JP2010255687A - Control device of transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a control device of a transmission capable of preventing a motor-generated torque from being excessively larger than a desired torque and reducing the probability of the breakage and shortening of the lifetime of the transmission. <P>SOLUTION: The control device of a transmission performs shift control by controlling the motors of the transmission in which the gear is shifted by driving the motors, comprises a motor rotation number calculator 41 for calculating the rotation number of the motors based on a pulse signal from a sensor provided to the motors, a command voltage calculator 43 for calculating a command voltage to the motors based on a command current set depending on the operation conditions of a vehicle or the shift command from a driver and the rotation number of the motors, and a PID controller 45 for correcting the command voltage based on a deviation between the command current and a motor current flowing in the motors, and further comprises a motor rotation number corrector 42 for performing phase shift advance compensation for the rotation number of the motors based on a predetermined amount of phase shift advance. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control device for a transmission mounted on, for example, an automobile, and more particularly to a control device for a transmission that controls a drive of a motor to execute a shift process.

  As a conventional transmission control device, one that switches gears of a transmission provided with a synchronization mechanism using a driving force of a motor as an actuator when shifting is known (for example, Patent Document 1). reference). In this transmission control device, the motor command voltage is set based on the command current, the motor current, and the motor rotation speed set according to the driving state of the vehicle or the driver's gear shift instruction, and the motor drive is controlled. ing.

  As a method for calculating the motor rotation speed, there is known a method for calculating the motor rotation speed at intervals of rising or falling edges of a pulse signal using a pulse signal from a hall sensor provided in the brushless DC motor. (For example, refer to Patent Document 2).

  Hereinafter, a response when the transmission gear is switched by the conventional transmission control device will be described with reference to the timing chart of FIG. Here, a case will be described as an example in which a gear shift lever operated by a motor is moved from a lever position P [rad] to a lever position R [rad] to switch gears.

In FIG. 11, the horizontal axis represents time, and the vertical axis represents lever position, motor rotation speed, command voltage for the motor, and motor current.
First, at time t11 [s], the target lever position is changed from P to R. Simultaneously with the change of the target lever position, the motor command current is instructed stepwise. When the current starts to flow through the motor, the motor generates a torque proportional to the motor current, and the actual lever position starts moving toward R. At this time, the motor rotational speed and the command voltage calculated by the method of Patent Document 2 also start to increase.

  Subsequently, at time t12, the motor rotation speed and the command voltage start to decrease. This is because the transmission is provided with a synchronizer (synchronizing mechanism) to synchronize the rotational speed on the input side and the rotational speed on the output side, and the moving speed decreases as the actual lever position approaches the synchronizer. It is to do.

Next, at time t13, the synchronizer starts operating, and the actual lever position stops at the position of Q [rad]. At this time, since the actual lever position is stopped, the motor rotation speed becomes zero.
Further, the period from time t13 to time t14 is a period in which the rotation speed on the input side and the rotation speed on the output side of the transmission are synchronized, and the actual lever position returns in the reverse direction (P direction). In order to prevent this, it is desirable to apply a constant current to the motor during this period and push the lever with a constant torque.

Subsequently, at time t14, the rotation speed on the input side and the rotation speed on the output side of the transmission are synchronized, and the actual lever position starts moving from Q to R. At this time, the motor speed and the command voltage also start to increase.
Next, at time t15, the gears mesh and the actual lever position matches the target lever position. At this time, the command current of the motor becomes 0, and the motor speed and the command voltage also become 0.

JP 2005-106165 A JP 2003-264990 A

However, the prior art has the following problems.
In FIG. 11, the motor rotation speed calculated by the method of Patent Document 2 has a time delay with respect to the actual motor rotation speed (see the chain line in the figure) due to the time required for the calculation. For this reason, even when the motor rotation speed is decreasing after time t12, a command voltage larger than the optimum value is set based on the motor rotation speed slightly larger than the actual motor rotation speed. As a result, the motor current becomes larger than the command current, and the motor current overshoots at time t13. Similarly, at time t15, the motor current similarly overshoots.

  Since the torque generated by the motor is proportional to the motor current, when the motor current becomes larger than the command current as described above, the motor generates a torque larger than the desired torque. And if the torque of the motor becomes larger than the desired torque, an excessive shift force is generated, so that an excessive force is applied to the synchronizer and the shift lever, the durability is lowered, and the transmission may be damaged. There's a problem.

  The present invention has been made in order to solve the above-described problems, and compensates for a delay in the calculation time of the motor rotation speed to prevent the torque generated by the motor from becoming excessively higher than the desired torque. An object of the present invention is to provide a transmission control device that can reduce the possibility of breakage of the transmission or shortening of its service life.

  A transmission control device according to the present invention is a transmission control device that executes a shift control by controlling a motor of a transmission that switches a gear by driving a motor, from a sensor provided in the motor. Motor rotation speed calculation means for calculating the rotation speed of the motor based on the pulse signal, and a command voltage for the motor based on the command current and the motor rotation speed set according to the driving state of the vehicle or the shift instruction of the driver And a command voltage correction unit that corrects the command voltage based on the deviation between the command current and the motor current flowing through the motor. The motor rotational speed correction means for executing phase shift advance compensation based on the phase shift advance amount is further provided.

According to the transmission control apparatus of the present invention, the motor rotation speed correction means performs phase shift advance compensation based on a predetermined phase shift advance amount with respect to the motor rotation speed.
Thereby, the calculation time delay of the motor rotation speed is compensated, the calculation error of the command voltage caused by the calculation time delay of the motor rotation speed is corrected, and the followability of the motor current to the command current is improved.
Therefore, it is possible to prevent the torque generated by the motor from becoming larger than the desired torque, and to reduce the possibility of breakage of the transmission or shortening of the service life.

It is a block diagram which shows the speed change mechanism containing the control apparatus of the transmission which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows in detail the transmission lever of the transmission shown in FIG. It is a flowchart which shows the speed change process in the transmission shown in FIG. It is a block diagram which shows the motor control part which concerns on Embodiment 1 of this invention. FIG. 5 is an explanatory diagram illustrating a three-dimensional map of corrected motor rotation speed and command current versus command voltage stored in a command voltage calculation unit illustrated in FIG. 4. It is a flowchart which shows operation | movement of the motor control part shown in FIG. It is a timing chart which shows the response in the case of switching the gear of a transmission with the control apparatus of the transmission which concerns on Embodiment 1 of this invention. It is a block diagram which shows the motor rotation speed correction | amendment part of the control apparatus of the transmission which concerns on Embodiment 2 of this invention. It is a flowchart which shows operation | movement of the motor rotation speed correction | amendment part of the control apparatus of the transmission which concerns on Embodiment 2 of this invention. It is a flowchart which shows operation | movement of the motor rotation speed correction | amendment part of the control apparatus of the transmission which concerns on Embodiment 3 of this invention. It is a timing chart which shows the response at the time of switching the gear of a transmission with the control apparatus of the conventional transmission.

Hereinafter, preferred embodiments of a transmission control device according to the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts will be described with the same reference numerals.
In the following embodiment, a case where the power source is an engine will be described as an example. However, the present invention is not limited to this, and the power source may be a motor or the like.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing a transmission mechanism including a transmission control device 30 according to Embodiment 1 of the present invention.
In FIG. 1, the transmission mechanism includes an engine 10, a transmission 20, and a transmission control device 30.

  The transmission 20 includes a clutch 21, a transmission 22, a shift direction motor 23, a select direction motor 24, a transmission lever 25, an input shaft 26, and an output shaft 27. The shift direction motor 23 and the select direction motor 24 are both brushless DC motors.

  The clutch 21 is provided at an input portion of the transmission 20 and interrupts power from the engine 10. The transmission 22 includes a synchronizer (synchronization mechanism) for synchronizing the rotation speed on the input side and the rotation speed on the output side, and changes the gear position of the transmission 20 by switching gears.

Here, the transmission 20 is an automatic manual transmission in which the manual transmission is shifted by an actuator. By operating the shift lever 25 by the shift direction motor 23 and the select direction motor 24, the transmission 20 The gear is switched.
The input shaft 26 transmits power from the engine 10 to the transmission 22 via the clutch 21. The output shaft 27 transmits power from the transmission 22 to wheels (not shown).

The transmission control device 30 includes a transmission control unit 31, a clutch control unit 32, and a motor control unit 33. Here, the transmission control device 30 includes a microprocessor (not shown) having a memory storing a program and a CPU.
The shift control unit 31 determines a gear position based on the vehicle operating state such as the accelerator opening, the vehicle speed, and the engine speed, outputs an operation command to the clutch control unit 32, and outputs a command current to the motor control unit 33. Output. Note that the operation command and the command current may be output not only by the driving state but also by a driver's shift instruction.

The clutch control unit 32 controls the engagement and disengagement of the clutch 21 according to the operation command from the transmission control unit 31. As an actuator for controlling the clutch 21, for example, a hydraulic control valve, a motor, or the like is used.
The motor control unit 33 controls the two motors of the shift direction motor 23 and the select direction motor 24 based on the command current from the shift control unit 31.

FIG. 2 is an explanatory view showing the shift lever 25 of the transmission 20 in detail.
In FIG. 2, the shift lever 25 is operated by a shift direction motor 23 and a select direction motor 24. The shift direction motor 23 is a motor that moves the shift lever 25 in the shift direction, and the select direction motor 24 is a motor that moves the shift lever 25 in the select direction.

  When the shift lever 25 is moved to the shift position 1, the first gear is engaged. When the shift position is moved to the shift position 2-5, the second to fifth gears are engaged, and when the shift position 6 is moved, the reverse gear is engaged. Further, when the shift lever 25 is moved to the select position A, the select position B, or the select position C, a neutral state is established in which no gear is engaged.

Hereinafter, with reference to the flowchart of FIG. 3, for example, processing when shifting to the third speed when the vehicle is traveling at the second speed will be described. Here, the shift lever 25 is in the shift position 2 when the vehicle is traveling at the second speed.
First, the clutch control unit 32 releases the clutch 21 in order to switch the gear position (step S101).

Subsequently, the motor control unit 33 drives the shift direction motor 23 to move the shift lever 25 at the shift position 2 to the select position A (step S102). By moving the shift lever 25 to the select position A, the second gear is released and the neutral state is established.
Next, the motor control unit 33 drives the select direction motor 24 to move the shift lever 25 to the select position B (step S103).

Subsequently, the motor control unit 33 drives the shift direction motor 23 to move the shift lever 25 to the shift position 3 (step S104). By moving the shift lever 25 to the shift position 3, the third speed gear is engaged, and the shift stage is set to the third speed.
Next, the clutch control unit 32 engages the clutch 21 (step S105) and ends the process of FIG.

Next, a detailed configuration and function of the motor control unit 33 will be described.
FIG. 4 is a configuration diagram showing the motor control unit 33 according to the first embodiment of the present invention.
In FIG. 4, the motor control unit 33 includes a motor rotation number calculation unit (motor rotation number calculation unit) 41, a motor rotation number correction unit (motor rotation number correction unit) 42, and a command voltage calculation unit (command voltage calculation unit). 43, a subtractor 44, a PID control unit (command voltage correction means) 45, an adder 46, and a DUTY conversion unit 47. In FIG. 4, the shift direction motor 23 and the select direction motor 24 shown in FIG. The motor 51 is provided with a hall sensor 52 that outputs a pulse signal corresponding to the rotation of the motor 51.

  The motor rotation speed calculation unit 41 calculates the motor rotation speed based on the pulse signal from the hall sensor 52. Here, as shown in Patent Document 2 described above, the motor rotation speed calculation unit 41 calculates the motor rotation speed from the interval of the rising edge or falling edge of the pulse signal.

  The motor rotation speed correction unit 42 performs phase shift advance compensation based on a predetermined phase shift advance amount for the motor rotation speed calculated by the motor rotation speed calculation unit 41, and is calculated by the motor rotation speed calculation unit 41. The corrected motor rotational speed is calculated by compensating for the calculation delay of the motor rotational speed with respect to the actual motor rotational speed. Here, the predetermined phase shift advance amount is a value obtained in advance by experiment or simulation as a set value for bringing the motor rotation speed close to the actual motor rotation speed, and is stored in a memory constituting the transmission control device 30. It is remembered.

  Further, the phase shift advance compensation is executed by the following equation (1) using the set value (phase shift advance amount) stored in the memory. In equation (1), n (t) is the motor rotation speed, n ′ (t) is the corrected motor rotation speed, x (t) is the calculation intermediate value, and x (t−1) is the calculation intermediate value (previous time). Value), D1, N0, and N1 indicate constants corresponding to the amount of phase shift advancement.

  The command voltage calculation unit 43 calculates a command voltage based on the corrected motor rotation number calculated by the motor rotation number correction unit 42 and the command current from the shift control unit 31. The command voltage calculation unit 43 has a three-dimensional map that stores the command voltage with respect to the corrected motor rotation speed and the command current. This three-dimensional map is illustrated in FIG.

  As shown in FIG. 5, the command voltage tends to increase if the corrected motor rotation speed increases, and the command voltage tends to increase if the command current increases. As described above, the command voltage calculation unit 43 calculates the optimum value of the command voltage according to the corrected motor rotation speed and the command current using the three-dimensional map shown in FIG.

  The subtractor 44 subtracts the motor current from the command current from the shift control unit 31 to calculate a deviation current. The motor current is detected using a shunt resistor (not shown) or the like. The PID control unit 45 calculates a command voltage by PID calculation according to the deviation current from the subtractor 44. The adder 46 adds the command voltage from the command voltage calculation unit 43 and the command voltage from the PID control unit 45 to calculate the final command voltage Vm to the motor 51.

The DUTY conversion unit 47 divides the command voltage Vm from the adder 46 by the power supply voltage, and calculates DUTY to instruct the motor 51.
Note that when the command voltage from the command voltage calculation unit 43 is an optimum value for realizing the command current, an error between the command current and the motor current does not occur. The output is 0 [V].

Hereinafter, the operation of the motor control unit 33 will be described with reference to the flowchart of FIG. This operation is executed at regular time intervals (for example, every 2.5 [msec]).
First, the motor rotational speed calculation unit 41 calculates the motor rotational speed based on the pulse signal from the hall sensor 52 (step S201).

Subsequently, the motor rotation speed correction unit 42 performs phase shift advance compensation on the motor rotation speed calculated in step S201 using a predetermined phase shift advance amount, and calculates a corrected motor rotation speed ( Step S202).
Next, the command voltage calculation unit 43 calculates a command voltage based on the corrected motor rotation speed and command current calculated in step S202 using the three-dimensional map shown in FIG. 5 (step S203).

Subsequently, the subtracter 44 calculates a deviation current by subtracting the motor current from the command current (step S204).
Next, the PID control unit 45 calculates a command voltage by PID calculation according to the deviation current calculated in step S204 (step S205).

Subsequently, the adder 46 adds the command voltage calculated in step S203 and the command voltage calculated in step S205 to calculate a final command voltage Vm to the motor 51 (step S206).
Next, the DUTY converter 47 divides the command voltage Vm calculated in step S206 by the power supply voltage, calculates DUTY (drive signal) instructing the motor 51, and outputs it to the motor 51 (step S207). The process of FIG. 6 is terminated.

  Hereinafter, the response when the gear of the transmission 22 is switched by the transmission control device 30 according to the first embodiment will be described with reference to the timing chart of FIG. 7 in comparison with the conventional one. Here, as in FIG. 11, an example will be described in which the shift lever 25 operated by the motor is moved from the lever position P [rad] to the lever position R [rad] to switch the gears.

In FIG. 7, the horizontal axis represents time, and the vertical axis represents lever position, motor rotation speed, command voltage for the motor, and motor current.
First, at time t1 [s], the target lever position is changed from P to R. Simultaneously with the change of the target lever position, the motor command current is instructed stepwise. When the current starts to flow through the motor, the motor generates a torque proportional to the motor current, and the actual lever position starts moving toward R.

Further, when the current flows through the motor and starts to rotate, the command voltage calculated from the map of FIG. 5 also starts to increase based on the motor speed and the motor speed and the command current.
Subsequently, at time t2, the motor speed and the command voltage start to decrease, and at time t3, the synchronizer starts to operate, and the actual lever position stops at the position of Q [rad]. At this time, since the actual lever position is stopped, the motor rotation speed becomes zero.

Here, the corrected motor rotation speed (solid line) calculated by the motor rotation speed correction unit 42 performs phase shift advance compensation on the motor rotation speed including the calculation time delay calculated by the motor rotation speed calculation unit 41. Therefore, the waveform has a phase shift more than the conventional motor rotation speed (broken line).
In addition, the command voltage (solid line) calculated by the adder 46 is also calculated based on the corrected motor rotation speed, and thus has a waveform with a phase shift more advanced than the conventional command voltage (broken line).
Thus, since the phase shift of the command voltage is advanced, in the motor current (solid line) of the first embodiment, the followability to the command current is improved as compared with the conventional motor current (broken line).

As described above, according to the first embodiment, the motor rotation speed correction unit performs the phase shift advance compensation based on the predetermined phase shift advance amount with respect to the motor rotation speed.
Thereby, the calculation time delay of the motor rotation speed is compensated, the calculation error of the command voltage caused by the calculation time delay of the motor rotation speed is corrected, and the followability of the motor current to the command current is improved.
Therefore, it is possible to prevent the torque generated by the motor from becoming larger than the desired torque, and to reduce the possibility of breakage of the transmission or shortening of the service life.

Embodiment 2. FIG.
In the first embodiment, the motor rotation speed correction unit 42 always performs phase shift advance compensation on the motor rotation speed calculated by the motor rotation speed calculation unit 41 based on a predetermined phase shift advance amount. Yes. However, when the rate of change in the motor speed (difference value of the motor speed) is small, the command voltage calculation error due to the delay in the motor speed calculation time is reduced, so that the followability of the motor current to the command current is reduced. The deterioration is relatively low. On the other hand, since the phase lead compensation includes a differential element, there is a possibility that an adverse effect on noise may occur.

  Therefore, when the rate of change of the motor rotation number is low, there are times when it is not necessary to execute phase advance compensation. Therefore, in the second embodiment, based on the absolute value of the change rate of the motor rotation speed, a process of switching and outputting either the motor rotation speed after phase advance compensation or the motor rotation speed before phase advance compensation is performed. Will be described.

  FIG. 8 is a configuration diagram showing a motor rotation speed correction unit 42A of the transmission control device 30 according to Embodiment 2 of the present invention. The motor rotation speed correction unit 42A is provided in place of the motor rotation speed correction unit 42 shown in FIG. 4, and the configuration of the transmission control device 30 excluding the motor rotation speed correction unit 42A is as described above. Since this is the same as the first embodiment, description thereof is omitted.

In FIG. 8, the motor rotational speed correction unit 42A includes a phase advance compensation unit (motor rotational speed correction unit) 61, a motor rotational speed difference calculation unit (motor rotational speed difference calculation unit) 62, and a signal switching unit (signal switching unit). 63).
The phase advance compensation unit 61 has the same function as the motor rotation number correction unit 42 described in the first embodiment, and a predetermined phase shift with respect to the motor rotation number calculated by the motor rotation number calculation unit 41. Execute phase shift advance compensation based on the advance amount. Here, the motor rotation speed after phase advance compensation is used as the motor rotation speed correction value.

The motor rotation speed difference calculation unit 62 calculates a motor rotation speed difference value by subtracting the previous value from the current value of the motor rotation speed calculated by the motor rotation speed calculation unit 41.
When the absolute value of the motor rotation speed difference value is equal to or greater than a predetermined value, the signal switching unit 63 outputs the motor rotation speed correction value calculated by the phase advance compensation unit 61 as the corrected motor rotation speed, and the motor rotation speed difference When the absolute value of the value is smaller than the predetermined value, it is output as the motor rotation number after the motor rotation number correction calculated by the motor rotation number calculation unit 41.

Hereinafter, the operation of the motor rotation speed correction unit 42A will be described with reference to the flowchart of FIG. This operation is executed at regular time intervals (for example, every 2.5 [msec]).
First, the phase advance compensation unit 61 executes phase shift advance compensation using a predetermined phase shift advance amount with respect to the motor rotational speed calculated in the upper routine (see step S201 in FIG. 6), and the motor rotational speed. A correction value is calculated (step S301).

Subsequently, the motor rotation speed difference calculation unit 62 calculates a motor rotation speed difference value by subtracting the previous value from the current value of the motor rotation speed calculated in step S301 (step S302).
Next, the signal switching unit 63 calculates the absolute value of the motor rotation speed difference value calculated in step S302 (step S303).

Subsequently, the signal switching unit 63 stores the current value of the motor speed in the memory as the previous value of the motor speed in order to calculate the motor speed difference value in the next processing routine (step S304).
Next, the signal switching unit 63 determines whether or not the absolute value of the motor rotation speed difference value calculated in step S303 is greater than or equal to a predetermined value (step S305). Here, for example, a value of about 20000 [rpm / s] is set as the predetermined value.

  In step S305, when it is determined that the absolute value of the motor rotation speed difference value is equal to or greater than the predetermined value (that is, Yes), the signal switching unit 63 corrects the motor rotation speed correction value calculated in step S301. The post-motor rotation speed is output (step S306), and the process of FIG. 9 is terminated.

  On the other hand, if it is determined in step S305 that the absolute value of the motor rotational speed difference value is smaller than the predetermined value (ie, No), the signal switching unit 63 corrects the motor rotational speed calculated by the upper routine. The post-motor rotation speed is output (step S307), and the process of FIG. 9 is terminated.

As described above, according to the second embodiment, the motor rotation speed difference calculation means calculates the motor rotation speed difference value by subtracting the previous value from the current value of the motor rotation speed detected every predetermined time. To do. The signal switching means outputs the motor rotation number after phase advance compensation when the absolute value of the motor rotation speed difference value is equal to or larger than a predetermined value, and the absolute value of the motor rotation speed difference value is smaller than the predetermined value. In addition, the motor rotational speed before phase advance compensation is output.
Thus, phase lead compensation is performed only when necessary, thereby eliminating the influence on noise and improving the followability of the motor current with respect to the command current.
Therefore, it is possible to prevent the torque generated by the motor from becoming larger than the desired torque, and to reduce the possibility of breakage of the transmission or shortening of the service life.

Embodiment 3 FIG.
In the first embodiment, as described above, the motor rotation speed correction unit 42 always compensates for the phase shift advance based on the predetermined phase shift advance amount with respect to the motor rotation speed calculated by the motor rotation speed calculation unit 41. Is running. However, when the motor rotation rate change rate (the difference value of the motor rotation number) is a negative value, that is, when the motor rotation number is decreasing, the followability of the motor current to the command current tends to deteriorate. .

  Therefore, it is only necessary to perform phase lead compensation only when the motor decelerates when the followability of the motor current with respect to the command current deteriorates. Therefore, in the third embodiment, a process of switching and outputting either the motor rotational speed after phase advance compensation or the motor rotational speed before phase advance compensation based on the change rate of the motor rotational speed will be described. .

The configuration of the transmission control device 30 according to the third embodiment of the present invention is the same as that of the second embodiment described above, and a description thereof will be omitted. However, only the function of the signal switching unit 63 in FIG. 8 is different. Yes.
In the third embodiment, the signal switching unit 63 calculates the motor rotation number calculated by the phase advance compensation unit 61 when the motor rotation number difference value calculated by the motor rotation number difference calculation unit 62 is a negative value. The correction value is output as the corrected motor speed. Further, the signal switching unit 63, when the motor rotational speed difference value calculated by the motor rotational speed difference calculating unit 62 is not a negative value, the motor rotational speed after the motor rotational speed correction calculated by the motor rotational speed calculating unit 41. Output as.

Hereinafter, the operation of the motor rotation speed correction unit 42A will be described with reference to the flowchart of FIG. This operation is executed at regular time intervals (for example, every 2.5 [msec]).
First, the phase advance compensation unit 61 executes phase shift advance compensation using a predetermined phase shift advance amount with respect to the motor rotational speed calculated in the upper routine (see step S201 in FIG. 6), and the motor rotational speed. A correction value is calculated (step S401).

Subsequently, the motor rotation speed difference calculation unit 62 calculates the motor rotation speed difference value by subtracting the previous value from the current value of the motor rotation speed calculated in step S401 (step S402).
Next, the signal switching unit 63 stores the current value of the motor speed in the memory as the previous value of the motor speed in order to calculate the motor speed difference value in the next processing routine (step S403).

Subsequently, the signal switching unit 63 determines whether or not the motor rotation speed difference value calculated in step S402 is a negative value (step S404).
If it is determined in step S404 that the motor rotational speed difference value is a negative value (that is, Yes), the signal switching unit 63 corrects the motor rotational speed correction value calculated in step S401 after correcting the motor rotational speed. The number is output as a number (step S405), and the process of FIG.

  On the other hand, if it is determined in step S404 that the motor rotational speed difference value is not a negative value (that is, No), the signal switching unit 63 corrects the motor rotational speed calculated in the upper routine after correcting the motor rotational speed. (Step S406), and the process of FIG.

As described above, according to the third embodiment, the motor rotation speed difference calculation means subtracts the previous value from the current value of the motor rotation speed detected every predetermined time to calculate the motor rotation speed difference value. To do. The signal switching means outputs the motor rotational speed after phase advance compensation when the motor rotational speed difference value is negative, and before the phase advance compensation when the motor rotational speed differential value is not negative. The number of motor revolutions is output.
Thus, phase lead compensation is performed only when necessary, thereby eliminating the influence on noise and improving the followability of the motor current with respect to the command current.
Therefore, it is possible to prevent the torque generated by the motor from becoming larger than the desired torque, and to reduce the possibility of breakage of the transmission or shortening of the service life.

In combination with the second embodiment and the third embodiment, the signal switching unit is configured such that the motor rotation speed difference value is a negative value and the absolute value of the motor rotation speed difference value is equal to or greater than a predetermined value. The motor rotation speed after phase advance compensation may be output.
In this case, the influence on noise can be further eliminated.

  DESCRIPTION OF SYMBOLS 20 Transmission, 23 Shift direction motor, 24 Select direction motor, 30 Transmission control apparatus, 41 Motor rotational speed calculating part (motor rotational speed calculating means), 42, 42A Motor rotational speed correcting part (motor rotational speed correcting means) 43, command voltage calculation unit (command voltage calculation unit), 45 PID control unit (command voltage correction unit), 51 motor, 61 phase advance compensation unit (motor rotation number correction unit), 62 motor rotation number difference calculation unit (motor rotation) Number difference calculation means), 63 signal switching section (signal switching means).

Claims (4)

A transmission control device that controls the motor of a transmission that switches a gear by driving a motor, and executes a shift control,
Motor rotation number calculating means for calculating the rotation number of the motor based on a pulse signal from a sensor provided in the motor;
Command voltage calculation means for calculating a command voltage for the motor based on a command current set in accordance with a driving state of the vehicle or a gear shift instruction of the driver and the rotation speed of the motor;
Based on the deviation between the command current and the motor current flowing through the motor, command voltage correction means for correcting the command voltage,
A transmission control apparatus, further comprising: a motor rotation speed correction unit that performs phase shift advance compensation based on a predetermined phase shift advance amount with respect to the motor rotation speed. Motor rotation speed difference calculating means for subtracting the previous value from the current value of the motor rotation speed detected every predetermined time to calculate a motor rotation speed difference value;
Based on the motor rotational speed difference value, a signal to be output by switching between the motor rotational speed after phase advance compensation compensated for phase advance by the motor rotational speed correction means and the motor rotational speed before phase advance compensation. Switching means;
The transmission control device according to claim 1, further comprising:   3. The transmission control according to claim 2, wherein the signal switching unit outputs the motor rotational speed after the phase advance compensation when the absolute value of the motor rotational speed difference value is a predetermined value or more. apparatus.   4. The transmission according to claim 2, wherein the signal switching unit outputs the motor rotational speed after the phase advance compensation when the motor rotational speed difference value is a negative value. 5. Control device.

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