic_pressure | hydraulic with respect to each oil chamber 17H and 17L may be controlled simultaneously with this control valve.

  2 and 3 includes a high-side port 20 that communicates with the high oil chamber 17H, a low-side port 21 that communicates with the low oil chamber 17L, and an input port 22 to which line pressure is input. The two drain ports 23, 24, the solenoid 25, the spring 26 disposed on the opposite side of the solenoid 25, and the axial direction of the spring 26 are moved by the pressing force of the spring 26 to switch the communication state of the ports. And a spool 27. The spool 27 closes the input port 22 and the drain ports 23 and 24 with respect to both the high-side port 20 and the low-side port 21, and simultaneously connects the input port 22 to the high-side port 20. An upshift state in which the low-side port 21 communicates with the drain port 24, and a downshift state in which the low-side port 21 communicates with the input port 22 and the high-side port 20 communicates with the drain port 23. It is configured to switch to.

  Accordingly, by appropriately supplying and discharging the pressure oil to and from the high oil chamber 17H and the low oil chamber 17L by the electromagnetic valve 19, a differential pressure is generated in these oil chambers 17H and 17L, and a thrust corresponding to the differential pressure is generated by the hydraulic cylinder. 17 to the trunnion 10. Specifically, the product of the differential pressure and the pressure receiving area of the piston 18 is the thrust. On the other hand, a tangential force accompanying torque transmission acts on the power roller 9, and the resultant force becomes a load in the direction opposite to the thrust. Therefore, if either the thrust or the load is large, the power roller 9 tilts, and if both balance, the power roller 9 is not tilted and is maintained at a predetermined position. The shift control using the electromagnetic valve 19 is electrically executed. That is, a stroke sensor 28 is provided to detect the position of each power roller 9 as the position of the trunnion 10 or the stroke amount (displacement amount). As an example, the stroke sensor 28 is attached to the trunnion shaft 12 of one trunnion 10, so that the displacement amount of the trunnion 10 in the direction along the center line B1 is electrically detected and output as a detection signal. It is configured. Here, the amount of displacement is the amount of movement in the direction along the center line B1 from the neutral position where no side slip force or tilting force acts on the power roller 9.

  Further, an input rotational speed sensor 30 that detects the rotational speed of any one of the input disks 1 and outputs an electrical signal, and an output that detects the rotational speed of any one of the output disks 2 and outputs an electrical signal. A rotation speed sensor 31 is provided. Therefore, the actual gear ratio can be obtained based on the respective rotational speeds detected by these rotational speed sensors 30 and 31. Although not particularly shown, a hydraulic pressure sensor is provided for detecting the oil pressure in the low oil chamber 17L and the oil pressure in the high oil chamber 17H. These sensors 28, 30, and 31 are electrically connected to an electronic control unit (ECU) 32 for controlling the transmission ratio and the aforementioned clamping pressure. The electronic control device 32 is mainly composed of a microcomputer, and performs various calculations according to an input signal, data stored in advance and a program, and outputs a control command signal based on the calculation result. It is configured to output. The toroidal continuously variable transmission 50 can be mounted on a vehicle. In this case, in addition to signals from the sensors 28, 30, and 31, the electronic control device 32 includes an accelerator opening degree and Various detection signals such as vehicle speed and engine speed are input.

  The principle of torque transmission in the toroidal continuously variable transmission 50 and the control of the gear ratio (that is, the ratio between the input rotational speed NIN and the output rotational speed NOUT) in the toroidal continuously variable transmission 50 will be described. When torque is input to the input disk 1 from a power source such as an engine, the torque is transmitted to the power roller 9 that is in contact with the input disk 1 via traction oil, and from the power roller 9 to the output disk 2. Torque is transmitted through the traction oil. In that case, the traction oil undergoes glass transition by being pressurized, and torque is transmitted by the accompanying large shearing force, so that each disk 1, 2 seems to generate a pressure corresponding to the input torque with the power roller 9. Pressed. Further, the peripheral speed of the power roller 9 and the peripheral speed of the torque transmission point (contact points S1, S2 where the power roller 9 is in contact via the traction oil) of each disk 1, 2 are substantially the same. The power roller 9 tilts, and according to the radius r1 of the contact point S1 between the power roller 9 and the input disk 1 and the radius r2 of the contact point S2 between the output disk 2 and the power roller 9 Thus, the rotational speeds (rotational speeds) of the disks 1 and 2 are different, and the ratio of the rotational speeds (rotational speeds) becomes the transmission ratio.

  In this way, the tilt of the power roller 9 that sets the transmission ratio of the toroidal type continuously variable transmission 50 is caused by moving the power roller 9 in the vertical direction in FIGS. 2 and 3. For example, when the solenoid valve 19 is controlled to supply line pressure to the high oil chamber 17H of the hydraulic cylinder 17, the difference between the thrust based on the pressure difference between the oil chambers 17H and 17L and the tangential force of the power roller 9 3 moves to the lower side, and the right side power roller 9 in FIG. 3 moves to the upper side. As a result, a force (side slip force) that tilts each power roller 9 is generated between the disks 1 and 2, and each power roller 9 tilts. When controlling the displacement amount of the power roller 9, feedback control can be executed. Specifically, the deviation between the actual tilt angle and the target tilt angle is obtained, and the actual tilt angle is controlled so as to reduce the deviation. When the actual tilt angle of the power roller 9 matches the target tilt angle, the trunnion 10 is operated in the opposite direction in the direction of the center line B1, and the power roller 9 is returned to the neutral position. The tilt stops. As a result, the target transmission ratio is maintained in the toroidal type continuously variable transmission 50. In this neutral position, the differential pressure is controlled so that the thrust based on this and the tangential force of the power roller 9 are balanced.

  The electronic control device 32 obtains a target gear ratio based on a required drive amount represented by a throttle opening or the like, a vehicle speed, and the like, and obtains a target tilt angle corresponding to the target gear ratio. Further, the target tilt angle is compared with the actual tilt angle, and a command signal is output to the solenoid valve 19 so that the actual tilt angle is close to the target tilt angle. The target tilt angle can be achieved by stroking the trunnion 10 and the power roller 9 in a direction along the center line B1. Therefore, the offset amount of the power roller 9 is detected by the stroke sensor 28, and the command signal (for example, duty ratio) for the electromagnetic valve 19 is feedback controlled using the deviation between the detected offset amount and the stroke command amount as a control deviation. . In addition, when controlling the gear ratio of the toroidal-type continuously variable transmission 50, in addition to the feedback control (first feedback control) as described above, second feedback control having a different gear ratio control characteristic can be executed. . In the second feedback control, the target change speed of the transmission ratio between the input rotation speed and the output rotation speed of the toroidal-type continuously variable transmission 50 and the actual change of the transmission gear ratio between the input rotation speed and the output rotation speed. In this control, the deviation between the target change speed of the transmission ratio and the actual change speed of the transmission ratio is reduced based on the deviation from the speed. Hereinafter, an example of control for selectively using the first feedback control and the second feedback control will be described.

(Control example 1)
A control example 1 for properly using the first feedback control and the second feedback control will be described based on the flowchart of FIG. As shown in FIG. 5, when entering the gear ratio control of the toroidal type continuously variable transmission 50 and changing the gear ratio of the toroidal continuously variable transmission 50, there is a demand for rapidly increasing the speed of change of the gear ratio. It is determined whether or not there is (step S1). The determination in step S1 can be performed using, for example, the accelerator opening, the throttle opening, the change rate of the target gear ratio, and the like as parameters. First, when the accelerator opening is used as a parameter, if the accelerator opening is larger than a predetermined value, an affirmative determination is made in step S1, while the accelerator opening is equal to or less than a predetermined value. Is negative in step S1. When the throttle opening is used as a parameter, if the throttle opening is larger than a predetermined value, a positive determination is made in step S1, while the throttle opening is equal to or smaller than a predetermined value. Is negative in step S1. That is, such a determination can be made in a vehicle having an electronic throttle valve configured such that the relationship between the accelerator opening and the throttle opening is not uniquely determined. Further, if the target speed ratio described above is used as a parameter, if the rate of change or rate of change of the target speed ratio is greater than a predetermined value, an affirmative determination is made in step S1, and the rate of change or rate of change of the target speed ratio. Is less than or equal to a predetermined value, a negative determination is made in step S1.

  Furthermore, it is also possible to make a determination in step S1 using another parameter. When the deviation between the target stroke position and the actual stroke position becomes larger than a predetermined value during the traveling of the vehicle, an affirmative determination is made in step S1, while the target stroke position during the traveling of the vehicle. When the deviation between the actual stroke position and the actual stroke position is equal to or less than a predetermined value, it is possible to perform a negative determination in step S1. That is, when the disturbance increases, as in the case where the road condition (road gradient) of the vehicle has changed or the engine torque has changed abruptly, an affirmative determination is made in step S1. Note that the “target stroke position” used at the time of the determination in step S1 is not a final value corresponding to the target speed ratio, but depends on a transient target speed ratio that is set for convenience in the course of reaching the target speed ratio. Value. In this way, if the determination in step S1 is made and the determination in step S1 is negative, the first feedback control is executed (step S2), and the control routine of FIG. 5 is returned. On the other hand, when a positive determination is made in step S2, second feedback control is executed (step S3), and the process returns. Next, an example of a controller used in the first feedback control and the second feedback control will be described.

(Controller example 1)
An example of a controller used for the first feedback control performed in step S2 is conceptually shown in a block diagram in FIG. The controller of FIG. 6 is a controller that places importance on controlling the stroke position with high accuracy, and is referred to as a position-type controller. In this position type controller, first, the required driving force in the vehicle is calculated based on the required driving amount represented by the accelerator opening and the vehicle speed, and the target output is obtained from the required driving force and the vehicle speed, A target engine speed that achieves the target output with minimum fuel consumption is determined, and the target gear ratio is determined so that the input speed of the toroidal-type continuously variable transmission 50 is equal to the target engine speed. It is done. Further, based on this target gear ratio, the target tilt angle φT of the power roller 9 is obtained. Next, the target tilt angle φT is compared with the actual tilt angle (actual tilt angle) φ, and the deviation is obtained. The deviation is processed with a predetermined gain Kφ to obtain the target stroke displacement amount ΔXT of the power roller 9. This target stroke displacement amount ΔXT is a target value of the stroke displacement amount, and is shown as “target displacement ΔXT” in FIG. The target stroke position X is obtained by adding the target stroke displacement amount ΔXT and the stroke position X 0 corresponding to the neutral position. This stroke position XO is indicated as "neutral point stroke position XO" in FIG. Next, the actual stroke position (actual stroke position) X and the target stroke position XT are compared, and the deviation is obtained. The deviation is processed with a predetermined gain Kx to obtain a command duty ratio which is a control amount for controlling the electromagnetic valve 19.

(Controller example 2)
Next, an example of a controller for second feedback control that can be performed when the process proceeds to step S3 will be described based on the block diagram of FIG. The controller shown in FIG. 7 has characteristics that place importance on the speed of change of the gear ratio, and is referred to as a speed controller. In FIG. 7, the target tilt angle φT and the actual tilt angle (actual tilt angle) φ are compared to determine the deviation, and the processing until the deviation is processed with a predetermined gain Kφ is as follows: This is the same as in the case of FIG. In FIG. 7, the deviation is processed by a predetermined gain Kφ to obtain a target displacement position XT_F / B for feedback control. On the other hand, in parallel with the above processing, during the change of the gear ratio (transient shift), the change rate (slope) ΔNIN of the target input speed is obtained, and the change rate (slope) ΔNIN of the target input speed is Processing with a predetermined gain Kφ_F / F is performed to obtain a target displacement position XT_F / F for feedforward control (F / F). In obtaining the target displacement position XT_F / F for the feedforward control (F / F), the displacement XT_F / F_fric for the tilting direction friction of the power roller 9 is taken into account. Based on the target displacement position XT_F / B and the target displacement position XT_F / F, the target displacement position XT is obtained. In the controller of FIG. 7, the processing after obtaining the target displacement position XT is the same as that of FIG.

(Controller example 3)
A second example of a controller for second feedback control that can be performed when the process proceeds to step S3 will be described with reference to the block diagram of FIG. In FIG. 8, during the change of the gear ratio (during a transient shift), the target input rotational speed change rate (slope) ΔNINT (k) is processed by the target tilt angular velocity calculation means, and the target tilt angular velocity φT_dot (k ) The “target tilt angular velocity φT_dot (k)” is a target value of the angular velocity when the power roller 9 is tilted. In parallel with this process, the actual tilt angle φ (k) is processed by the actual tilt angular velocity calculating means to determine the actual tilt angular velocity φ_dot (k). The “actual tilt angular velocity φ_dot (k)” is an actual angular velocity of the tilting power roller 9. Then, a deviation between the target tilt angular velocity φT_dot (k) and the actual tilt angular velocity φ_dot (k) is obtained, and a predetermined gain Kφ_dot is applied to the deviation to obtain a target trunnion stroke correction amount ΔXT (k−1). The target trunnion stroke correction amount ΔXT (k−1) is a “stroke correction amount” in the trunnion 10. Then, the previous target trunnion stroke position XT (k-1) and the target trunnion stroke correction amount ΔXT (k) are added to obtain the target trunnion stroke position XT (k). Here, the target trunnion stroke position is a target value of the stroke position of the trunnion 10. Then, a deviation between the target trunnion stroke position XT (k) and the trunnion actual stroke position X (k) is obtained, and a gain Kx is applied to the deviation to obtain a duty ratio used for controlling the solenoid valve 19.

(Control example 2)
Next, a control example 2 for properly using the first feedback control and the second feedback control will be described with reference to FIG. In FIG. 1, the required degree of the speed change rate of the toroidal continuously variable transmission 50 is determined (step S11). The parameters used for the determination in step S11 may be the same as the parameters used in step S1 in FIG. Then, after step S11, the mixing ratio of the first feedback control and the second feedback control is determined based on the required degree of change speed of the transmission ratio of the toroidal continuously variable transmission 50 (step S12), and the process returns. . The control of FIG. 1 will be described based on the block diagram of FIG. The position type controller shown in FIG. 9 has been described with reference to FIG. Further, as the speed controller shown in FIG. 9, any one of those explained in FIG. 7 or FIG. 8 can be used. The mixing ratio determining means determines the mixing ratio between the control value of the position type controller and the control value of the speed type controller. In FIG. 9, the mixing ratio of the position controller is indicated by “k”, and the ratio using the value of the speed controller is indicated by “1-k”. Here, “1” means that the mixing ratio is 100%. That is, a value obtained by subtracting the mixing ratio k of the position type controller from 100% of the control values to be used indicates the mixing ratio of the speed type controller. In addition, 0 ≦ k ≦ 1
It is.

  Then, when obtaining the mixing ratio k of the position controller, for example, the map of FIG. 9 can be used. In FIG. 9, the vertical axis represents the mixing ratio k, and the horizontal axis represents the parameters used for the determination in step S11. The map shown in FIG. 9 has a tendency that the mixing ratio k decreases as the accelerator opening or the throttle opening increases. In addition, the map shown in FIG. 9 has a tendency that the mixing ratio k tends to decrease as the change rate of the accelerator opening, the change rate of the throttle opening, or the change rate of the target gear ratio increases. Furthermore, the map shown in FIG. 9 has a tendency that the mixing ratio k decreases as the deviation between the target stroke position and the actual stroke position increases. It is also possible to store the arithmetic expression in the electronic control unit 32 so as to determine the mixing ratio by the arithmetic processing using the parameters described above without using the map as shown in FIG. In this way, the final control amount of the duty ratio of the solenoid valve 19 is obtained by proportioning the control value of the position type controller and the control value of the controller for the speed. Note that data, maps, and programs used for each control example and controller processing are stored in the electronic control device 32. Further, when the gear ratio of the toroidal-type continuously variable transmission 50 is controlled based on the vehicle speed and the accelerator opening in step S11 of FIG. 1 or step S1 of FIG. 5, the vehicle speed and the accelerator opening are different. It is also possible to execute control for determining that the required shift speed has increased when a shift operation such as a manual shift lever is performed under conditions.

  As described above, when the control example of FIG. 1 or FIG. 5 is executed, the control amount for controlling the speed ratio between the input rotational speed and the output rotational speed of the toroidal continuously variable transmission 50 is obtained. In addition, the degree of required change speed of the gear ratio is determined, and the first feedback control and the second feedback control having different speed change ratios are selectively used based on the required change speed of the speed ratio. Therefore, it is possible to enhance the change responsiveness of the change ratio of the transmission ratio in accordance with the required change ratio of the transmission ratio. When the required speed change ratio is low, as shown in the controller of FIG. 6, the control amount is calculated using the first feedback control, and the second feedback control is not used. On the other hand, when the required speed change rate of the gear ratio is high, as shown in the controller of FIG. 7, the control amount is calculated using the second feedback control, and the first feedback control is performed. As shown in FIG. 8, the control amount is calculated using the second feedback control, and the first feedback control is not used. Therefore, when the required speed change ratio is high, the control response of the speed change speed can be further improved.

  Here, the control of the gear ratio of the comparative example is compared with the above-described control examples. The comparative example is control for feedback control of the actual input rotation speed so as to reduce the deviation between the target input rotation speed and the actual input rotation speed. For example, the control described in Patent Document 1 also includes this control. Included in comparative examples. More specifically, the target input rotational speed increases at the time of a large shift of the toroidal type continuously variable transmission, that is, a downshift. The time chart example of FIG. 11 corresponds to a case where the downshift is executed, particularly when the accelerator opening is suddenly increased (kick down). In FIG. 11, the input rotation of the toroidal continuously variable transmission is shown. Number, tilt angle, and trunnion target stroke position over time are shown. Prior to time t1, the accelerator opening is substantially constant, and the target input rotational speed and the actual input rotational speed are substantially constant and substantially coincide with each other. Further, the tilt angle is maintained substantially constant at an angle greater than zero degrees, and the target stroke position of the trunnion is in the neutral position. The example shown in FIG. 11 corresponds to the case where the transmission ratio of the toroidal-type continuously variable transmission is set to less than “1” before time t1.

  When the accelerator opening increases rapidly at time t1, the final input rotational speed corresponding to the gear ratio after downshifting increases stepwise as indicated by the broken line at that time, and from time t2, the toroidal The target input rotational speed at the time of shift transition of the step transmission starts to increase as indicated by a solid line. Further, after time t2, the target stroke position is displaced from the neutral position in a direction in which a downshift occurs, and the target tilt angle starts to decrease as indicated by a solid line. Next, at time t3, the actual tilt angle starts to decrease as indicated by the broken line. After time t3, the trunnion target stroke position is set to substantially the same position, and after time t4, the trunnion target stroke position changes in a direction approaching the neutral position. The decrease gradient of the target tilt angle after time t4 is set more gently than the decrease gradient of the target tilt angle from time t3 to time t4. Further, after time t5, the actual tilt angle once becomes smaller than the target tilt angle, and after time t6, the trunnion target stroke position is set to a substantially neutral position. Therefore, after time t6, the actual tilt angle substantially matches the target tilt angle. At time t7, the target input rotational speed at the time of shifting transition matches the final target input rotational speed after the downshift.

  As described above, in the comparative example, even when a request to rapidly increase the transmission ratio of the toroidal type continuously variable transmission is generated at time t1, as shown in the period from time t2 to time t3, Because the deviation between the turning angle and the actual tilting angle gradually occurs, the control amount that changes the trunnion target stroke position abruptly cannot be output, and the change responsiveness (downshift) of the toroidal continuously variable transmission Responsiveness) is insufficient, and the shift feeling is impaired. More specifically, the change response of the tilt angle at the initial stage of the shift start of the toroidal type continuously variable transmission is lowered. As a result, in an internal combustion engine, specifically, a vehicle having a power train configured to transmit engine torque to a wheel via a toroidal-type continuously variable transmission, the engine speed increases (blows up). There was a possibility that the increase in driving force as a vehicle would be delayed with a delay.

  In order to avoid such inconvenience due to the control of the comparative example, it is conceivable to adopt a configuration in which the sensitivity of the actuator that controls the trunnion stroke position is increased (the stroke change speed is increased). However, when such a configuration is adopted, the gear ratio changes rapidly even when the accelerator opening slightly changes in a steady driving state (a state where the vehicle travels at a substantially constant vehicle speed and a substantially constant accelerator opening). Resulting in. Specifically, a sudden downshift causes the engine speed to enter the red zone, the fuel consumption of the engine decreases, the trunnion tilt angle regulating stopper comes into contact, and the gear ratio control accuracy decreases. It was not practical. On the other hand, in the control example 1 and the control example 2 of the embodiment, the change speed of the speed change ratio can be adjusted with high accuracy based on the required degree of the change speed of the speed change ratio in the toroidal continuously variable transmission 50. Therefore, the inconvenience described in the comparative example does not occur, and a reduction in the control accuracy of the gear ratio in the steady running state can be avoided.

  Here, the correspondence between the invention described in “Claims” and each control example will be described. Based on the control examples of FIGS. 1 and 4, the invention of claim 1 is extracted. The invention of claim 2 is extracted based on the control example of FIG. Further, the invention of claim 3 is extracted based on the configurations of FIGS. 2, 3, and 3. The relationship between the present invention and the specific example shown in FIG. 1 will be briefly described. The functional means of step S1 corresponds to the request determining means of the present invention, and the functional means of step S12 is the control of the present invention. It corresponds to a quantity calculation means. The relationship between the present invention and the specific example shown in FIG. 4 will be briefly described. The functional means of step S1 corresponds to the request determining means of the present invention, and the functional means of steps S2 and S3 are the present invention. This corresponds to the control amount calculation means. Parameters such as the duty ratio of the solenoid valve 19 and the stroke amount of the trunnion 19 correspond to the “control amount” in the present invention. Further, the correspondence relationship between the configuration shown in FIGS. 2, 3 and 4 and the configuration of the present invention will be described. The toroidal continuously variable transmission 50 corresponds to the transmission of the present invention, and the axis A1 is The trunnion 10, the pivot shaft 15, and the thrust bearing 16 correspond to the holding mechanism in the present invention, the center line B1 corresponds to the center line of the present invention, and the contact points S1, S2 corresponds to the contact point of the present invention, and the electromagnetic valve 19 and the electronic control device 32 correspond to the actuator of the present invention.

(Control example 3)
Next, a specific control example when step S3 or step S12 of each of the above control examples is executed will be described. This control example 3 is an example in which a correction command value for feedback control is obtained when the speed change speed of the toroidal-type continuously variable transmission 50 is controlled as described above. Also in this control example 3, the controller of FIG. 8 is used. The actual tilt angular velocity detection means shown in FIG. 8 can be configured as follows. For example, a sensor that can directly detect the tilt angle of the trunnion 10 can be used. Further, it is possible to use a difference between the average of the angular velocities of the trunnion 10 in the previous process and the average of the angular velocities of the trunnion 10 in the current process. Furthermore, when using the difference between the average angular velocity of the trunnion 10 in the previous processing and the average angular velocity of the trunnion 10 in the current processing, a low-pass filter can be applied. That is, when the calculated “difference” is equal to or smaller than a predetermined value, it is passed through the filter and used for processing. On the other hand, if the calculated difference is greater than or equal to a predetermined value, it is determined that the difference is noise and the filter is not passed. Further, the above-described target tilt angle detecting means is based on various factors such as the output rotational speed NOUT of the toroidal continuously variable transmission 50, the tilt angle of the trunnion 10, the dimensions of the toroidal continuously variable transmission 10 and the actuator. It can be calculated. Here, the specifications include the orifice coefficient of the hydraulic circuit, the radius of the power roller 8, the flow characteristics of the electromagnetic valve 19, the pressure receiving areas (effective areas) of the pressure receiving surfaces 18A and 18B of the piston 18, the input disk 1 and The virtual minimum radius r3 and the half apex angle θ in the output disk 2 are included.

  Next, an example of a time chart corresponding to the control example 3 is shown in FIG. First, before time t1, the accelerator opening is maintained substantially constant, and the tilt angle is substantially constant. Further, the target trunnion stroke amount is zero, the target trunnion stroke correction amount is also zero, and the tilt angular velocity is also zero. When a request for rapidly increasing the speed change of the toroidal continuously variable transmission 50 occurs due to a sudden increase in the aquacel opening at time t1, the final target input corresponding to the speed ratio after the downshift is generated. The rotational speed increases stepwise as indicated by the broken line. Next, at time t2, the target input rotation speed starts increasing as indicated by a solid line, the target trunnion stroke amount increases rapidly, and the target tilt angle decreases as indicated by a solid line, and The tilt angular velocity increases rapidly. In addition, after time t2, the actual tilt angle also decreases as shown by the broken line. Here, the target trunnion stroke amount and the tilt angular velocity are substantially constant from time t2 to time t3. Further, after time t2, the difference between the target tilt angle and the actual tilt angle is small, and the actual tilt angular velocity coincides with the target tilt angular velocity as indicated by a broken line. For this reason, the target trunnion stroke correction amount increases rapidly at time t2, but this target trunnion stroke correction amount becomes zero before time t3.

  At time t3, the target trunnion stroke amount approaches the neutral position, and the target tilt angular velocity decreases. On the other hand, since the actual tilt angular velocity decreases later than the target tilt angular velocity, the target trunnion stroke correction amount is on the negative side (upshift side) after time t3. When the actual tilt angular velocity matches the target tilt angular velocity, the target trunnion stroke correction amount becomes zero. In addition, after time t4, the target trunnion stroke amount is substantially constant, the target tilt angular velocity is substantially constant, and the target tilt angular velocity and the actual tilt angular velocity coincide with each other. Therefore, the target trunnion stroke correction amount is also zero. After time t4, the change gradient of the target tilt angle becomes gentler than before time t4, and after time t5, the target tilt angle and the actual tilt angle substantially coincide. Further, the increasing gradient of the target input rotational speed becomes gentler after time t4 than before time t4. At time t6, the target input rotational speed matches the final target input rotational speed. As described above, since the target trunnion stroke amount can be increased stepwise at time t2, the deviation between the target tilt angle and the actual tilt angle can be reduced. Therefore, at the time of kickdown control, the accelerator pedal is depressed, the engine speed increases, and at the same time, the driving force increases, so that it is possible to suppress a reduction in the shift feeling.

  In each control example, a shift that increases the gear ratio of the toroidal-type continuously variable transmission 50, that is, downshift control is exemplified as a specific example. The present invention can also be applied to the case of performing a shift for reducing the gear ratio, that is, upshift control. Furthermore, in the above description, the toroidal continuously variable transmission 50 is cited as an example of a continuously variable transmission. However, the present invention is not limited to the gear ratio of other continuously variable transmission mechanisms such as belt-type continuously variable transmissions. The present invention can also be applied to the case of controlling the shift speed. This belt type continuously variable transmission has a primary pulley and a secondary pulley, and a belt is wound around grooves of the secondary pulley and the primary pulley. Further, the primary pulley has a movable piece and a fixed piece, and a primary hydraulic chamber for controlling the groove width of the primary pulley is provided. The secondary pulley has a movable piece and a fixed piece, and has a secondary hydraulic chamber that controls the groove width of the secondary pulley. A hydraulic control device (actuator) for controlling the hydraulic pressure of the primary hydraulic chamber and the secondary hydraulic chamber is provided, and by controlling the flow rate of the pressure oil supplied to the primary hydraulic chamber, the belt type continuously variable transmission The transmission gear ratio is controlled, and the transmission torque is controlled by controlling the hydraulic pressure in the secondary hydraulic chamber. In the belt-type continuously variable transmission configured as described above, the gear ratio speed is controlled by controlling the duty ratio (control amount) of the solenoid valve that controls the amount of pressure oil supplied to the primary hydraulic chamber. Is possible. Further, it is possible to obtain the speed change ratio based on the position of the movable piece of the primary pulley, the groove width of the primary pulley, the input rotational speed of the belt type continuously variable transmission, and the like.

  The present invention can also be applied to a transmission in which the gear ratio can be switched stepwise (discontinuously). For example, in the case of a transmission having a planetary gear mechanism and a friction engagement device such as a clutch or a brake, and a transmission that controls the engagement / release of the friction engagement device by an actuator, and executes a shift, By controlling the engagement / release speed of the friction engagement device, the speed change speed can be controlled. When the actuator is a hydraulic control apparatus having a solenoid valve, the duty ratio of the solenoid valve may be determined by controlling the duty ratio of the solenoid valve to determine the required speed of the shift speed. In such a transmission, it is also possible to determine the shift speed based on the torque capacity of the friction engagement device and the hydraulic pressure in the hydraulic chamber that controls the torque capacity of the friction engagement device.

It is a flowchart which shows the example of control performed with the transmission control apparatus of this invention. It is a longitudinal cross-sectional view in the plane along an axis which shows typically an example of the toroidal type continuously variable transmission made into object by this invention. FIG. 3 is a schematic longitudinal sectional view showing a state where one cavity of the toroidal type continuously variable transmission shown in FIG. 2 is cut by a plane passing through the central portion thereof. FIG. 3 is a plan view showing a state where a power roller is tilted with respect to an input disk and an output disk in the toroidal type continuously variable transmission shown in FIG. 2. It is a flowchart which shows the other example of control performed with the transmission control apparatus of this invention. It is a block diagram which shows the structure of the position type controller used with the example of control of FIG. It is a block diagram which shows the structure of the speed type controller used in the example of control of FIG. It is a block diagram which shows the structure of the speed type controller used in the example of control of FIG. It is a block diagram which shows the example of mixing of the position type controller and speed type controller which are used in the example of control of FIG. It is an example of the map used by the block diagram of FIG. It is a time chart which shows the example of a time-dependent change of each parameter in control of a comparative example. It is an example of the time chart corresponding to the example of a controller of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Input disc, 2 ... Output disc, 9 ... Power roller, 10 ... Trunnion, 15 ... Pivot shaft, 16 ... Thrust bearing, 50 ... Toroidal-type continuously variable transmission, A1 ... Axis, B1 ... Center line, S1, S2 ... contact point.

Claims (3)

In a speed change control device for obtaining a control amount used when controlling a speed change ratio between an input speed and an output speed of a transmission,
Request determining means for determining a request degree of a change speed of the gear ratio;
Control amount calculation means for obtaining the control amount by properly using the first feedback control and the second feedback control based on the degree of request for the speed change rate of the gear ratio;
In the first feedback control, the target speed ratio is based on a deviation between a target speed ratio between the input speed and the output speed and an actual speed ratio between the input speed and the output speed. And the second feedback control includes a target speed of change of the gear ratio between the input rotation speed and the output rotation speed, the input rotation speed, and the output. Control is included that reduces the deviation between the target change speed of the transmission ratio and the actual change speed of the transmission ratio based on the deviation from the actual change speed of the transmission ratio with respect to the rotational speed. A shift control device. The request determining means includes means for determining whether a required change speed of the gear ratio is lower or higher than a predetermined speed change speed,
The control amount calculation means obtains the control amount using the first feedback control when it is determined that the required speed change rate of the gear ratio is lower than a predetermined speed change rate. In addition, the second feedback control is used when it is determined that the second feedback control is not used and the required speed change ratio is higher than a predetermined speed change speed. The shift control apparatus according to claim 1, further comprising means for obtaining the control amount with or without using the first feedback control. An input disk and an output disk that are arranged on the same axis and rotate, a power roller sandwiched between the input disk and the output disk, and a holder that holds the power roller in a tiltable manner around the center line And a center line is disposed along a plane parallel to the axis, and the axis and the center line are perpendicular to each other in the plane. And the toroidal continuously variable transmission is the transmission,
This holding mechanism is operated in a direction parallel to the center line to generate a slip force at the contact point between the power roller and the input disk, and the slip roller tilts the power roller about the center line. By providing an actuator for controlling the transmission gear ratio of the transmission,
3. The control amount calculation unit according to claim 1, wherein the control amount calculation unit includes a unit that selectively uses the first feedback control and the second feedback control when obtaining a control amount used for controlling the actuator. Shift control device.

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