JP2009257504A - Continuously variable transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a continuously variable transmission capable of improving safety. <P>SOLUTION: The continuously variable transmission is provided with a main control means 60 having a feedback control means 61 performing feedback control of a speed ratio change means 5 so that an actual speed ratio is a target speed ratio in accordance with target control quantity based on the target speed ratio and the actual speed ratio, and a forcible upshift control means 62 for performing forcible upshift control for adding prescribed first correction quantity to the target control quantity. Thus, safety can be improved. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a continuously variable transmission, and more particularly to a so-called toroidal continuously variable transmission in which a gear ratio is changed by a movement of a power roller disposed between an input disk and an output disk.

  In general, a vehicle has a transmission on the output side of the drive source in order to transmit a driving force from an internal combustion engine or an electric motor that is a drive source, that is, an output torque, to the road surface under an optimal condition according to the traveling state of the vehicle. Is provided. This transmission includes a continuously variable transmission that controls the gear ratio steplessly (continuously) and a stepped transmission that controls the gear ratio stepwise (discontinuously). Here, in such a continuously variable transmission, so-called CVT (CVT: Continuously Variable Transmission), torque is transmitted between the respective disks via a power roller sandwiched between the input disk and the output disk. There is a so-called toroidal continuously variable transmission that tilts a power roller to change a gear ratio.

  This toroidal-type continuously variable transmission has a rotating means such as a power roller whose outer peripheral surface is a curved surface corresponding to the toroidal surface between an input disc having a toroidal surface and an output disc. Torque is transmitted using the shear force of the oil film of traction oil formed between the power rollers. The power roller is rotatably supported by a trunnion. The trunnion can be swung around a swing shaft, and, for example, can be placed in a transmission control hydraulic chamber with respect to a piston provided in the trunnion. The shift control pressing force is applied by the hydraulic pressure of the supplied hydraulic oil so as to be movable in the direction along the swing shaft. Therefore, when the power roller supported by the trunnion moves with the trunnion from the neutral position to the input disk and the output disk to the shift position, a tangential force acts between the power roller and the disk, and a side slip occurs. The power roller swings, that is, tilts about the swing axis with respect to the input disk and the output disk, and as a result, the speed ratio, which is the rotational speed ratio between the input disk and the output disk, is changed. The speed ratio, which is the rotational speed ratio between the input disk and the output disk, is determined based on the angle at which the power roller tilts with respect to the input disk and the output disk, that is, the tilt angle. It is determined based on an integral value of a stroke amount (offset amount) as a movement amount from the neutral position of the power roller to the shift position side.

  As such a conventional toroidal continuously variable transmission, for example, a control method for a continuously variable transmission described in Patent Document 1 determines a target gear ratio of the continuously variable transmission according to the driving state of the vehicle. Then, the actual gear ratio of the continuously variable transmission is detected, and the deviation between the target gear ratio and the actual gear ratio is calculated to control the gear ratio.

Japanese Patent Publication No. 6-100268

  Incidentally, in the control method for a continuously variable transmission described in Patent Document 1 as described above, for example, further improvement in safety has been desired.

  Then, this invention aims at providing the continuously variable transmission which can improve safety | security.

  In order to achieve the above object, a continuously variable transmission according to the first aspect of the present invention includes an input disk to which a driving force from a driving source is input, an output disk to which the driving force is output, and the input disk. A power roller provided in contact with the output disk, and the power roller is rotatably and tiltably supported, and the power roller is moved from a neutral position to the speed change position with respect to the input disk and the output disk. By doing so, a gear ratio changing means capable of changing a gear ratio that is a rotational speed ratio between the input disk and the output disk, a target gear ratio that is a target gear ratio, and an actual gear ratio that is an actual gear ratio, Feedback control for executing feedback control of the gear ratio changing means so that the actual gear ratio becomes the target gear ratio according to a target control amount based on And the step, characterized in that it comprises a main control unit and a forced upshift control means for the forced upshift control for adding the first correction amount of a predetermined in the control amount of the target.

  In the continuously variable transmission according to claim 2, the forced upshift control means executes the forced upshift control by adding the first correction amount to the control amount corresponding to the neutral position. It is characterized by.

  In the continuously variable transmission according to a third aspect of the present invention, the forcible upshift control means determines a deviation between an actual input rotational speed input to the input disk and a target input rotational speed corresponding to the target speed ratio. Based on this, the first correction amount is set.

  In the continuously variable transmission according to a fourth aspect of the present invention, the forced upshift control means executes the forced shiftup control when the input rotational speed to the input disk is equal to or higher than a predetermined rotational speed set in advance. It is characterized by doing.

  The continuously variable transmission according to claim 5 is a sub-control means different from the main control means, and the speed ratio change is performed when the proper control of the speed ratio by the main control means becomes impossible. Sub-control means for controlling the means to execute forced upshift control for moving the power roller to the shift position on the upshift side is provided.

  In order to achieve the above object, a continuously variable transmission according to a sixth aspect of the present invention includes an input disk to which a driving force from a driving source is input, an output disk to which the driving force is output, and the input disk. A power roller provided in contact with the output disk, and the power roller is rotatably and tiltably supported, and the power roller is moved from a neutral position to the speed change position with respect to the input disk and the output disk. By doing so, a gear ratio changing means capable of changing a gear ratio that is a rotational speed ratio between the input disk and the output disk, a target gear ratio that is a target gear ratio, and an actual gear ratio that is an actual gear ratio, A main control means for controlling the speed ratio changing means so that the actual speed ratio becomes the target speed ratio, and a sub-control means different from the main control means, When proper control of the gear ratio by the main control unit becomes impossible, the gear ratio changing unit is controlled to execute forced upshift control to move the power roller to the shift position on the upshift side. Sub-control means.

  In the continuously variable transmission according to the seventh aspect of the present invention, the sub-control means adds a predetermined second correction amount to the control amount of the speed ratio changing means corresponding to the neutral position to thereby change the speed ratio changing means. The forced upshift control is executed by calculating the target control amount.

  In the continuously variable transmission according to an eighth aspect of the present invention, the sub-control means is based on an output rotational speed from the output disk and an inclination angle of the power roller with respect to the input disk and the output disk. A second correction amount is set.

  According to the continuously variable transmission according to the present invention, since the forced upshift control means for executing the forced upshift control for adding the predetermined first correction amount to the target control amount is provided, the safety can be further improved. it can.

  The continuously variable transmission according to the present invention is a sub-control unit that is different from the main control unit, and controls the gear ratio changing unit when the control of the proper gear ratio by the main control unit becomes impossible. Since the auxiliary control means for executing the forced upshift control for moving the power roller to the upshift side shift position is provided, the safety can be further improved.

  Embodiments of a continuously variable transmission according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

(Embodiment 1)
1 is a schematic cross-sectional view of a toroidal continuously variable transmission according to Embodiment 1 of the present invention. FIG. 2 is a configuration diagram of a main part of the toroidal continuously variable transmission according to Embodiment 1 of the present invention. These are the schematic diagrams explaining the neutral position with respect to the input disk of the power roller with which the toroidal continuously variable transmission which concerns on Embodiment 1 of this invention is equipped, FIG. 4 is the toroidal continuously variable transmission which concerns on Embodiment 1 of this invention. FIG. 5 is a schematic diagram illustrating an example of a configuration of a main part of the ECU of the toroidal continuously variable transmission according to the first embodiment of the present invention. FIG. 7 is a time chart showing an example of the relationship among the input rotation speed, the tilt angle, the vehicle speed, and the accelerator opening in the toroidal-type continuously variable transmission according to Embodiment 1 of the present invention, and FIG. Trojan according to Embodiment 1 Flowchart, Fig. 8 illustrating the forced upshift execution determination control in Le CVT is a flowchart illustrating a forced upshift control in the toroidal type continuously variable transmission according to the first embodiment of the present invention.

  FIG. 2 is a diagram showing an arbitrary power roller among the power rollers constituting the toroidal-type continuously variable transmission, and an input disk in contact with the power roller. 3 and 4 are views of the input disk as viewed from the output disk side, and schematically show only one input disk and one power roller.

  Here, in the embodiment described below, an internal combustion engine (gasoline engine, diesel engine, LPG engine, or the like) that generates engine torque is used as a drive source that generates drive force transmitted to the continuously variable transmission of the present invention. However, the present invention is not limited to this, and an electric motor such as a motor that generates motor torque may be used as a drive source. Moreover, you may use an internal combustion engine and an electric motor together as a drive source.

  As shown in FIG. 1, a toroidal continuously variable transmission 1 as a continuously variable transmission according to the present embodiment uses a driving force from an engine 21 as a drive source mounted on a vehicle, that is, an output torque, as the vehicle travels. This is a so-called CVT (CVT: Continuously Variable Transmission) that can be transmitted to the wheel 27 under optimum conditions according to the state, and can control the gear ratio steplessly (continuously). The toroidal-type continuously variable transmission 1 transmits torque between each input disk 2 and output disk 3 via a power roller 4 sandwiched between the input disk 2 and the output disk 3, and It is a so-called toroidal continuously variable transmission that tilts and changes the gear ratio. That is, the toroidal continuously variable transmission 1 includes a power roller 4 having an outer peripheral surface curved between the input disk 2 and the output disk 3 having the toroidal surfaces 2a and 3a and corresponding to the toroidal surfaces 2a and 3a. The torque is transmitted using the shear force of the oil film of traction oil formed between the input disk 2, the output disk 3 and the power roller 4.

  Specifically, as shown in FIGS. 1 and 2, the toroidal continuously variable transmission 1 includes an input disk 2, an output disk 3, a power roller 4, and a speed ratio changing unit as speed ratio changing means. 5. The gear ratio changing unit 5 includes a trunnion 6 as a support unit and a moving unit 7 as a moving unit. Further, the moving unit 7 includes a hydraulic piston unit 8 and a hydraulic control device 9. The toroidal continuously variable transmission 1 includes an electronic control unit (ECU) 60 that controls each part of the toroidal continuously variable transmission 1. In this toroidal continuously variable transmission 1, the power roller 4 provided in contact with the input disk 2 and the output disk 3 is moved from the neutral position to the shift position with respect to the input disk 2 and the output disk 3 by the moving unit 7. As a result, the gear ratio, which is the rotational speed ratio between the input disk 2 and the output disk 3, is changed.

  The input disk 2 transmits (inputs) a driving force (torque) from the engine 21 via, for example, a torque converter 22 that is a starting mechanism and a fluid transmission device, a forward / reverse switching mechanism 23, and the like. .

  The engine 21 outputs an engine torque, that is, a driving force for moving forward or backward the vehicle on which the engine 21 is mounted. Further, the engine 21 is electrically connected to the ECU 60, the driving of the engine 21 is controlled by the ECU 60, and the driving force to be output is controlled. The driving force from the engine 21 is transmitted to the torque converter 22 via the crankshaft 21a.

  The torque converter 22 transmits the driving force from the engine 21 to the toroidal continuously variable transmission 1 via the forward / reverse switching mechanism 23. The torque converter 22 includes a pump (pump impeller), a turbine (turbine runner), a stator, and a lockup clutch. The pump is connected to the crankshaft 21a of the engine 21 via a front cover or the like, and is rotatably provided together with the crankshaft 21a and the front cover. The turbine is arranged to face the pump. This turbine is connected to the input shaft 10 via the forward / reverse switching mechanism 23, and is provided so as to be rotatable about the same axis as the crankshaft 21a together with the input shaft 10. The stator is disposed between the pump and the turbine. The lockup clutch is provided between the turbine and the front cover, and is connected to the turbine.

  Therefore, in the torque converter 22, the driving force (engine torque) of the engine 21 is transmitted from the crankshaft 21a to the pump via the front cover. When the lockup clutch is released, the driving force transmitted to the pump is transmitted to the turbine and the input shaft 10 via the hydraulic oil that is a working fluid interposed between the pump and the turbine. The At this time, the torque converter 22 can obtain a predetermined torque characteristic by changing the flow of the working oil circulating between the pump and the turbine by the stator. In the torque converter 22, when the lockup clutch connected to the turbine is engaged with the front cover, the driving force transmitted from the engine 21 to the pump via the front cover does not pass through the hydraulic oil. To the input shaft 10 directly. Here, the engagement / disengagement of the lock-up clutch, that is, ON / OFF control for performing ON / OFF is performed by hydraulic oil supplied from a hydraulic control device 9 described later. The hydraulic control device 9 is connected to an ECU 60 described later. Therefore, the ECU 60 performs ON / OFF control of the lockup clutch.

  The forward / reverse switching mechanism 23 transmits the driving force transmitted from the engine 21 via the torque converter 22 to the input disk 2 of the toroidal continuously variable transmission 1. The forward / reverse switching mechanism 23 includes, for example, a planetary gear mechanism, a friction clutch, a friction brake, and the like, and transmits the driving force of the engine 21 to the input disk 2 directly or reversely. That is, the driving force of the engine 21 via the forward / reverse switching mechanism 23 is a positive rotational driving force that acts in the direction in which the input disk 2 rotates forward (the direction in which the input disk 2 rotates when the vehicle moves forward), or The input disk 2 is transmitted to the input disk 2 as a reverse rotation driving force that acts in the direction in which the input disk 2 rotates in the reverse direction (the direction in which the input disk 2 rotates when the vehicle moves backward). The switching control of the driving force transmission direction by the forward / reverse switching mechanism 23 is performed by executing ON / OFF control for engaging and disengaging the friction clutch and the friction brake, that is, ON / OFF. Switching control of the transmission direction of the driving force by the forward / reverse switching mechanism 23, in other words, ON / OFF control of the friction clutch and the friction brake is performed by hydraulic oil supplied from a hydraulic control device 9 described later. Therefore, the switching control of the forward / reverse switching mechanism 23 is performed by the ECU 60.

Two input disks 2 are coupled to an input shaft 10 that is rotated based on the rotation of the engine 21, and is rotatably provided by the input shaft 10. More specifically, each input disk 2 is rotated by a variator shaft 11 that rotates in the same manner as the input shaft 10. Accordingly, each input disk 2 can rotate around the rotation axis X1 of the input shaft 10 as a rotation center. The toroidal type continuously variable transmission 1, with respect to the variator shaft 11, a front side (engine 21 side) front input disk 2 _F is provided, in the direction along the rotation axis X1 in front input disk 2 _F On the other hand, a rear side input disk _2R is provided on the rear side (wheel 27 side) at a predetermined interval.

Front input disk 2 _F is supported on the variator shaft 11 via the ball spline 11a. That is, the front-side input disk 2 _F, together with the rotatable with the rotation of the variator shaft 11 is supported by the movable variator shaft 11 along the rotation axis X1 direction with respect to the variator shaft 11 . Still other words, the front-side input disk 2 _F, to the variator shaft 11, whereas no relative rotational displacement about the rotational axis X1, in the direction along the rotation axis X1 can be relatively displaced. On the other hand, the rear input disk 2 _R, together are supported by a variator shaft 11 through a spline fitting portion, along the rotation axis X1 by a snap ring 11b provided on the rear end of the variator shaft 11 direction Movement to is restricted. In other words, the rear input disk 2 _R, together with the rotatable with the rotation of the variator shaft 11, is supported movably on the variator shaft 11 along with the movement direction along the rotation axis X1 of the variator shaft 11 Yes. Still other words, the rear input disk 2 _R, to the variator shaft 11, with no relative rotational displacement about the rotation axis X1, is not relatively displaced in the direction along the rotation axis X1. In the following description, when it is not necessary to distinguish the front side input disc 2 _F and the rear-side input disk 2 _R, abbreviated as "input disk 2".

  Each input disk 2 is formed with an opening at the center and gradually protruding from the outside toward the center. The slope of the protruding portion of each input disk 2 is formed so that the cross section along the direction of the rotation axis X1 is substantially arc-shaped, and forms a toroidal surface 2a of each input disk 2. The two input disks 2 are provided such that the toroidal surfaces 2a face each other.

The output disks 3 transmit (output) the driving force transmitted (input) to each input disk 2 to the wheel 27 side, and two output disks 3 are provided, one for each input disk 2. The toroidal type continuously variable transmission 1, with respect to the variator shaft 11, the front side output disc 3 _F as the first output disk is provided on the front side (engine 21 side), the rear side (wheel 27 side) rear output disk 3 _R as 2 output disk is provided. A front output disk 3 _F and the rear-side output disc 3 _R is provided between the front input disc 2 _F and the rear-side input disk 2 _R with respect to the direction in which both along the rotation axis X1, More , rear output disk 3 _R is provided between the front side output disc 3 _F and the rear-side input disk 2 _R. That is, the toroidal continuously variable transmission 1 has a front side input disk 2 _F , a front side output disk 3 _F , a rear side output disk 3 _R , and a rear side input in the direction along the rotation axis X 1. It is provided in the order of the disc 2 _R. In the following description, the front side output disc 3 _F and the rear-side output disc 3 when there is no need to distinguish between _R, abbreviated as "the output disc 3 '.

Each input disk 2 and each output disk 3 are provided so as to be rotatable relative to the input shaft 10 coaxially with the rotation axis X1. Accordingly, each output disk 3 can rotate around the rotation axis X1. Each output disk 3 has substantially the same shape as each input disk 2, that is, each output disk 3 has an opening at the center and gradually protrudes from the outside toward the center. The slope of the protruding portion of each output disk 3 is formed such that the cross section along the direction of the rotation axis X1 is substantially arc-shaped, and forms a toroidal surface 3a of each output disk 3. Each output disk 3 is provided between the two input disks 2 in the direction along the rotation axis X1 as described above, and each toroidal surface 3a faces the toroidal surface 2a of each input disk 2. To be provided. That is, in the cross section along the rotation axis X1, one of the front input disk 2 _F toroidal surface 2a and the front output disk 3 _F toroidal surface 3a and front side facing in (engine 21 side) semicircular cavity forming a C _F, the other of the rear input disk 2 _R toroidal surface 2a and the rear-side output disc 3 _R another rear toroidal surface 3a is opposite of (wheel 27 side) forms a semicircular cavity C _R is doing.

  Each output disk 3 is rotatably supported by the variator shaft 11 via a bearing. An output gear 12 is connected between the two output disks 3, and the output gear 12 can rotate together with the two output disks 3. A counter gear 13 is engaged with the output gear 12, and an output shaft 14 is connected to the counter gear 13. Therefore, the output shaft 14 rotates as each output disk 3 rotates. The output shaft 14 is connected to the wheels 27 via a power transmission mechanism 24, a differential gear 25, etc., and the driving force is transmitted to the wheels 27 via the power transmission mechanism 24, the differential gear 25, etc. (output) )

  The power transmission mechanism 24 transmits driving force between the toroidal-type continuously variable transmission 1 and the differential gear 25. The power transmission mechanism 24 is disposed between the output disk 3 and the differential gear 25. The differential gear 25 transmits driving force between the power transmission mechanism 24 and the wheels 27. The differential gear 25 is disposed between the power transmission mechanism 24 and the wheels 27. A drive shaft 26 is connected to the differential gear 25. Wheels 27 are attached to the drive shaft 26.

  The power roller 4 is provided between the input disk 2 and the output disk 3 in contact with the input disk 2 and the output disk 3, and transmits the driving force from the input disk 2 to the output disk 3. That is, the power roller 4 is formed as a curved contact surface 4a whose outer peripheral surface corresponds to the toroidal surfaces 2a and 3a. The power roller 4 is sandwiched between the input disk 2 and the output disk 3, and the contact surface 4a can contact the toroidal surfaces 2a and 3a. Each power roller 4 is contacted by a trunnion 6 described later. While the surface 4a is in contact with the toroidal surfaces 2a and 3a, the surface 4a is supported rotatably about the rotation axis X2. The power roller 4 is configured to shear an oil film formed between the toroidal surfaces 2a and 3a of the input disk 2 and the output disk 3 and the contact surface 4a of the power roller 4 by traction oil supplied to the toroidal continuously variable transmission 1. The driving force (torque) is transmitted using force.

A total of four power rollers 4 are provided, two for each of the cavities formed by the pair of input disks 2 and output disks 3. That is, the toroidal type continuously variable transmission 1 comprises two power rollers 4 to the front side semicircular cavity C _F is provided with a pair, two power rollers 4 against the rear semicircular cavity C _R pair Provided.

  More specifically, the power roller 4 includes a power roller main body 41 and an outer ring 42. The power roller main body 41 has the above-described contact surface 4a in contact with the toroidal surfaces 2a and 3a of the input disk 2 and output disk 3 on the outer peripheral surface. The power roller main body 41 is rotatably supported via a radial bearing RB with respect to a rotation shaft 42a formed on the outer ring 42. Further, the power roller main body 41 is rotatably supported on the surface of the outer ring 42 facing the power roller main body 41 via a thrust bearing SB. Therefore, the power roller main body 41 can rotate around the rotation axis X2 of the rotation shaft 42a.

  The outer ring 42 is formed with an eccentric shaft 42b together with the rotating shaft 42a. The eccentric shaft 42b is formed such that the rotation axis X2 'is shifted from the rotation axis X2 of the rotation shaft 42a. The eccentric shaft 42b is rotatably supported via a radial bearing RB with respect to a fitting portion 6d formed as a recess in a roller support portion 6a of the trunnion 6 described later. Accordingly, the outer ring 42 can rotate around the rotation axis X2 'of the eccentric shaft 42b. That is, the power roller 4 can rotate with respect to the trunnion 6 about the rotation axis X2 and the rotation axis X2 ′, that is, can revolve around the rotation axis X2 ′ and can rotate about the rotation axis X2. Become. As a result, the power roller 4 is configured to be movable in the direction along the rotation axis X1, and for example, it is possible to allow component deformation and variations in component accuracy.

  Here, the input shaft 10 is connected to a hydraulic pressure (end load) mechanism 15. The hydraulic pressing mechanism 15 brings the input disk 2 and output disk 3 into contact with the power roller 4 and applies a clamping pressure for sandwiching the power roller 4 between the input disk 2 and the output disk 3. The hydraulic pressing mechanism 15 includes a clamping pressure generating hydraulic chamber 15a and a clamping pressure piston 15b.

The clamping pressure generating hydraulic chamber 15a is provided on one side of the two input disks 2 in the direction along the rotation axis X1. Here, squeezing force generating hydraulic chamber 15a is provided on the front side input disc 2 _F side against along the rotation axis X1 direction, it is disposed between the input shaft 10 and the front input disk 2 _F. The hydraulic pressure chamber 15a is supplied with hydraulic oil from the hydraulic control device 9 in accordance with the operating state.

The clamping pressure piston 15b is formed in a disc shape and is provided at one end of the variator shaft 11 so that the center thereof substantially coincides with the rotation axis X1. Nipping and pressing force piston 15b is the end rear input disk 2 _R of the variator shaft 11 is provided opposite end, that is, on the front side (engine 21 side). Nipping and pressing force piston 15b, to the direction along the rotation axis X1, it is spaced front input disk 2 _F and distance between the input shaft 10 and the front input disk 2 _F. Clamping force generating hydraulic chamber 15a of the above is provided between the nipping and pressing force piston 15b and the front input disk 2 _F.

The clamping pressure piston 15b is rotatable with respect to the variator shaft 11 around the rotation axis X1 together with the variator shaft 11 and is movable in the direction along the rotation axis X1. That is, the clamping pressure piston 15b can be rotated with the rotation of the variator shaft 11, and is supported by the variator shaft 11 so as to be movable with the movement of the variator shaft 11 along the rotation axis X1. Yes. In other words, the clamping pressure piston 15b is not relatively displaced relative to the variator shaft 11 around the rotational axis X1 and is not relatively displaced in the direction along the rotational axis X1. Therefore, the rear side input disk 2 _R , the variator shaft 11 and the clamping pressure piston 15 b can rotate together around the rotation axis X 1 and can move in the direction along the rotation axis X 1. The front-side input disk 2 _F is rear input disc 2 _R, together with the variator shaft 11 and the nipping and pressing force piston 15b while being rotatable about a rotation axis X1 together, by a ball spline 11a, The rear side input disk 2 _R , the variator shaft 11, and the pressing pressure piston 15 b are relatively movable in the direction along the rotation axis X 1.

Further, the clamping pressure piston 15b is also connected to the input shaft 10, can be rotated around the rotation axis X1 together with the input shaft 10, and relatively moves in the direction along the rotation axis X1. Provided possible. That is, the rear side input disk 2 _R , the variator shaft 11, and the pressing pressure piston 15 b are integrated with the input shaft 10 and can rotate about the rotation axis X 1, while rotating with respect to the input shaft 10. It is relatively movable in the direction along the axis X1. The driving force from the input shaft 10 is transmitted to the variator shaft 11, and is transmitted from the variator shaft 11 to the front side input disk 2 _F and the rear side input disk 2 _R.

Further, the front side input disk 2 _F has a front side input disk clamping pressure application surface 28, while the clamping pressure piston 15 b has a rear side input disk clamping pressure application surface 29. Front input disk nipping and pressing force acting surface 28 at the front side input disc 2 _F, provided on the back of the toroidal surface 2a which is a contact surface between the power roller 4. The rear side input disk clamping pressure operating surface 29 is provided on the surface facing the front side input disk clamping pressure operating surface 28 in the direction along the rotation axis X1 at the clamping pressure piston 15b. The rear side input disk clamping pressure operating surface 29 is provided to face the front side input disk clamping pressure operating surface 28 with the above-described clamping pressure generating hydraulic chamber 15a interposed therebetween. Clamping force generating hydraulic chamber 15a, depending the front input disk nipping and pressing force acting surface 28 and the rear-side input disk nipping and pressing force acting surface 29 between the nipping and pressing force piston 15b and the front input disk 2 _F It is partitioned with respect to the direction along the rotation axis X1. That is, the front-side input disk clamping pressure application surface 28 and the rear-side input disk clamping pressure application surface 29 are arranged such that the front-side input disk clamping pressure application surface 28 enters the clamping pressure generating hydraulic chamber 15a on the rear side. The rear-side input disk clamping pressure operating surface 29 faces the clamping pressure generating hydraulic chamber 15a on the front side.

Accordingly, the hydraulic pressing mechanism 15, clamping force generating hydraulic chamber of the hydraulic oil supplied into the 15a hydraulic by the front input disk 2 _F of the front-side input disk nipping and pressing force acting surface 28 and the rear-side input disk 2 _R by the action of nipping and pressing force to the rear input disk nipping and pressing force acting surface 29, moving the front input disk 2 _F from the hydraulic pressing mechanism 15 side in a direction away to the rear side, rear input disk 2 _R is moved together with the variator shaft 11 from the rear side toward the hydraulic pressing mechanism 15 side. At this time, the front-side input disk 2 _F moves relative to the variator shaft 11 in the direction along the rotation axis X1. The hydraulic pressing mechanism 15, the front-side input disk 2 _F is moved from the hydraulic pressing mechanism 15 side to the rear side, by moving the rear input disk 2 _R direction toward the front side along with the variator shaft 11, The front side input disc 2 _F is brought closer to the front side output disc 3 _F side, and the rear side input disc 2 _R is brought closer to the rear side output disc 3 _R side, and the front side input disc 2 _F and the front side output disc 3 _F are generating a clamping force between and between the rear input disk 2 _R and the rear side output disc 3 _R a. Thus, the hydraulic pressing mechanism 15, since to generate a clamping pressure between and between the rear input disk 2 _R and the rear side output disc 3 _R between the front input disc 2 _F and the front output disk 3 _F , between the front-side input disk 2 _F and the front output disk 3 _F at a predetermined clamping pressure power rollers 4, respectively, can be sandwiched between the rear-side input disk 2 _R and the rear side output disc 3 _R . As a result, it is possible to prevent slipping between the input disk 2, the output disk 3 and the power roller 4 and maintain the traction state.

  Here, the pressing pressure by the hydraulic pressing mechanism 15 is applied to the toroidal continuously variable transmission 1 by controlling the amount of hydraulic oil supplied to the clamping pressure generating hydraulic chamber 15a by a hydraulic control device 9 described later. Is controlled to a predetermined magnitude based on the input torque. The hydraulic control device 9 is connected to an ECU 60 described later. Therefore, the ECU 60 controls the magnitude of the pressing pressure by the hydraulic pressing mechanism 15.

  As described above, the gear ratio changing unit 5 includes the trunnion 6 and the moving unit 7. The moving unit 7 moves the power roller 4 together with the trunnion 6 with respect to the rotation axis X 1 of the input disk 2 and the output disk 3. The gear ratio is changed by moving and tilting the power roller 4 with respect to the input disk 2 and the output disk 3. Here, the transmission gear ratio is the rotation speed ratio between the input disk 2 and the output disk 3, and typically represented by [transmission ratio = output-side contact radius (contact radius where the power roller 4 and the output disk 3 are in contact with each other). (Distance between the contact point and the rotation axis X1) / input side contact radius (contact radius where the input disk 2 and the power roller 4 are in contact)].

  Specifically, each trunnion 6 rotatably supports the power roller 4 and moves the power roller 4 with respect to the input disk 2 and the output disk 3 to tilt with respect to the input disk 2 and the output disk 3. It supports to roll freely. The trunnion 6 has a roller support portion 6a and a swing shaft 6b. The roller support portion 6a has a space portion 6c in which the power roller 4 is disposed, and a recessed fitting portion 6d is formed in the space portion 6c. The trunnion 6 rotatably supports the power roller 4 by inserting the eccentric shaft 42b of the power roller 4 into the fitting portion 6d as described above in the space 6c. Further, the roller support portion 6a is provided so as to be movable integrally with the swing shaft 6b. The oscillating shaft 6b is formed in a columnar shape so as to be rotatable about the rotation axis X3. Therefore, the trunnion 6 is supported by a casing (not shown) via the lower link 16 and the upper link 17 so that the roller support portion 6a can rotate around the rotation axis X3 together with the swing shaft 6b. The trunnion 6 is supported by a casing (not shown) via a lower link 16 and an upper link 17 so as to be movable in a direction along the rotation axis X3, and is moved along the rotation axis X3 by a moving unit 7 described later. It can be moved in any direction.

Four trunnions 6 are provided in total, two for each of the cavities formed by the pair of input disks 2 and output disks 3, and support four power rollers 4 one by one. That is, the toroidal type continuously variable transmission 1 comprises two trunnions 6 supporting each two power rollers 4 to the front side semicircular cavity C _F is provided with a pair, on the rear side semicircular cavity C _R On the other hand, two trunnions 6 that support the two power rollers 4 are provided as a pair.

  Here, the trunnion 6 supports the power roller 4 so that the rotation axis X2 of the power roller 4 is parallel to a plane perpendicular to the rotation axis X3 of the swing shaft 6b. The trunnion 6 is arranged so that the rotation axis X3 of the swing shaft 6b is parallel to a plane perpendicular to the rotation axis X1 of the input disk 2 and the output disk 3. That is, the trunnion 6 moves along the rotation axis X3 in a plane perpendicular to the rotation axis X1 so that the power roller 4 moves along the rotation axis X3 with respect to the rotation axis X1 of the input disk 2 and the output disk 3. Can be moved. Further, the trunnion 6 rotates and swings about the rotation axis X3, so that the power roller 4 can be moved with respect to the input disk 2 and the output disk 3 about the rotation axis X3 in a plane perpendicular to the rotation axis X3. It can be tilted freely. In other words, the trunnion 6 supports the power roller 4 so that the power roller 4 can be tilted when a tilting force described later acts on the power roller 4.

  The moving unit 7 moves the power roller 4 together with the trunnion 6 in the direction along the rotation axis X3, and includes the hydraulic piston unit 8 and the hydraulic control device 9 as described above.

  The hydraulic piston portion 8 includes a transmission control piston 81 and a transmission control hydraulic chamber 82, and receives the hydraulic pressure of the hydraulic oil introduced into the transmission control hydraulic chamber 82 by the flange portion 84 of the transmission control piston 81. Thus, the trunnion 6 is moved in two directions (A1 direction and A2 direction) along the rotation axis X3. That is, the hydraulic piston portion 8 applies a shift control pressing force to the flange portion 84 provided in the trunnion 6 by the hydraulic pressure of the hydraulic oil supplied to the shift control hydraulic chamber 82.

  Specifically, the transmission control piston 81 includes a piston base 83 and a flange portion 84. The piston base 83 is formed in a cylindrical shape, is inserted into one end of the swing shaft 6b, and is fixed with respect to the direction of the rotational axis X3 and the direction around the rotational axis X3.

  The flange portion 84 is fixedly provided so as to protrude from the piston base 83 in the radial direction of the piston base 83, in other words, in the radial direction of the swing shaft 6b, and the swing shaft 6b of the piston base 83 and the trunnion 6 is provided. At the same time, it can move in the direction along the rotation axis X3. The flange portion 84 is formed in an annular plate shape around the rotation axis X3 of the swing shaft 6b.

  The shift control hydraulic chamber 82 is configured by a hydraulic chamber constituent member 85. The hydraulic chamber constituent member 85 includes a cylinder body 86 as a first constituent member and a lower cover 87 as a second constituent member. That is, the hydraulic chamber constituting member 85 forms the wall surface of the transmission control hydraulic chamber 82 and is divided into the cylinder body 86 and the lower cover 87 with respect to the direction along the rotation axis X3 that is the movement direction (stroke direction) of the trunnion 6. Has been. The cylinder body 86 is formed with a recess that becomes a space portion of the transmission control hydraulic chamber 82. The lower cover 87 is fixed to the cylinder body 86 so as to close the opening of the concave portion of the cylinder body 86, whereby the transmission control hydraulic chamber 82 is formed in a cylindrical shape centered on the rotation axis X3 by the cylinder body 86 and the lower cover 87. Comparted into a cylinder. The cylinder body 86 and the lower cover 87 are fixed to a casing (not shown) on the opposite side of the cylinder body 86 from the lower cover 87 side.

  The flange portion 84 is accommodated in the transmission control hydraulic chamber 82 into which hydraulic oil is introduced, and two hydraulic chambers, that is, the first hydraulic chambers in the direction along the rotation axis X3 in the transmission control hydraulic chamber 82 are provided. The partition is divided into a hydraulic chamber OP1 and a second hydraulic chamber OP2. The first hydraulic chamber OP1 moves the trunnion 6 together with the flange portion 84 in the first direction A1 along the rotation axis X3 by the hydraulic pressure of the hydraulic oil supplied to the inside, while the second hydraulic chamber OP2 is supplied to the inside. The trunnion 6 together with the flange 84 is moved in the second direction A2, which is the reverse direction of the first direction, by the hydraulic pressure of the hydraulic oil. An annular seal member S is provided at the distal end portion on the radially outer side of the flange portion 84. Therefore, the first hydraulic chamber OP1 and the second hydraulic chamber of the shift control hydraulic chamber 82 defined by the flange portion 84. The OP2 is sealed by the seal member S so that the hydraulic oil does not leak from each other.

  Since each of the pair of input disks 2 and output disks 3 is provided with two power rollers 4 and trunnions 6, the first hydraulic chamber OP1 and the second hydraulic chamber OP2 have a pair of input disks 2 and output disks. Two for every three will be provided. At this time, in the pair of trunnions 6, the positional relationship between the first hydraulic chamber OP1 and the second hydraulic chamber OP2 is switched for each trunnion 6. That is, the hydraulic chamber that is the first hydraulic chamber OP1 of one trunnion 6 is the second hydraulic chamber OP2 of the other trunnion 6, and the hydraulic chamber that is the second hydraulic chamber OP2 of one trunnion 6 is the second hydraulic chamber OP2 of the other trunnion 6. 1 hydraulic chamber OP1. Therefore, in the toroidal continuously variable transmission 1 shown in FIG. 2, the two power rollers 4 provided for each of the pair of input disks 2 and output disks 3 are driven by the hydraulic pressure in the first hydraulic chamber OP1 or the second hydraulic chamber OP2. , And move in opposite directions along the rotation axis X3.

  The hydraulic control device 9 supplies hydraulic oil to each part of the transmission, for example, the hydraulic pressure pressing mechanism 15, the torque converter 22, the forward / reverse switching mechanism 23, and the hydraulic pressure of the hydraulic oil in the transmission control hydraulic chamber 82. Is to control. The hydraulic control device 9 includes an oil tank 91, an oil pump 92 as a pressurizing means, a first flow control valve 93 as a flow control valve, a second flow control valve 94, and a first passage as a hydraulic oil passage. 95, a second passage 96, a supply passage 97, a discharge passage 98, and a hydraulic oil supply passage 99.

  The oil tank 91 stores hydraulic oil supplied to each part of the transmission. The oil pump 92 operates, for example, in conjunction with rotation of the crankshaft 21a that is an output shaft of the engine, and sucks, pressurizes, and discharges the hydraulic oil stored in the oil tank 91. The pressurized hydraulic oil is supplied to the first flow control valve 93, the second flow control valve 94, another flow control valve, and the like via a pressure regulator valve (not shown). In addition, this pressure regulator valve removes the hydraulic oil on the downstream side when the hydraulic pressure on the downstream side of the pressure regulator valve exceeds a predetermined hydraulic pressure, that is, the line pressure used as the original pressure of the hydraulic control device 9. The pressure is returned to the oil tank 91 and adjusted to a predetermined line pressure.

  The first flow rate control valve 93 supplies hydraulic oil to the first hydraulic chamber OP1 and discharges hydraulic fluid from the second hydraulic chamber OP2, while the second flow rate control valve 94 is supplied to the second hydraulic chamber OP2. The hydraulic oil is supplied, and the hydraulic oil is discharged from the first hydraulic chamber OP1. The first flow rate control valve 93 includes an oil passage structure main body 93a, a spool valve element 93b, a hydraulic oil supply port 93c, a hydraulic oil discharge port 93d, a first hydraulic chamber communication port 93e, and a second hydraulic chamber communication. The port 93f, the first elastic member 93g, and the first solenoid 93h are included. On the other hand, the second flow rate control valve 94 includes an oil passage configuration main body portion 94a, a spool valve element 94b, a hydraulic oil supply port 94c, a hydraulic oil discharge port 94d, a second hydraulic chamber communication port 94e, and a first hydraulic pressure. The chamber communication port 94f, the second elastic member 94g, and the second solenoid 94h are configured. The first flow rate control valve 93 and the second flow rate control valve 94 are a first solenoid 93h and a second solenoid 94h as drive means that are driven by a drive current based on a control command value input from the ECU 60, respectively. By shifting the positions of the sub-units 93b and 94b, the hydraulic oil supply ports 93c and 94c, the hydraulic oil discharge ports 93d and 94d, the first hydraulic chamber communication ports 93e and 94f, and the second hydraulic chamber communication ports 93f and 94e flow out. It controls the flow rate of the hydraulic fluid that enters.

  Specifically, the oil passage configuration main body portions 93a and 94a constitute an oil passage, and each of the hydraulic oil supply ports 93c and 94c and the hydraulic oil discharge ports 93d and 94d communicate with the configured oil passage. First hydraulic chamber communication ports 93e and 94f and second hydraulic chamber communication ports 93f and 94e are formed. Spool valve elements 93b and 94b are inserted in the oil paths configured in the oil path configuration main body portions 93a and 94a, respectively. The spool valve elements 93b and 94b are for switching the communication state of each port.

  The hydraulic oil supply ports 93c and 94c are connected to an oil pump 92 through a supply passage 97, and hydraulic oil pressurized to the line pressure by the oil pump 92 is supplied to the hydraulic oil supply ports 93c and 94c. The The hydraulic oil discharge ports 93 d and 94 d are connected to the oil tank 91 via the discharge passage 98. The first hydraulic chamber communication port 93e of the first flow rate control valve 93 is connected to the first hydraulic chamber OP1 via the first passage 95 and also connected to the first hydraulic chamber communication port 94f of the second flow rate control valve 94. Is done. The second hydraulic chamber communication port 93f of the first flow control valve 93 is connected to the second hydraulic chamber OP2 through the second passage 96, and the second hydraulic chamber communication port 94e of the second flow control valve 94. Connected.

  The first elastic member 93g and the second elastic member 94g are provided on one end side of the spool valve elements 93b and 94b, respectively, while the first solenoid 93h and the second solenoid 94h are respectively provided with the spool valve elements 93b and 94b. Is provided on the other end side. The first elastic member 93g and the second elastic member 94g apply a biasing force that moves the spool valve elements 93b and 94b toward the first solenoid 93h and the second solenoid 94h (OFF side), while the first solenoid 93h and the second elastic member 94g The 2 solenoid 94h resists the urging force by the electromagnetic force generated according to the supplied drive current, and causes the spool valve elements 93b and 94b to move toward the first elastic member 93g and the second elastic member 94g (ON side). The pressing force to move is applied.

  Further, the first solenoid 93h and the second solenoid 94h are electrically connected to the ECU 60 and are driven and controlled by the ECU 60. Accordingly, a pressing force according to the drive current supplied to the first solenoid 93h and the second solenoid 94h acts on the spool valve elements 93b and 94b.

  For example, the ECU 60 sets the drive current supplied to the first solenoid 93h to 0 A when the first flow control valve 93 is in the OFF state (OFF portion shown in FIG. 2). Accordingly, since the pressing force by the first solenoid 93h does not act on the spool valve element 93b, only the urging force by the first elastic member 93g acts, and the spool valve element 93b is positioned at the OFF position on the first solenoid 93h side. . At this time, the communication between the hydraulic oil supply port 93c and the first hydraulic chamber communication port 93e is blocked, and the communication between the hydraulic oil discharge port 93d and the second hydraulic chamber communication port 93f is blocked. That is, when the first flow control valve 93 is OFF, the hydraulic oil pressurized by the oil pump 92 is not supplied to the first hydraulic chamber OP1, and the hydraulic oil in the second hydraulic chamber OP2 is not discharged.

  On the other hand, the ECU 60 supplies a drive current to the first solenoid 93h when the first flow control valve 93 is in the ON state (the ON portion shown in FIG. 2). At this time, the ECU 60 sets the drive current based on the gear ratio, the speed of the toroidal-type continuously variable transmission 1, and the like. Therefore, the pressing force by the first solenoid 93h and the urging force by the first elastic member 93g act on the spool valve element 93b. When the pressing force by the first solenoid 93h becomes larger than the urging force by the first elastic member 93g, the spool valve element 93b moves to the first elastic member 93g side, and an ON position other than the OFF position (the maximum ON position is shown in FIG. 2). ON part). At this time, the hydraulic oil supply port 93c and the first hydraulic chamber communication port 93e are communicated, and the hydraulic oil discharge port 93d and the second hydraulic chamber communication port 93f are communicated. That is, when the first flow control valve 93 is in the ON state, the hydraulic oil pressurized by the oil pump 92 is supplied to the first hydraulic chamber OP1, and the hydraulic oil in the second hydraulic chamber OP2 is discharged. As a result, the hydraulic pressure in the first hydraulic chamber OP1 acts on the flange portion 84 and [the hydraulic pressure in the first hydraulic chamber OP1> the hydraulic pressure in the second hydraulic chamber OP2], whereby the flange portion 84 of the hydraulic piston portion 8 is rotated. Pressed in the first direction A1 along X3, the power roller 4 moves along with the trunnion 6 in the first direction A1 along the rotation axis X3. At this time, the movement of the power roller 4 in the first direction A1 is adjusted according to the amount of movement of the spool valve element 93b toward the ON side.

  Similarly, in the OFF state of the second flow control valve 94 (OFF portion shown in FIG. 2), the ECU 60 sets the drive current supplied to the second solenoid 94h to 0A. At this time, the communication between the hydraulic oil supply port 94c and the second hydraulic chamber communication port 94e is blocked, and the communication between the hydraulic oil discharge port 94d and the first hydraulic chamber communication port 94f is blocked and pressurized by the oil pump 92. The hydraulic oil is not supplied to the second hydraulic chamber OP2, and the hydraulic oil in the first hydraulic chamber OP1 is not discharged. In the ON state of the second flow rate control valve 94 (the ON portion shown in FIG. 2), the ECU 60 supplies a drive current to the second solenoid 94h. At this time, the hydraulic oil supply port 94c and the second hydraulic chamber communication port 94e communicate with each other, the hydraulic oil discharge port 94d and the first hydraulic chamber communication port 94f communicate with each other, and the hydraulic oil pressurized by the oil pump 92 is The hydraulic oil is supplied to the second hydraulic chamber OP2, and the hydraulic oil in the first hydraulic chamber OP1 is discharged. As a result, the hydraulic pressure in the second hydraulic chamber OP2 acts on the flange portion 84 to be [the hydraulic pressure in the first hydraulic chamber OP1 <the hydraulic pressure in the second hydraulic chamber OP2], whereby the flange portion 84 of the hydraulic piston portion 8 is rotated. Pressed in the second direction A2 along X3, the power roller 4 moves along with the trunnion 6 in the second direction A2 along the rotation axis X3.

  Accordingly, the moving unit 7 is driven by the ECU 60 by the hydraulic control device 9 to control the hydraulic pressure in each of the shift control hydraulic chambers 82 of the hydraulic piston unit 8 so that the flange unit 84 of the shift control piston 81 has a predetermined shift. By applying a control pressing force, the power roller 4 together with the trunnion 6 can be moved in two directions along the rotation axis X3, that is, in the first direction A1 and the second direction A2. Then, the gear ratio changing unit 5 causes the moving unit 7 to move the power roller 4 together with the trunnion 6 from a neutral position (see FIG. 3) relative to the input disk 2 and the output disk 3 to a gear position corresponding to the gear ratio (see FIG. 4). The gear ratio can be changed by tilting the power roller 4 with respect to the input disk 2 and the output disk 3.

  The hydraulic oil supply passage 99 is downstream of the oil pump 92 in the supply passage 97, upstream of the first flow rate control valve 93 and second flow rate control valve 94, the hydraulic pressing mechanism 15, the torque converter 22, the forward / reverse switching mechanism 23, and the like. And hydraulic oil pressurized to the line pressure by the oil pump 92 is supplied to the hydraulic pressing mechanism 15, the torque converter 22, the forward / reverse switching mechanism 23, and the like.

  Here, as shown in FIG. 3, the neutral position of the power roller 4 with respect to the input disk 2 and the output disk 3 is a position where the gear ratio is fixed, and the power roller 4 is positioned with respect to the input disk 2 and the output disk 3. In this position, the tilting force to be tilted cannot act on the power roller 4. That is, when the power roller 4 is in the neutral position and the transmission gear ratio is fixed, the rotation axis X2 of the power roller 4 is set in a plane that includes the rotation axis X1 and that is perpendicular to the rotation axis X3. Is done. In other words, at the neutral position of the power roller 4 (when the transmission ratio is fixed), the position of the power roller 4 in the direction along the rotational axis X3 is such that the rotational axis X2 of the power roller 4 passes through the rotational axis X1 (orthogonal). Set to position. At this time, the rotation direction (rolling direction) of the power roller 4 and the rotation direction of the input disk 2 coincide with each other at the contact point between the power roller 4 and the input disk 2. Therefore, the power roller 4 continues to rotate together with the input disk 2 while remaining in the neutral position, and the gear ratio during this period is fixed.

  At this time, since the force acting on the power roller 4 from the input disk 2 is only the driving force (torque), the hydraulic piston portion 8 of the moving portion 7 and the hydraulic control device 9 only resist this driving force by the hydraulic pressure. Is applied to the trunnion 6. That is, when the power roller 4 and the trunnion 6 that supports the power roller 4 are in the neutral position, as described above, the tangential force F1 acting on the contact point between the input disk 2 and the output disk 3 and the power roller 4 according to the input torque. By causing the shift control pressing force F2 (see FIG. 3) of a magnitude that resists (see FIG. 3) to act on the flange portion 84, the tangential force F1 acting on the power roller 4 and the shift control pressing force F2 are balanced. The positions of the power roller 4 and the trunnion 6 that supports the power roller 4 are fixed to the neutral position, and the gear ratio is fixed.

  On the other hand, as shown in FIG. 4, the speed change position of the power roller 4 is a position where the speed ratio is changed, and the tilting force that tilts the power roller 4 with respect to the input disk 2 and the output disk 3 is this power. It is a position that acts on the roller 4. That is, when the power roller 4 is in the speed change position and the speed ratio is changed, the rotation axis X2 of the power roller 4 is a plane including the rotation axis X1 and the rotation axis from the plane perpendicular to the rotation axis X3. It is set at a position moved in the first direction A1 or the second direction A2 along X3. In other words, at the speed change position of the power roller 4 (at the time of speed change), the position of the power roller 4 in the direction along the rotation axis X3 is the position where the rotation axis X2 of the power roller 4 passes the rotation axis X1, that is, the neutral position. Is set to a position offset from. At this time, at the contact point between the power roller 4 and the input disk 2, the rotation direction of the power roller 4 is shifted from the rotation direction of the input disk 2, whereby a tilting force acts on the power roller 4. As a result, a side slip occurs between the power roller 4 and the input disk 2 and the output disk 3 due to the tilting force acting on the power roller 4, and the power roller 4 tilts with respect to the input disk 2 and the output disk 3. In turn, the input side contact radius between the power roller 4 and the input disk 2 and the output side contact radius between the power roller 4 and the output disk 3 are changed, so that the gear ratio is changed.

  For example, as shown in FIG. 4, when the input disk 2 is rotating in the direction of arrow B (counterclockwise) in FIG. 4, the power roller 4 is moved in the second direction A2 along the rotation axis X3 (power The roller 4 and the input disk 2 are offset in the direction opposite to the moving direction of the input disk 2 at the contact point, that is, the direction opposite to the rotation direction of the input disk 2 (the direction along the rotation direction of the output disk 3). Then, the force in the circumferential direction of the input disk 2 acts on the power roller 4 at the contact point between the power roller 4 and the input disk 2, and the power roller 4 is moved to the peripheral side of the input disk 2 (power roller 4 Tilting force acts in the direction of separating the input disk 2 from the rotation axis X1. As a result, the power roller 4 moves so that the contact point with the input disk 2 moves radially outward of the input disk 2 and the contact point with the output disk 3 moves radially inward of the output disk 3. The gear ratio is changed to the decreasing side and upshifted. Then, the changed gear ratio is fixed by returning the power roller 4 to the neutral position again.

  Conversely, when downshifting, the power roller 4 is moved in the first direction A1 along the rotation axis X3 (the moving direction of the input disk 2 at the contact point between the power roller 4 and the input disk 2, that is, the rotating direction of the input disk 2). (Direction opposite to the rotation direction of the output disk 3)). Then, the force in the circumferential direction of the input disk 2 acts on the power roller 4 at the contact point between the power roller 4 and the input disk 2, and the power roller 4 moves to the center side of the input disk 2 (power roller 4 Is applied to the rotation axis X1 of the input disk 2). As a result, the power roller 4 moves so that the contact point with the input disk 2 moves radially inward of the input disk 2 and the contact point with the output disk 3 moves radially outward of the output disk 3. The gear ratio is changed to the increasing side and downshifted. Then, the changed gear ratio is fixed by returning the power roller 4 to the neutral position again.

  Here, the position of the power roller 4 is determined by the stroke amount and the tilt angle with respect to the input disk 2 and the output disk 3. The stroke amount of the power roller 4 is set from the neutral position to the first direction A1 or the second direction A2 with a neutral position where the rotation axis X2 of the power roller 4 passes through the rotation axis X1 of the input disk 2 and the output disk 3 as a reference position. This is an amount corresponding to the stroke amount as the amount of movement, more specifically, the stroke amount (offset amount) from the neutral position. The tilt angle of the power roller 4 is input from this reference position with the position where the rotation axis X2 which is the rotation center of the power roller 4 is orthogonal to the rotation axis X1 which is the rotation center of the input disk 2 and the output disk 3 as a reference position. The tilt angle (acute angle on the acute angle side) with respect to the disk 2 and the output disk 3, in other words, the rotation angle around the rotation axis X3. The transmission ratio of the toroidal continuously variable transmission 1 is determined by the tilt angle of the power roller 4 with respect to the input disk 2 and the output disk 3, and this tilt angle is determined by the stroke amount from the neutral position of the power roller 4 ( It is determined by the integral value of the offset amount.

  Here, the ECU 60 controls the driving of each part of the toroidal-type continuously variable transmission 1 according to the operating state of the toroidal-type continuously variable transmission 1, and the actual gear ratio that is the actual gear ratio of the toroidal-type continuously variable transmission 1. Is to control. That is, the ECU 60, for example, the engine speed, throttle opening, accelerator opening, engine speed, input disk speed, output shaft speed, shift position, and other operating states and tilt angles detected by various sensors, Based on the stroke amount, etc., a target gear ratio that is a target gear ratio is determined and the gear ratio changing unit 5 is driven to move the power roller 4 from the neutral position to the gear shift position side to a predetermined stroke amount. The gear ratio is changed by tilting to a tilt angle of. Furthermore, the ECU 60 performs duty control on the drive current supplied to the first solenoid 93h and the second solenoid 94h based on the control command value, thereby turning on / off the first flow control valve 93 or the second flow control valve 94. The OFF state is controlled, thereby controlling the hydraulic pressures of the first hydraulic chamber OP1 and the second hydraulic chamber OP2 of the hydraulic piston unit 8, and the power roller 4 together with the trunnion 6 from the neutral position to the shift position side by a predetermined stroke amount. The actual speed ratio is controlled so as to become the target speed ratio by moving to a predetermined tilt angle.

  Specifically, as shown in FIG. 2, as described above, the ECU 60 is electrically connected to the first solenoid 93h and the second solenoid 94h, and duty-controls the first solenoid 93h and the second solenoid 94h. is doing. Further, the ECU 60 is electrically connected to a tilt angle sensor 50 as a tilt angle detection unit and a stroke sensor 51 as a movement amount detection unit. The ECU 60 further includes an engine speed sensor 52, an input speed sensor 53 as an input speed detection means, an output speed sensor 54 as an output speed detection means, an accelerator opening sensor 55, a vehicle speed. Various sensors such as a sensor 56, a throttle opening sensor 57, a shift position sensor 58, and a line pressure sensor 59 are electrically connected.

  The tilt angle sensor 50 detects a tilt angle of the power roller 4 with respect to the input disk 2 and the output disk 3 and transmits the detected tilt angle to the ECU 60. Here, the tilt angle detected by the tilt angle sensor 50 is detected as a rotation angle around the rotation axis X3 of the trunnion 6 rotating around the rotation axis X3 together with the power roller 4. The stroke sensor 51 detects the stroke amount of the power roller 4 and transmits the detected stroke amount to the ECU 60. Here, the stroke amount of the power roller 4 detected by the stroke sensor 51 is detected as the stroke amount of the trunnion 6 that moves together with the power roller 4 in the direction along the rotation axis X3.

  The engine speed sensor 52 detects the engine speed as the rotational speed of the engine 21 that is a drive source, and transmits the detected engine speed to the ECU 60. Here, for example, a crank angle sensor that detects the crank angle of the engine can be used as the engine speed sensor 52, and the ECU 60 performs an intake stroke, a compression stroke, and an expansion stroke in each cylinder based on the detected crank angle. The exhaust stroke is determined, and the engine speed (rpm) is calculated as the engine speed. Here, in other words, the engine speed corresponds to the rotational speed of the crankshaft 21a. If the rotational speed of the crankshaft 21a increases, the rotational speed of the crankshaft 21a and the engine rotational speed also increase. Hereinafter, unless otherwise specified, the rotation speed will be described as the number of rotations.

  The input rotation speed sensor 53 detects the input rotation speed and rotation direction, which are the rotation speeds of the input disk 2, and transmits the detected input rotation speed and rotation direction to the ECU 60. The output rotation speed sensor 54 detects the output rotation speed and rotation direction that are the rotation speeds of the output disk 3, and transmits the detected output rotation speed and rotation direction to the ECU 60. The input rotation speed sensor 53 and the output rotation speed sensor 54 are based on the rotation speeds of members that rotate at a rotation speed (rotation speed) proportional to the rotation speed (rotation speed) of the input disk 2 and output disk 3, respectively. It may be detected. Further, the input rotation speed and the output rotation speed correspond to the rotation speeds of the input disk 2 and the output disk 3 in other words.

  The accelerator opening sensor 55 detects the accelerator opening of a vehicle on which the toroidal continuously variable transmission 1 is mounted, and transmits the detected accelerator opening to the ECU 60. The vehicle speed sensor 56 detects the vehicle speed of the vehicle on which the toroidal continuously variable transmission 1 is mounted, and transmits the detected vehicle speed to the ECU 60. The throttle opening sensor 57 detects the throttle opening of the vehicle in which the toroidal continuously variable transmission 1 is mounted, and transmits the detected throttle opening to the ECU 60. The shift position sensor 58 detects a shift position (for example, a parking position, a reverse position, a neutral position, a drive position, etc.) of a vehicle on which the toroidal continuously variable transmission 1 is mounted, and transmits the detected shift position to the ECU 60. To do. The line pressure sensor 59 detects the line pressure used as the original pressure of the hydraulic control device 9 and transmits the detected line pressure to the ECU 60.

  When the driving force (torque) is input to the input disk 2, the toroidal continuously variable transmission 1 as described above transmits the driving force to the power roller 4 that is in contact with the input disk 2 via traction oil. Further, the driving force is transmitted from the power roller 4 to the output disk 3 via traction oil. During this time, the traction oil is changed to glass by being pressurized, and the driving force is transmitted by the accompanying large shearing force, so that each of the input disks 2 and output disks 3 has a clamping force corresponding to the input torque with the power roller 4. It is pressed by the hydraulic pressing mechanism 15 so as to occur between the two. Further, the peripheral speed of the power roller 4 and the peripheral speed at the torque transmission point of each input disk 2 and output disk 3 (contact point where the power roller 4 is in contact via the traction oil) are substantially the same. Depending on the radius from the rotation axis X1 of the contact point between the input disk 2 and the power roller 4 and the radius from the rotation axis X1 of the contact point between the power roller 4 and the output disk 3, each input disk 2, output The rotational speed (rotational speed) of the disk 3 is different, and the ratio of the rotational speed (rotational speed) becomes the transmission ratio.

  Then, the ECU 60 changes the drive current to the first solenoid 93h or the second solenoid 94h based on the rotation direction of the input disk 2 when changing the gear ratio to the set target gear ratio, that is, when the gear ratio is changed. And the first flow rate control valve 93 or the second flow rate control valve 94 is turned on, so that the trunnion 6 is moved from the neutral position to the first position until the power roller 4 has an inclination angle corresponding to the target gear ratio. Move in the direction A1 or the second direction A2. For example, in a state where the input disk 2 is rotating in the direction of arrow B (counterclockwise) in FIG. 2, the first flow control valve 93 is turned on, the second flow control valve 94 is turned off, and the first hydraulic pressure is set. When the power roller 4 is moved from the neutral position in the first direction A1 along the rotation axis X3 by the hydraulic pressure in the chamber OP1, the gear ratio is increased and the downshift is performed as described above. On the other hand, in a state where the input disk 2 is rotating in the direction of arrow B (counterclockwise) in FIG. 2, the first flow control valve 93 is turned off and the second flow control valve 94 is turned on, so that the second hydraulic pressure When the power roller 4 is moved from the neutral position in the second direction A2 along the rotation axis X3 by the hydraulic pressure in the chamber OP2, as described above, the speed ratio is reduced and an upshift is performed. When the set transmission gear ratio is fixed, the drive current is supplied to the first solenoid 93h or the second solenoid 94h, and the first flow rate control valve 93 or the second flow rate control valve 94 is turned on. The trunnion 6 is moved in the first direction A1 or the second direction A2 until the roller 4 reaches the neutral position.

  The ECU 60 determines that the actual speed ratio (actual speed ratio) is the target speed ratio (actual speed ratio) based on the tilt angle of the power roller 4 detected by the tilt angle sensor 50 and the stroke amount detected by the stroke sensor 51. Cascade feedback control is performed so that the target gear ratio after shifting). That is, the ECU 60 determines a target tilt angle that is a target tilt angle corresponding to the target gear ratio based on the accelerator opening and the vehicle speed, and detects the target tilt angle and the actual detected by the tilt angle sensor 50. Based on the deviation from the actual tilt angle that is the tilt angle, the target speed ratio, the target stroke amount that is the target stroke amount corresponding to the target tilt angle is determined, and the stroke amount detected by the stroke sensor 51 is determined. The first flow rate control valve 93 and the second flow rate control valve 94 of the moving unit 7 are controlled so as to achieve this target stroke amount. In such shift control of the toroidal-type continuously variable transmission 1, basically, only the tilt angle (in other words, the gear ratio) detected by the tilt angle sensor 50 needs to be feedback-controlled, but the stroke amount Since this corresponds to the derivative of the tilt angle, the damping effect for suppressing the vibration in the tilt control can be obtained by performing the feedback control of the stroke amount detected by the stroke sensor 51 together. Further, the ECU 60 may perform feed-forward control together with this feedback control in order to improve the response of the gear ratio.

  Here, the toroidal-type continuously variable transmission 1 is a mechanism for synchronizing movements in the reverse direction along the rotation axis X3 of the two power rollers 4 and the trunnion 6 provided for each of the pair of input disks 2 and output disks 3. As shown, a link mechanism including a lower link 16 and an upper link 17 is provided. The lower link 16 connects the pair of trunnions 6 via a radial bearing RB on one end side (between the cylinder body 86 and the roller support portion 6a) where the speed change control piston 81 is provided on the swing shaft 6b. On the other hand, the upper link 17 connects the pair of trunnions 6 via the radial bearing RB on the other end side of the swing shaft 6b. The lower link 16 and the upper link 17 are respectively supported by lower post and upper post support shafts 16a and 17a fixed to a casing (not shown). The support shafts 16a and 17a are extended in a direction parallel to the rotation axis X1, and the lower link 16 and the upper link 17 are configured to be swingable in a seesaw shape with the support shafts 16a and 17a as fulcrums. Yes. Therefore, the lower link 16 and the upper link 17 can synchronize the movement of the pair of trunnions 6 in the reverse direction along the rotation axis X3.

  In addition, the toroidal continuously variable transmission 1 includes a synchronization mechanism 18 as a mechanism for promoting the synchronization of rotation around the rotation axis X3 of the plurality of trunnions 6. The synchronization mechanism 18 includes a synchronization wire 19 and a plurality of fixed pulleys 20. The synchronization mechanism 18 is inverted so as to intersect once between the fixed pulley 20 fixed to the swing shaft 6b of each trunnion 6 and the fixed pulley 20 adjacent in the rotation axis X1 direction or the rotation axis X2 direction. By transmitting the rotational torque of one trunnion 6 to the other trunnion 6 by the frictional force with the tensioned synchronous wire 19, the rotation synchronization about the rotation axis X3 of the plurality of trunnions 6 is promoted. be able to.

  As a result, in the tilting operation (transmission operation) of each power roller 4 and each trunnion 6, due to variations in the member accuracy and assembly accuracy of the trunnion 6 that is the support structure of the plurality of power rollers 4, the plurality of power rollers 4 Even when the clamping pressure of the hydraulic pressure pressing mechanism 15 does not act evenly or even when a slight shift is likely to occur in the shift response due to the difference in the oil path resistance of the hydraulic control device 9, the synchronizing mechanism 18 Since the rotations of the plurality of trunnions 6 are linked and synchronized with each other and the tilting operations of the plurality of power rollers 4 can be synchronized with each other, the shift control accuracy of the toroidal continuously variable transmission 1 can be improved.

  By the way, in the toroidal type continuously variable transmission 1 of the present embodiment, the ECU 60 as the main control means executes feedback control based on the target speed ratio and the actual speed ratio so that the actual speed ratio becomes the target speed ratio. In addition to controlling the gear ratio changing unit 5 and executing a forced upshift control in a predetermined operating state, further improvement in safety is achieved.

  Specifically, as shown in FIGS. 2 and 5, the ECU 60 of the present embodiment includes a feedback control unit 61 as feedback control means for performing feedback control and a forced upshift control means for performing forced upshift control. And a first forced upshift control unit 62. Then, the ECU 60 calculates a feedback control command value as a control amount for the feedback control unit 61 to control the first flow rate control valve 93 and the second flow rate control valve 94, so that the actual speed ratio becomes the target speed ratio. The gear ratio changing unit 5 is controlled so that

  The feedback control unit 61 performs feedback control based on the target gear ratio and the actual gear ratio, and includes a target stroke amount setting unit 63 and an FB control command value calculation unit 64.

  The ECU 60 first determines a target gear ratio, which is a target gear ratio, from the accelerator opening detected by the accelerator opening sensor 55 and the vehicle speed detected by the vehicle speed sensor 56. Here, for example, the required driving force is calculated based on the required driving amount represented by the accelerator opening degree and the vehicle speed, and the target output is obtained from the required driving force and the vehicle speed, and the target output is reduced to the minimum fuel consumption. And the target speed ratio is set so that the input rotational speed to the toroidal continuously variable transmission 1 becomes a target rotational speed corresponding to the rotational speed of the engine, that is, the target input rotational speed. Desired. If the contact point between the power roller 4 and the input disk 2 and the output disk 3 is known, the relationship between the gear ratio and the tilt angle is determined only by the geometric shape, so that the target tilt angle is obtained from the target gear ratio. Can do.

  The target stroke amount setting unit 63 sets the target stroke amount based on the deviation between the target gear ratio and the actual gear ratio. The target stroke amount setting unit 63 of the present embodiment calculates the target tilt angle from the target gear ratio as described above as the deviation between the actual gear ratio and the target gear ratio, and calculates the calculated target tilt angle and tilt. The deviation from the actual tilt angle detected by the angle sensor 50 (actual tilt angle corresponding to the actual gear ratio) is calculated. Then, the target stroke amount setting unit 63, based on the deviation between the target tilt angle and the actual tilt angle, is a target stroke amount that is a target control amount for changing the actual gear ratio to the target gear ratio, in other words, For example, the target stroke amount for causing the actual gear ratio to follow the target gear ratio is set by causing the actual tilt angle to follow the target tilt angle.

  The FB control command value calculation unit 64 controls the gear ratio change unit 5 based on the deviation between the actual stroke amount detected by the stroke sensor 51 and the target stroke amount set by the target stroke amount setting unit 63. To do. That is, the FB control command value calculating unit 64 controls the target for controlling the first flow rate control valve 93 and the second flow rate control valve 94 of the transmission ratio changing unit 5 based on the deviation between the actual stroke amount and the target stroke amount. A feedback control command value (for example, duty ratio) that is a control command value is calculated.

  The first forced upshift control unit 62 performs forced upshift control for forcibly decreasing the gear ratio, that is, performing an upshift in a predetermined operating state. The first correction amount calculating unit 65, 1 setting unit 66 and first forced upshift determination unit 67.

  The first forced upshift determination unit 67 determines whether or not the current operation state is an operation state that requires an urgent upshift. The first forced upshift determination unit 67 is, for example, a value that is greater than or equal to the forced upshift determination rotational speed as a predetermined rotational speed that is input in advance from the engine 21 to the input disk 2 detected by the input rotational speed sensor 53. At some point, it is determined that the operating state requires forced upshift control. Here, the forced upshift determination rotational speed set with respect to the input rotational speed to the input disk 2 is a rotational speed that can prevent over-rotation of the engine 21, that is, so-called overrev in advance. This is a rotation speed set based on a fuel cut rotation speed (rotation speed) for stopping the supply of fuel to the combustion chamber of the engine 21 in order to prevent the maximum rotation speed and overrev.

  Then, when the first forced upshift control unit 67 determines that the first forced upshift determination unit 67 needs to perform an upshift urgently, the first forced upshift control unit 62 sets a predetermined first stroke amount as a target control amount. The forced upshift control is executed by adding one correction amount and setting this as the corrected target stroke amount.

  In the present embodiment, specifically, the first forced upshift control unit 62 calculates the first correction amount when it is determined by the first forced upshift determination unit 67 that an urgent upshift is necessary. The unit 65 calculates a predetermined first correction amount, and the first setting unit 66 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4 based on the first correction amount. Perform forced upshift control.

  The first correction amount calculation unit 65 performs the first correction based on the actual input rotational speed that is input to the input disk 2 and detected by the input rotational speed sensor 53, and the deviation of the target input rotational speed according to the target gear ratio. Set the amount.

  Then, the first setting unit 66 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4 based on the first correction amount calculated by the first correction amount calculating unit 65. Then, the power roller 4 is moved to the upshift side shift position (arrow A2 side in FIG. 2), thereby executing the forced upshift control. In other words, the first setting unit 66 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4, thereby changing the reference position of the power roller 4 from the neutral position to the shift position on the upshift side. Move. Here, the first setting unit 66 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4, resulting in the target stroke amount as the target control amount. One correction amount is added. However, the first setting unit 66 may add the first correction amount directly to the target stroke amount as the target control amount. Further, the first setting unit 66 does not add the first correction amount and the neutral position of the power roller 4 when the first forced upshift determination unit 67 does not determine that it is necessary to perform an upshift urgently. The target stroke amount is calculated using the stroke amount corresponding to the value as it is.

  Therefore, in the toroidal continuously variable transmission 1, when the first forced upshift determination unit 67 determines that an upshift is urgently required, the first correction amount calculation unit 65 sets the first correction amount. The first setting unit 66 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4 and executes the forced upshift control, whereby the reference position of the power roller 4 is changed from the neutral position. Move to the upshift side shift position (arrow A2 side in FIG. 2). As a result, since the upshift can be completed at an early stage, the engine speed of the engine 21 is reduced early when the deviation between the input rotational speed to the toroidal continuously variable transmission 1 and the target input rotational speed is small. Therefore, overrev can be prevented in advance, and safety can be improved. In addition, in the conventional toroidal continuously variable transmission, overlevation can be prevented in advance by another configuration, and thus sufficient safety can be ensured, but the toroidal type according to the present embodiment Like the continuously variable transmission 1, the forced upshift control is executed when the first forced upshift determination unit 67 determines that an urgent upshift needs to be performed, so that the overlev can be more reliably performed in advance. Therefore, safety can be further improved.

  At this time, the first correction amount calculation unit 65 sets the first correction amount based on the deviation between the actual input rotation speed to the input disk 2 and the target input rotation speed, so that the actual speed ratio and the target shift speed are set. Even in an operating state where the deviation from the ratio has not yet increased, the first correction amount can be appropriately set when a deviation occurs between the actual input rotational speed and the target input rotational speed. In other words, the first correction amount calculation unit 65 detects a small deviation between the actual gear ratio and the target gear ratio by using the deviation between the actual input speed to the input disk 2 and the target input speed. The first correction amount can be appropriately set based on this. For this reason, even when there is no large deviation between the actual tilt angle (actual gear ratio) and the target tilt angle (target gear ratio), the actual input speed is quickly converged to the target input speed, and upshifting is performed. Can be completed, and overrev can be more reliably prevented in advance. The first correction amount calculator 65 sets the first correction amount on the side where the deviation between the actual input rotation speed and the target input rotation speed is large to a relatively large value, and the first correction amount on the side where the deviation is small. Set the amount to a relatively small value. As a result, when the deviation between the actual input rotational speed and the target input rotational speed is large, the upshift amount corresponding to the first correction amount can be increased, and the actual input rotational speed can be increased more quickly than the target input rotational speed. To complete the upshift.

FIG. 5 is a schematic configuration diagram illustrating an example of a main configuration of the ECU 60. The feedback control unit 61 provided in the ECU 60 includes subtracters 68 and 71, integrators 69 and 72, and an adder 70. In the toroidal continuously variable transmission 1, the required driving force is calculated based on the accelerator opening detected by the accelerator opening sensor 55 and the vehicle speed detected by the vehicle speed sensor 56 as described above, and from the required driving force and the vehicle speed, A target output is obtained, and a target input rotational speed that achieves the target output with minimum fuel consumption is obtained, thereby obtaining a target gear ratio. The target tilting angle phi _T corresponding to the target speed ratio is determined. The target tilting angle phi _T is input to the subtracter 68. Subtractor 68 is actually detected actual tilt angle phi is inputted by the tilting angle sensor 50, as a deviation between the target speed ratio and the actual speed ratio at the present time, the target tilting angle phi _T and the current The deviation Δφ from the actual tilt angle φ at is calculated and output. The deviation Δφ between the target tilting angle phi _T and the actual tilting angle phi is the output of the subtracter 68 is input to the integrator 69.

Integrator 69 multiplies a predetermined gain K? The deviation [Delta] [phi between the target tilting angle phi _T and the actual tilting angle phi, and outputs the calculated K? × [Delta] [phi. This Kφ × Δφ is the target stroke offset amount ΔX _T determined according to the difference between the target gear ratio and the current actual gear ratio, that is, the target stroke amount from the neutral position. The target stroke offset amount ΔX _T = Kφ × Δφ, which is the output of the accumulator 69, is input to the adder 70.

The adder 70 is inputted neutral position stroke X ₀ at a neutral position of the power roller 4 and the trunnion 6, and outputs the calculated target stroke offset amount [Delta] X _T the sum of the neutral position stroke X _0. The sum of the target stroke offset amount [Delta] X _T and the neutral position stroke X ₀ becomes the target stroke amount X _T determined according to the difference between the target speed ratio and the current actual gear ratio. That is, the subtractor 68, the accumulator 69, and the adder 70 set the target stroke amount based on the deviation between the actual tilt angle corresponding to the actual gear ratio and the target tilt angle corresponding to the target gear ratio. The target stroke amount setting unit 63 is configured. Target stroke amount X _T, which is the output of the adder 70 is input to the subtracter 71.

The subtracter 71 is actually actual stroke amount X detected input by the stroke sensor 51, it calculates and outputs the difference ΔX between target stroke amount X _T and the actual stroke amount X calculated by the adder 70 To do. The deviation ΔX between the target stroke amount _XT and the actual stroke amount X, which is the output of the subtractor 71, is input to the integrator 72. The integrator 72 multiplies the deviation ΔX between the target stroke amount _XT and the actual stroke amount X by a predetermined gain Kx, and calculates and outputs Kx × ΔX. This Kx × ΔX becomes the feedback control command value duty determined in accordance with the difference between the target speed ratio and the current actual speed ratio in the feedback control system. That is, the subtractor 71 and the integrator 72 are used for feedback control for controlling the first flow rate control valve 93 and the second flow rate control valve 94 based on the deviation between the target stroke amount _XT and the actual stroke amount X. An FB control command value calculation unit 64 for calculating the command value duty is provided. The feedback control command value duty that is the output of the integrator 72 is input to the first solenoid 93h and the second solenoid 94h of the first flow rate control valve 93, the second flow rate control valve 94, and according to the feedback control command value duty. The drive current is supplied to the first solenoid 93h and the second solenoid 94h.

  Then, drive control of the first flow rate control valve 93 and the second flow rate control valve 94 is performed based on the feedback control command value duty, so that the drive control of the trunnion 6 of the toroidal continuously variable transmission 1 is performed and the speed change is performed. Ratio control is performed. That is, the amount of drive current supplied to the first solenoid 93h and the second solenoid 94h is controlled, the actual stroke amount of the trunnion 6 is controlled to be the target stroke amount, and the actual tilt angle becomes the target tilt angle. Thus, feedback control is performed to cause the actual gear ratio to follow the target gear ratio.

  The gain Kφ of the integrator 69 of the target stroke amount setting unit 63 and the gain Kx of the integrator 72 of the FB control command value calculation unit 64 may be changed according to the operating conditions of the toroidal continuously variable transmission 1. . For example, even if the gains Kφ and Kx are changed based on any one or more of the pressing force (or input torque), the input rotation speed, and the tilt angle (or gear ratio) of the input disk 2 and output disk 3. Good.

At this time, the first forced upshift control unit 62 first corrects the actual input rotational speed NIN input to the input disk 2 and detected by the input rotational speed sensor 53 and the target input rotational speed NINT corresponding to the target gear ratio. This is input to the quantity calculation unit 65. The first correction amount calculation unit 65 calculates the deviation between the input rotation speed NIN and the target input rotation speed NINT when the first forced upshift determination unit 67 determines that an urgent upshift is required. multiplied by a predetermined gain _{Kx 0-1} on the deviation, it calculates and outputs the first correction amount [Delta] X _0-1. The first correction amount ΔX _0-1 that is the output of the first correction amount calculation unit 65 is input to the first setting unit 66.

The first setting unit 66 receives the detection value of the neutral position stroke amount at the neutral position of the trunnion 6, and when the first forced upshift determination unit 67 determines that an urgent upshift is necessary. The neutral position stroke amount X ₀ is calculated by calculating the sum of the neutral position stroke amount and the first correction amount ΔX _0-1 calculated by the first correction amount calculation unit 65, and the neutral position after correction is calculated. It outputs the position stroke _{X 0.} On the other hand, if it is not determined by the first forced upshift determining unit 67 that an urgent upshift is required, the first setting unit 66 does not add the first correction amount and the neutral position of the power roller 4 it is output as it is as a neutral position stroke X ₀ the detected value of the neutral position stroke in. Neutral position stroke X ₀ is the output of the first setting unit 66 is inputted to the adder 70 of the feedback control unit 61 as described above.

  FIG. 6 is a time chart showing an example of the relationship among the input rotation speed, the tilt angle, the vehicle speed, and the accelerator opening along the time axis in the toroidal continuously variable transmission 1 according to the first embodiment of the present invention. The axis is the input rotation speed, the tilt angle, the vehicle speed and the accelerator opening, and the horizontal axis is the time axis. The input rotational speed to the toroidal-type continuously variable transmission 1 corresponds to the engine rotational speed of the engine 21.

  For example, in the toroidal continuously variable transmission 1, the engine speed increases at the time of acceleration due to a high accelerator opening, and the input rotational speed to the toroidal continuously variable transmission 1 increases accordingly, and is forced at time t1. When the rotation speed is equal to or higher than the upshift determination speed, the first forced upshift determination unit 67 determines that an upshift needs to be performed urgently. Then, the first correction amount is calculated by the first correction amount calculation unit 65, and the first setting unit 66 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4 to perform the forced upshift control. As a result, the power roller 4 moves from the neutral position to the upshift side shift position (arrow A2 side in FIG. 2). For this reason, in the feedback control by the feedback control unit 61, the actual input rotation with respect to the target input rotation speed even when there is no large deviation between the actual tilt angle (actual gear ratio) and the target tilt angle (target gear ratio). The number following capability can be improved, that is, the shift response can be improved. As a result, when the first forced upshift determining unit 67 determines that it is necessary to urgently perform an upshift, it is possible to quickly perform an upshift. For example, at time t2, the actual input rotational speed is This actual input speed can be converged to the target input speed before the maximum speed is reached, and the upshift can be completed. For this reason, since the toroidal continuously variable transmission 1 can reliably reduce the engine speed before the actual input speed reaches the rev limit and the overrev occurs, it is possible to prevent overrev in advance, Therefore, safety can be improved.

  Next, forced upshift execution determination control in the toroidal continuously variable transmission 1 according to the present embodiment will be described with reference to the flowchart of FIG. This control routine is repeatedly executed at a control cycle of several ms to several tens of ms.

  First, the first forced upshift determining unit 67 determines whether or not the forced upshift execution flag F0 is ON (S100). That is, the first forced upshift determining unit 67 determines whether the forced upshift control is being executed.

  When it is determined that the forcible upshift execution flag F0 is not ON (S100: No), the first forcible upshift determination unit 67 performs actual transmission from the engine 21 to the input disk 2 detected by the input rotational speed sensor 53. It is determined whether or not the input rotational speed NIN is equal to or greater than a preset forced upshift determination rotational speed NINKUP (S102).

  When it is determined that the actual input rotational speed NIN to the input disk 2 is equal to or greater than the forced upshift determination rotational speed NINKUP (S102: Yes), the first forced upshift determination unit 67 is detected by the tilt angle sensor 50. It is determined whether or not the actual tilt angle φ is equal to or smaller than a preset forced upshift tilt angle φKUP (S104). Here, the forcible upshiftable tilt angle φKUP is a threshold value for determining whether or not the current tilt angle φ is a tilt angle φ that allows forcible upshifting. That is, for example, when the actual tilt angle φ is the maximum tilt angle on the upshift side, the power roller 4 cannot tilt further on the upshift side, that is, cannot upshift. Therefore, in such a case, the forced upshift control is not executed.

When it is determined that the actual tilt angle φ is equal to or smaller than a preset forced upshiftable tilt angle φKUP (S104: Yes), the first forced upshift determination unit 67 is controlled by the current feedback control unit 61. It is determined whether the feedback control is feedback control to the upshift side (S106). For example, the first forced upshift determination unit 67 continues for n times when the value obtained by subtracting the current target tilt angle φ _T (i) from the previous target tilt angle φ _T (i−1) is smaller than 0. In this case, it may be determined whether the current feedback control by the feedback control unit 61 is feedback control to the upshift side. The n may be set as appropriate so that feedback control to the upshift side can be determined.

  When it is determined that the current feedback control by the feedback control unit 61 is feedback control to the upshift side (S106: Yes), the first forced upshift determination unit 67 substitutes ON for the forced upshift execution flag F0. Then, the forced upshift execution flag F0 is set to ON (S108), and this forced upshift execution determination control is terminated.

  When it is determined in S100 that the forced upshift execution flag F0 is ON (S100: Yes), the first forced upshift determination unit 67 sets the counter T1 for measuring the period during the forced upshift control. It is determined whether or not the value is equal to or greater than a time-over determination value ThT1 corresponding to a predetermined period set in advance (S110). That is, the first forced upshift determination unit 67 determines whether or not a predetermined period has elapsed since the start of the forced upshift control. The time-over determination value ThT1 corresponding to the predetermined period may be appropriately set according to the vehicle specification and the vehicle speed.

When it is determined that the value of the counter T1 is smaller than the time-over determination value ThT1 (S110: No), the first forced upshift determination unit 67 determines that the current feedback control by the feedback control unit 61 is feedback control to the upshift side. without and, whether the absolute value of the deviation between the actual tilting angle phi that is actually detected by the target tilting angle phi _T and tilt angle sensor 50 is equal to or less than the tilt angle threshold φGRD set in advance Determine (S112). In other words, the first forced upshift determination unit 67 determines whether substantially converged to the actual tilting angle phi is the target tilting angle phi _T. Tilt angle threshold φGRD may be appropriately set so as to be able determine whether substantially converged to the actual tilting angle phi is the target tilting angle phi _T.

Is the current feedback control to feedback control by the feedback control unit 61 is upshift side, or the absolute deviation between the actual tilting angle phi that is actually detected by the target tilting angle phi _T and tilting angle sensor 50 When it is determined that the value is larger than the preset tilt angle threshold value φGRD (S112: No), the first forced upshift determination unit 67 increments the counter T1, that is, adds 1 to the counter T1 to increase the counter. T1 + 1 is substituted into the counter T1 (S114), and this forced upshift execution determination control is terminated.

On the other hand, when it is determined in S102 that the actual input rotational speed NIN to the input disk 2 is lower than the forced upshift determination rotational speed NINKUP (S102: No), the actual tilt angle φ is preset in S104. If it is determined that the tilt angle φKUP is greater than the forced upshift possible (S104: No), it is determined in S106 that the current feedback control by the feedback control unit 61 is not the feedback control to the upshift side (S106). : No), when it is determined in S110 that the value of the counter T1 is equal to or greater than the time over determination value ThT1 (S110: Yes), or in S112, the current feedback control by the feedback control unit 61 is shifted to the upshift side. not feedback control, and the target tilting angle phi _T and tilting angle cell When it is determined that the absolute value of the deviation from the actual tilt angle φ actually detected by the sensor 50 is equal to or smaller than the preset tilt angle threshold φGRD (S112: Yes), the forced upshift execution flag F0 is set. OFF is substituted, this forced upshift execution flag F0 is set to OFF (S116), 0 is substituted into counter T1, this counter T1 is reset (S118), and this forced upshift execution determination control is terminated.

  Next, forced upshift control in the toroidal continuously variable transmission 1 according to the present embodiment will be described with reference to the flowchart of FIG. This control routine is repeatedly executed at a control cycle of several ms to several tens of ms.

  First, the first forced upshift determining unit 67 determines whether or not the forced upshift execution flag F0 is ON (S200). If it is determined that the forced upshift execution flag F0 is not ON (S200: No), this forced upshift control is terminated.

When it is determined that the forced upshift execution flag F0 is ON (S200: Yes), the first correction amount calculation unit 65 calculates the first correction amount ΔX _0-1 (S202). For example, the first correction amount calculation unit 65 calculates a deviation between the input rotation speed NIN and the target input rotation speed NINT, and multiplies the deviation by a predetermined gain Kx _0-1 to obtain a first correction amount ΔX _0-1 . calculate. Then, the first correction amount calculator 65 applies a guard value to the first correction amount ΔX _{0-1 so} that [ΔX _0-1 Min ≦ ΔX _0-1 ≦ ΔX _0-1 Max] (S204). Here, ΔX _0-1 Min and ΔX _0-1 Max may be appropriately set in consideration of the operating range of the speed change control piston 81 and prevention of sudden speed change.

Then, in S204, the first setting unit 66, based on the first correction amount ΔX _0-1 calculated by the first correction amount calculation unit 65, in the neutral position stroke amount X corresponding to the neutral position of the power roller 4. ₀ by adding the first correction amount [Delta] X _0-1, and calculates the stroke _X 0 New (S206), as a neutral position stroke _{X 0} after correcting the stroke _X 0 New, this forced upshift End control.

  According to the toroidal continuously variable transmission 1 according to the embodiment of the present invention described above, the input disk 2 to which the driving force from the engine 21 is input, the output disk 3 to which the driving force is output, and the input disk 2 and a power roller 4 provided in contact with the output disk 3, and the power roller 4 is rotatably and tiltably supported. The power roller 4 is supported from a neutral position with respect to the input disk 2 and the output disk 3. By moving to the speed change position, the speed change ratio changing unit 5 that can change the speed change ratio that is the rotation speed ratio between the input disk 2 and the output disk 3, and the target speed change ratio that is the target speed change ratio and the actual speed change ratio A feedback control unit 61 that performs feedback control of the gear ratio changing unit 5 so that the actual gear ratio becomes the target gear ratio according to a target stroke amount based on a certain actual gear ratio. , And a ECU60 having a first forced upshift control unit 62 that executes the forced upshift control for adding a predetermined first correction amount to the target stroke amount.

  Therefore, the toroidal continuously variable transmission 1 adds a predetermined first correction amount to the target stroke amount by the first forced upshift control unit 62 when it is determined that it is necessary to perform an upshift urgently. By executing the forced upshift control, the shift between the actual gear ratio and the target gear ratio, in other words, the upshift is performed even when the deviation between the input rotational speed to the toroidal continuously variable transmission 1 and the target input rotational speed is small. As a result, the engine speed of the engine 21 can be reduced at an early stage, so that overrev can be reliably prevented in advance and safety can be further improved.

  Furthermore, according to the toroidal-type continuously variable transmission 1 according to the embodiment of the present invention described above, the first forced upshift control unit 62 sets the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4. The forced upshift control is executed by adding. Therefore, the first forced upshift control unit 62 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4, and as a result, the first forced upshift control unit 62 sets the first stroke amount as the target control amount to the first stroke amount. The correction amount is added. Then, the first forced upshift control unit 62 adds the first correction amount to the stroke amount corresponding to the neutral position of the power roller 4 so that the reference position of the power roller 4 is changed from the neutral position to the shift position on the upshift side. Moving. As a result, the upshift can be completed early even when the deviation between the actual transmission ratio and the target transmission ratio, in other words, the deviation between the input rotational speed to the toroidal continuously variable transmission 1 and the target input rotational speed is small. it can.

  Furthermore, according to the toroidal type continuously variable transmission 1 according to the embodiment of the present invention described above, the first forced upshift control unit 62 includes the actual input rotational speed input to the input disk 2 and the target shift. The first correction amount is set based on the deviation from the target input rotation speed according to the ratio. Therefore, by setting the first correction amount based on the deviation between the actual input speed to the input disk 2 and the target input speed, the deviation between the actual speed ratio and the target speed ratio has not yet increased. Even in the operating state, the first correction amount can be appropriately set when a deviation occurs between the actual input rotational speed and the target input rotational speed. In other words, the first forced upshift control unit 62 detects a small deviation between the actual gear ratio and the target gear ratio by using the deviation between the actual input speed to the input disk 2 and the target input speed. The first correction amount can be appropriately set based on this. For this reason, even when there is no large deviation between the actual tilt angle (actual gear ratio) and the target tilt angle (target gear ratio), the actual input speed is quickly converged to the target input speed, and upshifting is performed. Can be completed.

  Further, according to the toroidal continuously variable transmission 1 according to the embodiment of the present invention described above, the first forced upshift control unit 62 is configured to force the input rotational speed to the input disk 2 to be preset. When the rotational speed is equal to or higher than the determination rotational speed, the forced shift up control is executed. Therefore, when the input rotational speed to the input disk 2 becomes equal to or higher than the forced upshift determination rotational speed, the first forced upshift control unit 62 performs the forced shiftup control, thereby causing the engine 21 to overspeed, so-called overrev. Can be prevented in advance.

(Embodiment 2)
FIG. 9 is a configuration diagram of a main part of a toroidal continuously variable transmission according to Embodiment 2 of the present invention, and FIG. 10 is a schematic diagram of an ECU and a sub ECU of the toroidal continuously variable transmission according to Embodiment 2 of the present invention. FIG. 11 is a schematic configuration diagram showing an example of a part configuration, FIG. 11 is a second correction amount map for obtaining a second correction amount in the toroidal continuously variable transmission according to Embodiment 2 of the present invention, and FIG. 6 is a flowchart illustrating forced upshift control in the toroidal continuously variable transmission according to the second embodiment.

  The continuously variable transmission according to the second embodiment has substantially the same configuration as the continuously variable transmission according to the first embodiment, but differs from the continuously variable transmission according to the first embodiment in that it includes a sub-control unit. In addition, about the structure, effect | action, and effect which are common in embodiment mentioned above, while overlapping description is abbreviate | omitted as much as possible, the same code | symbol is attached | subjected.

  A toroidal continuously variable transmission 201 as a continuously variable transmission according to the present embodiment includes a sub-ECU 270 as sub-control means different from the ECU 260 as main control means, as shown in FIGS. A switching unit 280 that switches the control system in the toroidal type continuously variable transmission 201 from the ECU 260 to the sub ECU 270 when feedback control of an appropriate gear ratio by the feedback control unit 61 of the ECU 260 becomes impossible.

  The ECU 260 of the present embodiment has the feedback control unit 61 as the above-described feedback control unit, but does not have the first forced upshift control unit 62 (see FIG. 2) as the forced upshift control unit. The feedback control unit 61 includes the target stroke amount setting unit 63 and the FB control command value calculation unit 64 as described above.

  The sub ECU 270 of the present embodiment is an ECU provided separately from the ECU 260. The sub-ECU 270 moves the power roller 4 from the neutral position to the shift position on the upshift side by controlling the gear ratio changing unit 5 when feedback control of an appropriate gear ratio by the feedback control unit 61 of the ECU 260 becomes impossible. The forced upshift control is executed.

  Specifically, the sub-ECU 270 performs a forced upshift control that forcibly decreases the gear ratio, that is, performs an upshift when feedback control of an appropriate gear ratio by the feedback control unit 61 becomes impossible. The second forced upshift control unit 271 includes a second correction amount calculation unit 272, a second setting unit 273, and a second forced upshift determination unit 274. .

  The second forced upshift determination unit 274 determines whether or not the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible. For example, the second forced upshift determination unit 274 determines whether or not the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible based on the input rotation speed and the tilt angle. To do.

  In other words, the second forced upshift determination unit 274 calculates, for example, the target input rotational speed corresponding to the target gear ratio and the actual input rotational speed from the engine 21 to the input disk 2 detected by the input rotational speed sensor 53. When a state where the absolute value of the deviation is equal to or greater than a preset rotation speed abnormality determination value continues for a predetermined time, the final determination of abnormality of the shift control logic is permitted. The second forced upshift determination unit 274 is detected by the target tilt angle corresponding to the target gear ratio and the tilt angle sensor 50 after the final determination of the abnormality of the shift control logic is permitted. When the absolute value of the deviation from the actual actual tilt angle is equal to or greater than a preset tilt angle abnormality determination value continues for a predetermined time, the shift control logic is finally determined to be abnormal, that is, It is determined that the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible. Here, the rotational speed abnormality determination value and the tilt angle abnormality determination value indicate whether the feedback control unit 61 is unable to perform feedback control of an appropriate gear ratio, whether the actual input rotational speed converges with respect to the target input rotational speed, It is set to a value that can be determined based on the convergence of the actual tilt angle with respect to the target tilt angle.

  Then, when the second forced upshift control unit 271 determines that the current driving state is an operating state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible by the second forced upshift determining unit 274. In addition, the second correction amount calculating unit 272 calculates a predetermined second correction amount, and the second setting unit 273 of the speed ratio changing unit 5 according to the neutral position of the power roller 4 based on the second correction amount. The forced upshift control is executed by adding the second correction amount to the neutral position stroke amount that is the control amount to calculate the target stroke amount that is the target control amount. At this time, the switching unit 280 switches the control system in the toroidal continuously variable transmission 201 from the ECU 260 to the sub ECU 270.

Here, the second correction amount calculation unit 272 applies the actual output rotational speed from the output disk 3 detected by the output rotational speed sensor 54 to the input disk 2 and the output disk 3 detected by the tilt angle sensor 50. The second correction amount is set based on the actual tilt angle of the power roller 4. For example, the second correction amount calculation unit 272 calculates the second correction amount ΔX _0-2 based on the second correction amount map m01 illustrated in FIG. In the second correction amount map m01, the vertical axis represents the second correction amount ΔX _0-2 , and the horizontal axis represents the output rotation speed NOUT. The second correction amount map m01 describes the relationship between the output rotation speed NOUT and the second correction amount ΔX _{0-2 at} each tilt angle φ. In the second correction amount map m01, the second correction amount ΔX _0-2 decreases as the output rotation speed NOUT increases, and decreases as the tilt angle φ increases. The second correction amount map m01 is stored in a storage unit (not shown) of the sub ECU 270. Based on the second correction amount map m01, the second correction amount calculation unit 272 calculates the second correction amount ΔX _0-2 from the tilt angle φ and the output rotation speed NOUT. That is, the second correction amount calculation unit 272 reduces the second correction amount ΔX _0-2 on the side where the actual output rotational speed NOUT from the output disk 3 detected by the output rotational speed sensor 54 is large to a relatively small value. The second correction amount ΔX _0-2 on the side where the output rotation speed NOUT is small is set to a relatively large value. The second correction amount calculation unit 272 also includes a second correction amount ΔX _0-2 on the side where the actual tilt angle φ of the power roller 4 with respect to the input disk 2 and the output disk 3 detected by the tilt angle sensor 50 is large. Is set to a relatively small value, and the second correction amount ΔX _0-2 on the side where the tilt angle φ is small is set to a relatively large value.

In the present embodiment, the second correction amount calculation unit 272 calculates the second correction amount ΔX _0-2 using the second correction amount map m01, but the present embodiment is not limited to this. For example, the second correction amount calculation unit 272 may obtain the second correction amount ΔX _0-2 based on a mathematical expression corresponding to the second correction amount map m01.

  Then, the second setting unit 273 adds the second correction amount to the stroke amount corresponding to the neutral position of the power roller 4 based on the second correction amount calculated by the second correction amount calculating unit 272. Is set as the corrected target stroke amount, the power roller 4 is moved to the upshift side shift position (arrow A2 side in FIG. 9), thereby executing the forced upshift control. In other words, the second setting unit 273 adds the second correction amount to the stroke amount corresponding to the neutral position of the power roller 4 to change the reference position of the power roller 4 from the neutral position to the shift position on the upshift side. Move.

  FIG. 10 is a schematic configuration diagram illustrating an example of a main configuration of the ECU 260 and the sub ECU 270. In this case as well, descriptions overlapping with those of the first embodiment are omitted as much as possible.

First, the feedback control unit 61 provided in the ECU 260 includes subtracters 68 and 71, integrators 69 and 72, and an adder 70. Target tilting angle phi _T is input to the subtracter 68. Subtracter 68 calculates the deviation Δφ between the actual tilting angle phi at the present time and the target tilting angle phi _T and outputs it to the accumulator 69. The accumulator 69 multiplies the deviation Δφ between the target tilt angle φ _T and the actual tilt angle φ by a predetermined gain Kφ, that is, Kφ × Δφ, that is, the target stroke offset amount ΔX _T (target stroke from the neutral position). Amount) is calculated and output to the adder 70. The adder 70 receives the neutral position stroke amount X _{0 at} the neutral position of the power roller 4 and the trunnion 6, and the sum of the target stroke offset amount ΔX _T and the neutral position stroke amount X ₀ , that is, the target gear ratio. to calculate the target stroke amount X _T determined according to the difference between the current actual gear ratio is output to the subtracter 71. That is, the subtracter 68, the accumulator 69, and the adder 70 form a target stroke amount setting unit 63. Target stroke amount X _T, which is the output of the adder 70 is input to the subtracter 71.

The subtracter 71 is actually actual stroke amount X detected input by the stroke sensor 51, integrated to calculate the deviation ΔX between target stroke amount X _T and the actual stroke amount X calculated by the adder 70 Output to the device 72. The accumulator 72 multiplies the deviation ΔX between the target stroke amount _XT and the actual stroke amount X by a predetermined gain Kx to obtain Kx × ΔX, that is, the difference between the target gear ratio and the current actual gear ratio in the feedback control system. The feedback control command value duty determined accordingly is calculated and output to the first flow rate control valve 93, the first solenoid 93h of the second flow rate control valve 94, and the second solenoid 94h. That is, the subtractor 71 and the integrator 72 form an FB control command value calculation unit 64.

  Then, the drive control of the first flow rate control valve 93 and the second flow rate control valve 94 is performed based on the feedback control command value duty, so that the drive control of the trunnion 6 of the toroidal-type continuously variable transmission 201 is performed and the speed change is performed. Ratio control is performed. That is, the amount of drive current supplied to the first solenoid 93h and the second solenoid 94h is controlled, the actual stroke amount of the trunnion 6 is controlled to be the target stroke amount, and the actual tilt angle becomes the target tilt angle. Thus, feedback control is performed to cause the actual gear ratio to follow the target gear ratio.

  On the other hand, the second forced upshift control unit 271 included in the sub ECU 270 includes a second correction amount calculation unit 272, a second setting unit 273, a subtractor 275, and an integrator 276.

  The switching unit 280 is provided between the integrators 72 and 276, the first flow control valve 93, the first solenoid 93h and the second solenoid 94h of the second flow control valve 94, and the first flow control valve 93, A signal input to the first solenoid 93h and the second solenoid 94h of the second flow rate control valve 94 is provided to be switchable between an output signal of the integrator 72 and an output signal of the integrator 276. Then, the switching unit 280 switches the control system in the toroidal type continuously variable transmission 201 from the ECU 260 to the sub ECU 270 when feedback control of an appropriate gear ratio by the feedback control unit 61 of the ECU 260 becomes impossible.

  The second forced upshift control unit 271 of the sub ECU 270 includes the actual output rotational speed NOUT from the output disk 3 detected by the output rotational speed sensor 54, and the input disk 2 and output disk detected by the tilt angle sensor 50. 3, the actual tilt angle φ of the power roller 4 with respect to 3 is input to the second correction amount calculation unit 272.

The second correction amount calculation unit 272, for example, when the second forced upshift determination unit 274 determines that the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible, for example, Based on the second correction amount map m01 shown in FIG. 11, the second correction amount ΔX _0-2 is calculated from the tilt angle φ and the output rotation speed NOUT and output. The second correction amount ΔX _0-2 that is the output of the second correction amount calculation unit 272 is input to the second setting unit 273.

The detection value of the neutral position stroke amount at the neutral position of the power roller 4 and the trunnion 6 is input to the second setting unit 273, and the current operation state is determined by the feedback control unit 61 by the second forced upshift determination unit 274. If the neutral position stroke amount and the second correction amount calculation unit 272 are calculated when it is determined that the operation state is incapable of feedback control of the correct gear ratio, the sum of the second correction amount ΔX _0-2 is calculated. Te to calculate the neutral position stroke X ₀ after the correction, and outputs the neutral position stroke X ₀ after the correction. The neutral position stroke amount X ₀ that is the output of the second setting unit 273 is input to the subtractor 275.

The subtractor 275 receives the actual stroke amount X actually detected by the stroke sensor 51. On the other hand, the neutral position stroke X ₀ after correction which is an output of the second setting unit 273 corresponds to the target stroke amount. Therefore, the subtractor 275 calculates and outputs a deviation ΔX between the corrected neutral position stroke amount X ₀ (corresponding to the target stroke amount) calculated by the second setting unit 273 and the actual stroke amount X. The accumulator 276 multiplies the deviation ΔX between the corrected neutral position stroke amount X ₀ corresponding to the target stroke amount and the actual stroke amount X by a predetermined gain Kxx, that is, Kxx × ΔX, that is, the target shift in the feedback control system. The feedback control command value duty determined according to the difference between the ratio and the current actual gear ratio is calculated and output to the first solenoid 93h and the second solenoid 94h of the first flow control valve 93 and the second flow control valve 94. .

  Therefore, in the toroidal-type continuously variable transmission 201, when the second forced upshift determination unit 274 determines that the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible. In addition, the control unit in the toroidal type continuously variable transmission 201 is switched from the ECU 260 to the sub ECU 270 by the switching unit 280, the second correction amount is calculated by the second correction amount calculating unit 272, and the power roller 4 is calculated by the second setting unit 273. The second correction amount is added to the stroke amount corresponding to the neutral position and the forced upshift control is executed, whereby the reference position of the power roller 4 is shifted from the neutral position to the upshift side shift position (arrow A2 in FIG. 9). To the side). As a result, even if the current operation state is an operation state in which feedback control of an appropriate gear ratio cannot be performed by the feedback control unit 61, the second forced upshift included in the sub ECU 270 different from the ECU 260 including the feedback control unit 61. Since the upshift is forcibly executed by the control unit 271, for example, it is possible to prevent a sudden downshift from being executed. For example, a large engine brake acts to disturb the behavior of the vehicle. Therefore, safety can be improved. Moreover, overlev can be reliably prevented in advance. Even in the conventional toroidal continuously variable transmission, it is possible to prevent a sudden downshift from being performed by another configuration, and to prevent the behavior of the vehicle from being disturbed. Although the safety can be ensured, as in the toroidal-type continuously variable transmission 201 according to the present embodiment, the second operation upshift control unit 271 causes the current operation state to be changed appropriately by the feedback control unit 61. By executing forced upshift control when the ratio feedback control is impossible, it is possible to reliably prevent a sudden downshift and to ensure that the vehicle behavior is disturbed. Therefore, safety can be further improved.

At this time, the second correction amount calculation unit 272 sets the second correction amount ΔX _0-2 on the side where the actual output rotation speed NOUT is large to a relatively small value, and the second correction amount on the side where the output rotation speed NOUT is small. Since the amount ΔX _0-2 is set to a relatively large value, the second correction amount ΔX _0-2 is relatively large in the driving state where the output rotational speed NOUT is large and the shift response is relatively high. The second correction amount ΔX _0-2 is set to a relatively large value in an operating state in which the output rotational speed NOUT is small and the shift response is relatively low. Therefore, an appropriate second correction amount ΔX _0-2 according to the shift response can be set, and the second forced upshift control unit 271 can appropriately perform the upshift. In addition, the second correction amount calculation unit 272 sets the second correction amount ΔX _0-2 on the side where the actual tilt angle φ of the power roller 4 is large to a relatively small value, and on the side where the tilt angle φ is small. Since the second correction amount ΔX _0-2 is set to a relatively large value, the actual tilt angle φ is large, and the current position of the power roller 4 is relatively away from the neutral position. In the state, the second correction amount ΔX _0-2 is set to a relatively small value, the actual tilt angle φ is small, and the current position of the power roller 4 is relatively close to the neutral position. In the state, the second correction amount ΔX _0-2 is set to a relatively small value. For this reason, it is possible to set an appropriate second correction amount ΔX _0-2 according to the actual tilt angle φ of the power roller 4, and to appropriately perform an upshift by the second forced upshift control unit 271. Can do.

  Next, forced upshift control in the toroidal continuously variable transmission 201 according to the present embodiment will be described with reference to the flowchart of FIG. This control routine is repeatedly executed at a control cycle of several ms to several tens of ms.

  First, the second forced upshift determination unit 274 determines whether or not a predetermined period has elapsed since the start of the shift control logic initialization in the feedback control unit 61 of the ECU 260 (S300). The shift control logic initialization in the feedback control unit 61 is performed when the second forced upshift determination unit 274 determines that the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible. In S312, which will be described later. Here, the second forced upshift determination unit 274 determines whether or not the shift control logic initialization in the feedback control unit 61 has been completed. The second forced upshift determination unit 274 is, for example, an initialization completion determination value corresponding to a predetermined period in which the value of the counter T2 for measuring the period from the start of the shift control logic initialization in the feedback control unit 61 is preset. It is determined whether or not ThT2 or higher.

  When it is determined that the predetermined period has not elapsed since the start of the shift control logic initialization in the feedback control unit 61 of the ECU 260 (S300: No), the second forced upshift determination unit 274 performs the target input rotation according to the target gear ratio. A state in which the absolute value of the deviation between the number NINT and the actual input speed NIN detected by the input speed sensor 53 is greater than a preset speed abnormality determination value ThNIN continues N1 times corresponding to a predetermined time. It is determined whether or not (S302).

  When it is determined that the state where the absolute value of the deviation between the target input rotational speed NINT and the input rotational speed NIN is equal to or greater than the rotational speed abnormality determination value ThNIN is continued N1 times (S302: Yes), the second forced upshift determination unit 274 assigns ON to the shift control logic abnormality determination permission flag F1, and sets the shift control logic abnormality determination permission flag F1 to ON (S304).

Next, the second forced upshift determining unit 274, a target tilting angle phi _T corresponding to the target speed ratio, the absolute value of the deviation of the actual and the actual tilting angle phi is detected by the tilting angle sensor 50 It is determined whether or not a state that is equal to or greater than a preset tilt angle abnormality determination value Thφ continues N2 times corresponding to a predetermined time (S306).

If the state the absolute value of the deviation between the target tilting angle phi _T and the actual tilting angle phi is the tilt angle abnormality determination value Thφ above is determined to be continuous N2 times (S306: Yes), the second forced up The shift determination unit 274 assigns ON to the shift control logic abnormality determination flag F2, and sets the shift control logic abnormality determination flag F2 to ON (S308).

  Next, the control unit in the toroidal continuously variable transmission 201 is switched from the ECU 260 to the sub-ECU 270 by the switching unit 280, the second correction amount calculation unit 272 calculates a predetermined second correction amount, and the second setting unit 273 Based on this second correction amount, forced upshift control is performed by adding the second correction amount to the neutral position stroke amount corresponding to the neutral position of the power roller 4 and calculating a target stroke amount that is a target control amount. Is executed (S310).

  Then, the second forced upshift determination unit 274 assigns ON to the shift control logic initialization execution flag F3, sets the shift control logic initialization execution flag F3 to ON, and sets the shift control logic initialization flag F3 to ON. The initialization is executed and the counter T2 is incremented, that is, 1 is added to the counter T2 and the counter T2 + 1 is substituted into the counter T2 (S312), and this forced upshift control is terminated.

If it is determined in S300 that a predetermined period has elapsed since the start of the shift control logic initialization in the feedback control unit 61 of the ECU 260 (S300: Yes), the absolute deviation between the target input speed NINT and the input speed NIN is determined in S302. If the state value is the rotational speed abnormality determination value ThNIN above is determined not continuous N1 times (S302: no), or the deviation between the target tilting angle phi _T and the actual tilt angle phi at S304 When it is determined that the state in which the absolute value of the angle is equal to or greater than the tilt angle abnormality determination value Thφ is not continuous N2 times (S306: No), the second forced upshift determination unit 274 indicates the shift control logic initialization execution flag. Substitute OFF for F3, set this shift control logic initialization execution flag F3 to OFF, substitute 0 for counter T2, and reset this counter T2. (S314). Then, the second forced upshift determination unit 274 assigns OFF to the shift control logic abnormality determination permission flag F1, sets the shift control logic abnormality determination permission flag F1 to OFF (S316), and changes the shift control logic abnormality determination flag. OFF is substituted for F2, this shift control logic abnormality determination flag F2 is set to OFF (S318), and this forced upshift control is terminated.

  According to the toroidal continuously variable transmission 201 according to the embodiment of the present invention described above, the input disk 2 to which the driving force from the engine 21 is input, the output disk 3 to which the driving force is output, and the input disk 2 and a power roller 4 provided in contact with the output disk 3, and the power roller 4 is rotatably and tiltably supported, and the power roller 4 is supported from a neutral position with respect to the input disk 2 and the output disk 3. By moving to the speed change position, the speed change ratio changing unit 5 that can change the speed change ratio that is the rotation speed ratio between the input disk 2 and the output disk 3, and the target speed change ratio that is the target speed change ratio and the actual speed change ratio An ECU 260 that controls the gear ratio changing unit 5 so that the actual gear ratio becomes a target gear ratio based on a certain actual gear ratio, and a sub-ECU 270 different from the ECU 260, A sub-ECU 270 that executes forced upshift control for controlling the speed ratio changing unit 5 to move the power roller 4 to the upshift side shift position when control of an appropriate speed ratio by feedback control becomes impossible. Prepare.

  Therefore, this toroidal-type continuously variable transmission 201 uses the sub-ECU 270 different from the ECU 260 to shift the power roller 4 to the upshift side when the current operation state is an operation state in which feedback control of an appropriate gear ratio by the ECU 260 is impossible. By executing the forced upshift control to move to the shift position, even if the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible, for example, a sudden downshift is performed. Since it can be prevented from being executed and the behavior of the vehicle can be prevented from being disturbed, safety can be improved.

  Furthermore, according to the toroidal-type continuously variable transmission 201 according to the embodiment of the present invention described above, the sub ECU 270 is a neutral position stroke that is a control amount of the speed ratio changing unit 5 according to the neutral position of the power roller 4. The forcible upshift control is executed by adding a predetermined second correction amount to the amount and calculating a target stroke amount that is a target control amount of the gear ratio changing unit 5. Therefore, the sub ECU 270 adds the second correction amount to the neutral position stroke amount corresponding to the neutral position of the power roller 4 to move the reference position of the power roller 4 from the neutral position to the upshift side shift position. For this reason, an upshift can be realized regardless of the state of feedback control by the ECU 260.

Furthermore, according to the toroidal-type continuously variable transmission 201 according to the embodiment of the present invention described above, the sub ECU 270 includes the output rotational speed from the output disk 3, the input disk 2, and the power roller 4 with respect to the output disk 3. A second correction amount is set based on the tilt angle. Therefore, it is possible to set an appropriate second correction amount ΔX _0-2 in accordance with the shift response and the actual tilt angle φ of the power roller 4, and the second forced upshift control unit 271 performs an appropriate upshift. Can be executed.

  The continuously variable transmission according to the above-described embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope described in the claims. In the above description, the continuously variable transmission has been described as a double-cavity toroidal continuously variable transmission. However, the present invention is not limited to this and may be a single-cavity toroidal continuously variable transmission. In the above description, the hydraulic control device 9 constituting the gear ratio changing means is described as including two flow rate control valves, but is not limited thereto, and may be one or three or more.

  Further, for example, if the contact point between the power roller 4 and the input disk 2 and the output disk 3 is known, the relationship between the actual transmission ratio and the actual tilt angle is determined only by the geometric shape. The actual tilt angle can be replaced with an actual transmission ratio. That is, the target stroke amount setting unit 63 calculates an actual speed ratio based on the actual actual tilt angle detected by the tilt angle sensor 50, calculates a deviation between the calculated actual speed ratio and the target speed ratio, The target stroke amount may be set based on this deviation. In this case, the actual gear ratio is calculated based on the actual actual tilt angle detected by the tilt angle sensor 50, for example, the input speed and the output speed detected by the input speed sensor 53, for example. It can also be calculated from the output rotation speed detected by the sensor 54.

  Further, the target stroke amount may be calculated as a control command value corresponding to the target stroke amount. For example, in the above description, the feedback control means controls the gear ratio changing unit 5 based on the deviation between the target stroke amount set by the target stroke amount setting unit 63 and the actual stroke amount detected by the stroke sensor 51. However, the control command value corresponding to the target stroke amount (for example, a tilt based on a value obtained by multiplying the deviation between the target tilt angle and the actual tilt angle by a predetermined gain Kφ ′). A gear ratio change unit based on a deviation between a turning angle control command value) and a control command value corresponding to the actual target stroke amount (for example, a stroke amount control command value based on a value obtained by multiplying the actual movement amount by a predetermined gain Kx ′). A control command value for controlling 5 may be calculated.

  In the above description, the first correction amount is based on the deviation between the actual input rotational speed that is input to the input disk 2 and detected by the input rotational speed sensor 53 and the target input rotational speed according to the target gear ratio. Although described as what is set, it is not restricted to this, For example, you may use a fixed value. Similarly, the second correction amount has been described as being set based on the output rotation speed from the output disk and the tilt angle of the power roller with respect to the input disk and the output disk. A value may be used.

  In the above description, the first forced upshift determination unit 67 forcibly increases, for example, the input rotational speed from the engine 21 to the input disk 2 detected by the input rotational speed sensor 53 as a predetermined rotational speed that is set in advance. Although it has been described that it is determined that the operation state requires the forced upshift control when the rotational speed is equal to or higher than the shift determination rotational speed, the present invention is not limited to this, and the forced upshift control is required using various known methods. What is necessary is just to determine an operating state. Similarly, in the above description, the second forced upshift determination unit 274 is unable to perform feedback control of an appropriate speed ratio by the feedback control unit 61 based on, for example, the input rotational speed and the tilt angle. Although it demonstrated as what determines whether it is a driving | running state, it is not restricted to this, The driving | running state in which the feedback control part 61 cannot perform the feedback control of the appropriate gear ratio with the present driving | running state using various well-known methods Can be determined.

  The continuously variable transmission according to the embodiment of the present invention may be configured by combining a plurality of the embodiments described above.

  FIG. 13 is a configuration diagram of a main part of a toroidal continuously variable transmission according to a modification of the present invention, and FIG. 14 is a configuration of main parts of an ECU and a sub-ECU of the toroidal continuously variable transmission according to a modification of the present invention. It is a schematic block diagram which shows an example.

  That is, a toroidal continuously variable transmission 301 as a continuously variable transmission according to a modification includes an ECU 60 as a main control means, a sub ECU 270 as a sub control means, and a switching unit, as shown in FIGS. 280. The ECU 60 includes a feedback control unit 61 as a feedback control unit and a first forced upshift control unit 62 as a forced upshift control unit. The feedback control unit 61 includes a target stroke amount setting unit 63 and The first forced upshift control unit 62 includes a first correction amount calculation unit 65, a first setting unit 66, and a first forced upshift determination unit 67. On the other hand, the sub ECU 270 includes a second forced upshift control unit 271, which includes a second correction amount calculation unit 272, a second setting unit 273, and a second forced upshift. And a determination unit 274.

  Therefore, according to the toroidal continuously variable transmission 301 according to the modification of the present invention, when it is determined that an upshift is urgently required, the first forced upshift control unit 62 sets the target stroke amount. By executing the forced upshift control for adding a predetermined first correction amount, the deviation between the actual gear ratio and the target gear ratio, in other words, the input rotational speed and the target input rotational speed to the toroidal continuously variable transmission 1 Upshift can be completed even when the deviation is small, and as a result, the engine speed of the engine 21 can be reduced early, so that overrev can be reliably prevented in advance, and safety can be improved. This can be further improved. Further, when the current driving state is an operating state in which feedback control of an appropriate gear ratio cannot be performed by the ECU 260, the toroidal continuously variable transmission 301 causes the sub-ECU 270 different from the ECU 260 to shift the power roller 4 to the upshift side. By executing the forced upshift control to move to the shift position, even if the current operation state is an operation state in which feedback control of an appropriate gear ratio by the feedback control unit 61 is impossible, for example, a sudden downshift is performed. Since it can be prevented from being executed and the behavior of the vehicle can be prevented from being disturbed, safety can be improved.

  As described above, the continuously variable transmission according to the present invention can further improve safety, and is suitable for application to various half-toroidal continuously variable transmissions having a plurality of power rollers. is there.

1 is a schematic cross-sectional view of a toroidal continuously variable transmission according to Embodiment 1 of the present invention. It is a block diagram of the principal part of the toroidal type continuously variable transmission which concerns on Embodiment 1 of this invention. It is a schematic diagram explaining the neutral position with respect to the input disk of the power roller with which the toroidal type continuously variable transmission which concerns on Embodiment 1 of this invention is provided. It is a schematic diagram explaining the speed change position with respect to the input disk of the power roller with which the toroidal type continuously variable transmission which concerns on Embodiment 1 of this invention is provided. It is a schematic block diagram which shows an example of the principal part structure of ECU of the toroidal type continuously variable transmission which concerns on Embodiment 1 of this invention. It is a time chart which shows an example of the relationship between the input rotation speed in the toroidal type continuously variable transmission which concerns on Embodiment 1 of this invention, a tilt angle, a vehicle speed, and an accelerator opening degree along a time-axis. It is a flowchart explaining the forced upshift execution determination control in the toroidal type continuously variable transmission which concerns on Embodiment 1 of this invention. It is a flowchart explaining the forced upshift control in the toroidal continuously variable transmission which concerns on Embodiment 1 of this invention. It is a block diagram of the principal part of the toroidal type continuously variable transmission which concerns on Embodiment 2 of this invention. It is a schematic block diagram which shows an example of a principal part structure of ECU and sub-ECU of the toroidal type continuously variable transmission which concerns on Embodiment 2 of this invention. It is a 2nd correction amount map for calculating | requiring the 2nd correction amount in the toroidal type continuously variable transmission which concerns on Embodiment 2 of this invention. It is a flowchart explaining the forced upshift control in the toroidal continuously variable transmission which concerns on Embodiment 2 of this invention. It is a block diagram of the principal part of the toroidal type continuously variable transmission which concerns on the modification of this invention. It is a schematic block diagram which shows an example of a principal part structure of ECU of a toroidal type continuously variable transmission and sub-ECU which concern on the modification of this invention.

Explanation of symbols

1,201,301 Toroidal continuously variable transmission (continuously variable transmission)
2 Input disk 3 Output disk 4 Power roller 5 Gear ratio changing unit (speed ratio changing means)
6 trunnion 7 moving part 8 hydraulic piston part 9 hydraulic control device 10 input shaft 11 variator shaft 15 hydraulic pressure mechanism 21 engine (drive source)
50 Tilt angle sensor 51 Stroke sensor 52 Engine speed sensor 53 Input speed sensor 54 Output speed sensor 55 Accelerator opening sensor 56 Vehicle speed sensor 57 Throttle opening sensor 58 Shift position sensor 59 Line pressure sensor 60, 260 ECU (main Control means)
61 Feedback control unit (feedback control means)
62 1st forced upshift control part (forced upshift control means)
63 Target stroke amount setting unit 64 FB control command value calculating unit 65 First correction amount calculating unit 66 First setting unit 67 First forced upshift determining units 68, 71, 275 Subtractors 69, 72, 276 Accumulator 70 Adder 81 Transmission control piston 82 Transmission control hydraulic chamber 93 First flow control valve 94 Second flow control valve 270 Sub ECU (sub control means)
271 Second Forced Upshift Control Unit 272 Second Correction Amount Calculation Unit 273 Second Setting Unit 274 Second Forced Upshift Determination Unit 280 Switching Unit

Claims (8)

An input disk to which a driving force from a driving source is input;
An output disk from which the driving force is output;
A power roller provided in contact with the input disk and the output disk;
The power roller is rotatably and tiltably supported, and the power roller is moved from a neutral position to the speed change position with respect to the input disk and the output disk, thereby rotating the input disk and the output disk. A gear ratio changing means capable of changing a gear ratio which is a speed ratio;
The speed ratio changing means is configured to change the actual speed ratio to the target speed ratio according to a target control amount based on a target speed ratio that is a target speed ratio and an actual speed ratio that is an actual speed ratio. And a main control means comprising: feedback control means for executing feedback control; and forced upshift control means for executing forced upshift control for adding a predetermined first correction amount to the target control amount. To
Continuously variable transmission. The forced upshift control means executes the forced upshift control by adding the first correction amount to the control amount corresponding to the neutral position.
The continuously variable transmission according to claim 1. The forced upshift control means sets the first correction amount based on a deviation between an actual input rotational speed input to the input disk and a target input rotational speed corresponding to the target gear ratio. Features
The continuously variable transmission according to claim 1 or 2. The forced upshift control means performs the forced upshift control when an input rotational speed to the input disk is equal to or higher than a predetermined rotational speed set in advance.
The continuously variable transmission according to any one of claims 1 to 3. Sub-control means different from the main control means, and when the proper control of the gear ratio by the main control means becomes impossible, the gear ratio changing means is controlled to control the power roller on the upshift side. It comprises sub-control means for executing forced upshift control to move to the shift position,
The continuously variable transmission according to any one of claims 1 to 4. An input disk to which a driving force from a driving source is input;
An output disk from which the driving force is output;
A power roller provided in contact with the input disk and the output disk;
The power roller is rotatably and tiltably supported, and the power roller is moved from a neutral position to the speed change position with respect to the input disk and the output disk, thereby rotating the input disk and the output disk. A gear ratio changing means capable of changing a gear ratio which is a speed ratio;
Main control means for controlling the speed ratio changing means so that the actual speed ratio becomes the target speed ratio based on a target speed ratio that is a target speed ratio and an actual speed ratio that is an actual speed ratio;
Sub-control means different from the main control means, and when the appropriate control of the gear ratio by the main control means becomes impossible, the gear ratio changing means is controlled to move the power roller upshift side Sub-control means for executing forced upshift control to move to the shift position of,
Continuously variable transmission. The sub-control means adds the predetermined second correction amount to the control amount of the speed ratio changing means according to the neutral position to calculate the target control amount of the speed ratio changing means, thereby forcibly increasing the sub-control means. Performing shift control,
The continuously variable transmission according to claim 5 or 6. The sub-control means sets the second correction amount based on an output rotation speed from the output disk and an inclination angle of the power roller with respect to the input disk and the output disk.
The continuously variable transmission according to claim 7.

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