JP2012251608A - Device for controlling stepless transmission - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controlling device capable of accurately estimating an eccentric quantity in a four-bar linkage type stepless transmission.SOLUTION: An estimating means 33 determines the accumulated rotational frequency of a pinion shaft from the accumulated rotational frequency of an input shaft 2 which is the rotational frequency of the input shaft 2 accumulated from a reference time and the accumulated rotational frequency of a motor which is the rotational frequency of the motor 14 accumulated from the reference time by making a starting time of an engine ENG the reference time. Further, the second angle is obtained from the accumulated rotational frequency of the input shaft and the accumulated rotational frequency of the pinion shaft to estimate the eccentric quantity of an eccentric mechanism.

Description

  The present invention relates to a control device for a continuously variable transmission using a “lever / crank mechanism” which is a typical structure of a four-bar link.

  Conventionally, a hollow input shaft to which driving force from a drive source such as an engine provided in a vehicle is transmitted, an output shaft arranged in parallel with the input shaft, and a plurality of eccentric mechanisms provided on the input shaft, There are a plurality of swing links pivotally supported on the output shaft, a large-diameter annular portion that is rotatably fitted to the eccentric mechanism at one end, and the other end of the swing link There is known a four-bar link type continuously variable transmission including a connecting rod connected to a swing end (see, for example, Patent Document 1).

  In Patent Document 1, each eccentric mechanism is composed of a fixed disk provided eccentrically on the input shaft, and a swinging disk provided eccentrically on the fixed disk and rotatably provided. A one-way clutch is provided between the swing link and the output shaft. The one-way clutch fixes the swing link to the output shaft when the swing link is about to rotate relative to the output shaft, and To idle the swing link.

  A pinion shaft is inserted into the input shaft, and a notch hole is formed at a location facing the eccentric direction of the fixed disk, and the pinion shaft is exposed from the notch hole. The swing disk is provided with a receiving hole for receiving the input shaft and the fixed disk. Inner teeth are formed on the inner peripheral surface of the swing disk that forms the receiving hole.

  The inner teeth mesh with the pinion shaft exposed from the notch hole of the input shaft. When the input shaft and the pinion shaft are rotated at the same speed, the eccentric amount of the eccentric mechanism is maintained. When the rotational speeds of the input shaft and the pinion shaft are made different, the eccentric amount of the eccentric mechanism is changed, and the transmission gear ratio is changed.

  When the eccentric mechanism is rotated by rotating the input shaft, the large-diameter annular portion of the connecting rod rotates and the swing end of the swing link connected to the other end of the connecting rod swings. . Since the swing link is provided on the output shaft via the one-way clutch, the rotational drive force (torque) is transmitted to the output shaft only when rotating to one side.

  The eccentric direction of the fixed disk of each eccentric mechanism is set so as to make a round around the input shaft with different phases. Therefore, the swinging link sequentially transmits the torque to the output shaft by the connecting rod fitted to each eccentric mechanism, so that the output shaft can be smoothly rotated.

JP-T-2005-502543

  In such a continuously variable transmission, since the gear ratio is changed by changing the eccentric amount of the eccentric mechanism as described above, the eccentric amount is accurately estimated in order to appropriately control the continuously variable transmission. It is demanded. However, Patent Document 1 does not consider a technique for accurately estimating the amount of eccentricity of the eccentric mechanism.

  An object of the present invention is to provide a control device capable of accurately estimating the amount of eccentricity in a four-bar link type continuously variable transmission.

  The present invention relates to a hollow input shaft to which a driving force from a driving source of a vehicle is transmitted, an output shaft arranged in parallel to the input shaft, a fixed disk provided eccentrically to the input shaft, and the fixed A plurality of eccentric mechanisms each having a swinging disc provided eccentrically with respect to the disc, a plurality of swinging links pivotally supported by the output shaft, the swinging link and the output shaft; The rocking link is fixed to the output shaft when trying to rotate relative to the output shaft, and relative to the output shaft when trying to rotate relative to the other side. And a one-way rotation prevention mechanism that idles the swing link, and a large-diameter annular portion that is rotatably fitted to the eccentric mechanism at one end, and the other end swings the swing link. Connecting rod connected to the moving end and inserted into the input shaft A notch hole is formed in the input shaft at a location facing the eccentric direction of the fixed disk, and the pinion shaft is exposed from the notch hole. A receiving hole for receiving the input shaft and the fixed disk is provided, and an inner tooth is formed on an inner peripheral surface of the swinging disk forming the receiving hole, and the inner tooth is exposed from the notch hole of the input shaft. The eccentric amount of the eccentric mechanism is maintained by meshing with the pinion shaft and rotating the input shaft and the pinion shaft at the same speed, and the eccentricity by varying the rotational speed of the input shaft and the pinion shaft. A control device for a continuously variable transmission that changes the amount of eccentricity of a mechanism to control a gear ratio, the cumulative number of rotations of the input shaft accumulated from a predetermined reference time, and the reference Characterized in that it comprises an estimation means for estimating the amount of eccentricity of the eccentric mechanism on the basis of a difference between the cumulative number of rotations of the pinion shaft accumulated from.

  According to the present invention, since the estimation means accurately estimates the eccentric amount of the eccentric mechanism based on the difference between the cumulative number of rotations of the input shaft and the cumulative number of rotations of the pinion shaft, a special measure for measuring the eccentric amount is provided. The amount of eccentricity is estimated based on the difference in the number of rotations without using a simple device.

  In the present invention, an electric motor and a differential mechanism that transmits rotation to the pinion shaft are provided, and the number of rotations of the pinion shaft includes the gear ratio of the differential mechanism, the number of rotations of the input shaft, and the number of rotations of the motor. The number of rotations according to In general, since an electric motor is provided with a rotation angle sensor for controlling the operation, the rotation number of the pinion shaft is detected without providing a separate rotation angle sensor or the like in order to detect the rotation number of the pinion shaft. be able to.

  In the present invention, the input torque to the input shaft or the output torque to the output shaft is estimated based on the amount of eccentricity estimated by the estimating means, the rotational speed of the input shaft, and the rotational speed of the electric motor. Is preferred. Thereby, since the output torque can be estimated, high-accuracy torque control can be performed according to the demands on the vehicle due to the running state of the vehicle, the operation of the accelerator pedal, and the like.

Sectional drawing which shows the continuously variable transmission of embodiment of this invention. Explanatory drawing which shows the eccentric mechanism of this embodiment, a connecting rod, and a rocking | fluctuation link from an axial direction. Explanatory drawing explaining the change of the eccentric amount of the eccentric mechanism of this embodiment. It is explanatory drawing which shows the relationship between the change of the eccentric amount of the eccentric mechanism of this embodiment, and rocking | swiveling angle (theta) 2 of the rocking | fluctuation motion of a rocking | fluctuation link, (a) is the maximum eccentric amount, (b) is the eccentric amount. (C) shows the swing angle of the swing motion of the swing link when the amount of eccentricity is small. The graph which shows the change of angular velocity (omega) 2 of a rocking | fluctuation link with respect to the change of the eccentric amount of the eccentric mechanism of this embodiment. In the continuously variable transmission of this embodiment, the graph which shows the state in which an output shaft is rotated by six four-bar linkage mechanisms which respectively made the phase differ by 60 degree | times. The block diagram of the vehicle containing the control apparatus of the continuously variable transmission of this embodiment. The figure showing the positional relationship of a fixed disk, a rocking | swiveling disk, and a pinion shaft with respect to eccentricity. The figure which shows the relationship between eccentricity, a gear ratio, and input torque. The flowchart which shows the procedure of the eccentric amount estimation process which the estimation means of the continuously variable transmission of this embodiment performs.

  Hereinafter, embodiments of a control device for a continuously variable transmission according to the present invention will be described. The continuously variable transmission according to the present embodiment is a transmission capable of setting the speed ratio i (i = rotational speed of the input shaft / rotational speed of the output shaft) to infinity (∞) and the rotational speed of the output shaft to “0”. It is a kind of so-called Infinity Variable Transmission (IVT).

  Referring to FIGS. 1 and 2, continuously variable transmission 1 of the present embodiment rotates around input center axis P1 by receiving rotational power from engine ENG (FIG. 7) as a vehicle drive source. A hollow input shaft 2, an output shaft 3 that is arranged in parallel to the input shaft 2, and that transmits rotational power to drive wheels (not shown) of the vehicle via a differential gear, a propeller shaft, etc. (not shown), and the input shaft 2 The six eccentric mechanisms 4 provided in the.

  Each eccentric mechanism 4 includes a fixed disk 5 and a swing disk 6. The fixed disks 5 have a disk shape and are provided in pairs on the input shaft 2 so as to be eccentric from the input center axis P1 and rotate integrally with the input shaft 2. Each set of fixed disks 5 is arranged so as to make a round in the circumferential direction of the input shaft 2 with six sets of fixed disks 5 with a phase difference of 60 degrees. Further, a disc-shaped rocking disc 6 having a receiving hole 6a for receiving the fixed disc 5 is eccentrically fitted to each set of fixed discs 5 so as to be rotatable.

  The oscillating disk 6 has a center point of the fixed disk 5 as P2, a center point of the oscillating disk 6 as P3, a distance Ra between the input center axis P1 and the center point P2, and a distance Rb between the center point P2 and the center point P3. Are eccentric with respect to the fixed disk 5 so as to be the same.

  The receiving hole 6 a of the swing disk 6 is provided with an internal tooth 6 b positioned between the pair of fixed disks 5. The input shaft 2 is formed between a pair of fixed disks 5 and formed with a notch hole 2 a that communicates the inner peripheral surface and the outer peripheral surface at a location facing the eccentric direction of the fixed disk 5.

  In the hollow input shaft 2, a pinion shaft 7 that is disposed concentrically with the input shaft 2 and has external teeth 7 a corresponding to the swing disk 6 is disposed so as to be rotatable relative to the input shaft 2. ing. The external teeth 7 a of the pinion shaft 7 mesh with the internal teeth 6 b of the swing disk 6 through the cutout holes 2 a of the input shaft 2.

  A differential mechanism 8 is connected to the pinion shaft 7. The differential mechanism 8 is configured by a planetary gear mechanism, and includes a sun gear 9, a first ring gear 10 connected to the input shaft 2, a second ring gear 11 connected to the pinion shaft 7, a sun gear 9 and A carrier 13 is provided that supports a stepped pinion 12 including a large-diameter portion 12a that meshes with the first ring gear 10 and a small-diameter portion 12b that meshes with the second ring gear 11 so as to rotate and revolve freely.

  The sun gear 9 is connected to a rotating shaft 14a of an electric motor 14 for driving the pinion shaft 7 to rotate. When the rotational speed of the rotating shaft 14a of the electric motor 14 (hereinafter referred to as “motor rotational speed”) is made the same as the rotational speed of the input shaft 2 (hereinafter referred to as “input shaft rotational speed”), the sun gear 9 and the first ring gear 10 are used. And the four elements of the sun gear 9, the first ring gear 10, the second ring gear 11 and the carrier 13 are locked so that they cannot be rotated relative to each other, and are connected to the second ring gear 11. The pinion shaft 7 rotates at the same speed as the input shaft 2.

  When the motor rotation speed is made slower than the input shaft rotation speed, the rotation speed of the sun gear 9, that is, the motor rotation speed is Nm, the rotation speed of the first ring gear 10, that is, the input shaft rotation speed is Ni, and the sun gear 9 and the first ring gear. The rotation speed of the carrier 13 is “(j · Ni + Nm) / (j + 1)” where j is a gear ratio of 10 (the number of teeth of the first ring gear 10 / the number of teeth of the sun gear 9).

  The gear ratio between the sun gear 9 and the second ring gear 11 {(number of teeth of the second ring gear 11 / number of teeth of the sun gear 9) × (number of teeth of the large diameter portion 12a of the stepped pinion 12 / tooth of the small diameter portion 12b) Number)} is k, the rotational speed of the second ring gear 11, that is, the rotational speed of the pinion shaft 7 (hereinafter referred to as “pinion shaft rotational speed”) Np is

It becomes.

  When the input shaft rotation speed Ni to which the fixed disk 5 is fixed and the pinion shaft rotation speed Np are the same, the oscillating disk 6 rotates together with the fixed disk 5. When there is a difference between the input shaft rotation speed Ni and the pinion shaft rotation speed Np, the oscillating disk 6 rotates the periphery of the fixed disk 5 around the center point P2 of the fixed disk 5.

  As shown in FIG. 2, the oscillating disk 6 is eccentric with respect to the fixed disk 5 so that the distance Ra and the distance Rb are the same, so that the center point P3 of the oscillating disk 6 is set to the input center axis P1. The distance between the input center axis P1 and the center point P3, that is, the amount of eccentricity R1 can be set to “0”.

  A connecting rod 15 having a large-diameter large-diameter annular portion 15a at one end and a small-diameter annular portion 15b having a smaller diameter than the large-diameter annular portion 15a at the other end is provided at the periphery of the swing disk 6. The large-diameter annular portion 15a is rotatably fitted via a roller bearing 16. The output shaft 3 is provided with six swing links 18 corresponding to the connecting rod 15 via a one-way clutch 17 as a one-way rotation prevention mechanism.

  The swing link 18 is formed in an annular shape, and a swing end portion 18 a connected to the small diameter annular portion 15 b of the connecting rod 15 is provided above the swing link 18. The swing end portion 18a is provided with a pair of projecting pieces 18b projecting so as to sandwich the small-diameter annular portion 15b in the axial direction. The pair of projecting pieces 18b are formed with through holes 18c corresponding to the inner diameter of the small-diameter annular portion 15b. A connecting pin 19 is inserted into the through hole 18c and the small diameter annular portion 15b. Thereby, the connecting rod 15 and the swing link 18 are connected.

  FIG. 3 shows the positional relationship between the pinion shaft 7 and the oscillating disk 6 in a state where the eccentric amount R1 of the eccentric mechanism 4 is changed. FIG. 3A shows a state in which the eccentricity R1 is set to “maximum”, and the input center axis P1, the center point P2 of the fixed disk 5, and the center point P3 of the swing disk 6 are aligned. In addition, the pinion shaft 7 and the swing disk 6 are located. At this time, the gear ratio i is minimized.

  FIG. 3B shows a state in which the eccentric amount R1 is set to “medium” which is smaller than that in FIG. 3A, and FIG. 3C illustrates that the eccentric amount R1 is smaller than that in FIG. Is shown. The gear ratio i is “medium” which is larger than the gear ratio i in FIG. 3A in FIG. 3B, and “large” which is larger than the gear ratio i in FIG. 3B in FIG. Become. FIG. 3D shows a state where the amount of eccentricity R1 is “0”, and the input center axis P1 and the center point P3 of the oscillating disk 6 are located concentrically. The gear ratio i at this time is infinite (∞).

  As shown in FIG. 2, the eccentric mechanism 4, the connecting rod 15, and the swing link 18 of the present embodiment constitute a four-bar linkage mechanism 20. That is, the continuously variable transmission 1 according to this embodiment includes a total of six four-bar linkage mechanisms 20. When the input shaft 2 is rotated and the pinion shaft 7 is rotated at the same speed as the input shaft 2 when the eccentric amount R1 is not “0”, each connecting rod 15 changes its phase by 60 degrees, and the eccentric amount R1. On the basis of this, it is repeatedly swung between the input shaft 2 and the output shaft 3 by alternately pushing to the output shaft 3 side or pulling to the input shaft 2 side.

  Since the small-diameter annular portion 15b of the connecting rod 15 is connected to a swing link 18 provided on the output shaft 3 via a one-way clutch 17, the swing link 18 is pushed and pulled by the connecting rod 15 to swing. Then, the output shaft 3 rotates only when the swing link 18 rotates in either the pushing direction side or the pulling direction side, and when the swing link 18 rotates in the other direction, the swing link 18 moves to the output shaft 3. The swing link 18 is idled without transmitting the swing motion force. Since each eccentric mechanism 4 is arranged with a phase changed every 60 degrees, the output shaft 3 is rotated in turn by each eccentric mechanism 4.

  4A shows the case where the eccentric amount R1 is “maximum” in FIG. 3A (when the gear ratio i is the minimum), and FIG. 4B shows the case where the eccentric amount R1 is “ 4 (c) shows the case where the eccentric amount R1 is “small” in FIG. 3 (c) (when the gear ratio i is large). The swing range θ2 of the swing link 18 with respect to the rotational movement of the eccentric mechanism 4 is shown. As is clear from FIG. 4, as the amount of eccentricity R1 decreases, the swing range θ2 of the swing link 18 decreases. When the eccentric amount R1 is “0”, the swing link 18 does not swing.

  FIG. 5 shows the relationship of the change in the angular velocity ω2 with the change in the eccentric amount R1 of the eccentric mechanism 4 with the rotation angle θ of the eccentric mechanism 4 of the continuously variable transmission 1 as the horizontal axis and the angular velocity ω2 of the swing link 18 as the vertical axis. Indicates. As can be seen from FIG. 5, the angular velocity ω2 of the swing link 18 increases as the eccentric amount R1 increases (the transmission ratio i decreases).

  FIG. 6 shows the rotation angle θ of the eccentric mechanism 4 when the six eccentric mechanisms 4 whose phases are different by 60 degrees are rotated (when the input shaft 2 and the pinion shaft 7 are rotated at the same speed). The angular velocity ω2 of each swing link 18 is shown. From FIG. 6, it can be seen that the output shaft 3 is smoothly rotated by the six four-bar linkage mechanisms 20.

  In the present embodiment, the elastic force generated by elastic deformation of the components (for example, the inner ring, the outer ring, and the roller) of the one-way clutch 17 is adjusted. The adjustment of the elastic force is determined by the shape and material of the component of the one-way clutch 17, and an appropriate one is selected in advance by a test or the like. As a result, the one-way clutch 17 absorbs a shock that is generated when torque transmission is started from the idle state where torque is not transmitted to the state where torque is transmitted.

  As a result, the one-way clutch 17 is configured when the angular velocity of the swing link 18 exceeds the rotational speed of the output shaft 3, that is, when shifting from the idle state where torque is not transmitted to the state where torque is transmitted. Due to the elastic force of the element, a twist of a predetermined angle is generated according to the torque input to the one-way clutch 17. At this time, the one-way clutch 17 is in a state where the torque corresponding to the twist is stored.

  The one-way clutch 17 generates torque when the angular speed of the swing link 18 falls below the rotational speed of the output shaft 3, i.e., when it shifts from a state where torque is transmitted to an idle state where torque is not transmitted. After transmitting the torsional torque stored in the one-way clutch 17 to the output shaft 3 from the swing link 18 in a state where transmission is possible, the torque is not transmitted.

  Thus, even when the angular velocity of the swing link 18 is lower than the rotational speed of the output shaft 3 by giving an elastic force to the elements constituting the one-way clutch 17 and adjusting the elastic force, The torque stored in the one-way clutch 17 can be transmitted from the swing link 18 to the output shaft 3, and thus the time during which the one-way clutch 17 is transmitting torque can be lengthened. As a result, when the six eccentric mechanisms 4 having different phases by 60 degrees are rotated, the time during which each eccentric mechanism 4 is transmitted becomes longer, and a torque smoothed at a higher value is supplied to the swing link 18. To the output shaft 3.

  Next, the control device 31 that controls the continuously variable transmission 1 of the present embodiment will be described. As shown in FIG. 7, the control device 31 includes a CPU (central processing unit) 32, an estimation unit 33, an input shaft rotation angle sensor 34, an electric motor rotation angle sensor 35, and an output shaft rotation angle sensor 36. Composed.

  The CPU 32 includes various electrical signals input from the input shaft rotation angle sensor 34, the motor rotation angle sensor 35, the output shaft rotation angle sensor 36, and the like, various tables stored in a storage device (memory) including a ROM and a RAM, and Based on the calculation result and the like, the control program executes various calculation processes. The various calculation processes are, for example, a control process for adjusting the output torque of the engine ENG according to an operation of an accelerator pedal mounted on the vehicle, or an estimation for estimating the eccentric amount R1 of the eccentric mechanism 4 executed by the estimation means 33. Processing. Further, the CPU 32 outputs a drive signal (electric signal) to the outside based on the calculation result and the like.

  The estimation means 33 is a control program executed by the CPU 32, and executes a process for estimating an eccentric amount R1 of the eccentric mechanism 4 described later.

  The input shaft rotation angle sensor 34 is a rotation angle sensor that detects a rotation angle by generating a pulse for each displacement of a predetermined rotation angle by rotating the input shaft 2. The input shaft rotation angle sensor 34 generates Ki pulses (input shaft rotation reference pulse number) every time the input shaft 2 rotates once. The estimation means 33 detects (calculates) the input shaft rotation speed Ni based on the rotation angle detected by the input shaft rotation angle sensor 34.

  The electric motor rotation angle sensor 35 is a rotation angle sensor similar to the input shaft rotation angle sensor 34. The motor rotation angle sensor 35 generates Km pulses (number of motor rotation reference pulses) every time the rotation shaft 14a of the motor 14 makes one rotation. The estimation means 33 detects (calculates) the motor rotation speed Nm based on the rotation angle detected by the motor rotation angle sensor 35. The output shaft rotation angle sensor 36 is a rotation angle sensor similar to the input shaft rotation angle sensor 34 and the motor rotation angle sensor 35, and the estimation means 33 determines the rotation speed of the output shaft 3 from the detection result of the output shaft rotation angle sensor 36. Detect (calculate).

  As described above, the pinion shaft rotation speed Np is determined by the gear ratio j between the sun gear 9 and the first ring gear 10, the gear ratio k between the sun gear 9 and the second ring gear 11, the motor rotation speed Nm, and the input shaft rotation speed Ni. It is represented by the formula 1. The estimation means 33 calculates (detects) the pinion shaft rotational speed Np by calculating according to this equation.

  The number of rotations can be obtained by integrating the rotation speed in the time domain. Therefore, as described above, the pinion shaft rotation speed Np is expressed by j, k, Nm, and Ni. In the present invention, “the number of rotations of the pinion shaft depends on the gear ratio of the differential mechanism and the rotation of the input shaft. The number of rotations corresponds to the number of rotations and the number of rotations of the motor.

  Further, the estimation means 33 accumulates and stores the pulses output from the input shaft rotation angle sensor 34, with the engine ENG being started as a predetermined reference time. Hereinafter, this accumulated pulse value is referred to as accumulated input shaft rotation number Mi. Similarly, the estimation means 33 accumulates and stores the pulses output from the motor rotation angle sensor 35, with the engine ENG starting time as a predetermined reference time. Hereinafter, this accumulated pulse value is referred to as accumulated motor rotation number Mm.

  Next, a method for estimating the eccentric amount R1 of the eccentric mechanism 4 of the continuously variable transmission 1 configured as described above by the estimating means 33 of the present embodiment will be described with reference to FIG.

  Here, the radius of the pinion shaft 7 is Ha, and the radius of the receiving hole 6a of the swing disk 6 is Hb. That is, the distance Ra between the input center axis P1 and the center point P2 and the distance Rb between the center point P2 and the center point P3 are Hb-Ha.

  Hereinafter, a line P1-P2 connecting the input center axis P1 and the center point P2 of the fixed disk is defined as a first line P1-P2, a vector having P1 as a start point and P2 as an end point is defined as Va. The size of the vector Va (hereinafter referred to as | Va |) is the same as the length of the first line P1-P2.

  A line P2-P3 connecting the center point P2 of the fixed disk 5 and the center point P3 of the swinging disk 6 is defined as a second line P2-P3, a vector having P2 as a start point and P3 as an end point is defined as Vb. The size of the vector Vb (hereinafter referred to as | Vb |) is the same as the length of the second line P2-P3.

  A line P1-P3 connecting the input center axis P1 and the center point P3 of the swing disk 6 is defined as a third line P1-P3, a vector having P1 as a start point and P3 as an end point is defined as Vr. The magnitude of the vector Vr (hereinafter referred to as | Vr |) is the same as the length of the third line P1-P3. The vector Vr is the sum of the vector Va and the vector Vb.

  Further, in the triangle P1-P2-P3 having the three central points of the central axis and the central points P1, P2, and P3 as vertices, the inner angle of P2, that is, the first line P1-P2 and the second line P2-P3, Is the first angle θd.

  In the triangle P1-P2-P3, the outer angle of P1, that is, the angle between the third line P1-P3 and the extended line of the first line P1-P2, is defined as a second angle θp.

  Here, the number of teeth of the pinion shaft 7 is x, the number of teeth of the receiving hole 6a is y, and the gear ratio z between the pinion shaft 7 and the receiving hole 6a is “z = x / y”. In this case, when the pinion shaft 7 rotates by an angle of θp, the fixed disk 5 rotates by an angle of θd. That is, θd = θp · x / y = z · θp. In addition, since the magnitude | size of the teeth | gears which mutually mesh | engage is made the same, it will become Ha: Hb = x: y.

  In this case, the eccentricity R1 is expressed by the magnitude | Vr | of the vector Vr. That is, the eccentricity R1 is represented by the magnitude | Va + Vb | of the sum of the vector Va and the vector Vb. When the origin is the center point P1 and the vector Va is (0, Hb−Ha), the vector Vb is (− (Hb−Ha) · sin θd, − (Hb−Ha) · cos θd). Therefore, Va + Vb is

It is.

  From the above, the eccentricity R1, that is, | Va + Vb | is expressed by the following equation 3.

  Since the radius Ha of the pinion shaft 7, the radius Hb of the receiving hole 6 a, and the gear ratio z of the receiving hole 6 a viewed from the pinion shaft 7 are fixed values determined by the structure, the variable in Equation 3 is Only the angle θp is obtained. When the input shaft 2 and the pinion shaft 7 are both rotating, the second angle θp means an angle represented by a difference between these relative rotations. That is, when the input shaft 2 and the pinion shaft 7 are rotating at the same speed, the second angle θp remains fixed. When the input shaft 2 and the pinion shaft 7 are not at the same speed, the second angle θp changes.

  That is, the second angle θp is a difference between the cumulative input shaft rotation number Mi accumulated from the predetermined reference time of the input shaft 2 and the cumulative rotation number of the pinion shaft 7 (hereinafter referred to as “cumulative pinion shaft rotation number”) Mp. , And the gear ratio z of the receiving hole 6a viewed from the pinion shaft 7, can be uniquely determined.

  Here, the cumulative pinion shaft rotation number Mp is determined by determining the cumulative motor rotation number Mm, that is, the rotation number of the sun gear 9, and the cumulative input shaft rotation number Mi, that is, the rotation number of the first link gear 10. By connecting with a straight line, the relative number of rotations of the second ring gear 11 can be expressed with a straight line.

  As described above, the estimating unit 33 calculates (estimates) the eccentric amount R1 based on the determined second angle θp on the basis of Expression 3. A control program for estimating the eccentricity R1 is stored in the storage device as the eccentricity estimation function h (Mi, Mm).

  Here, the cumulative input shaft rotation number Mi corresponds to the “number of rotations of the input shaft accumulated from a predetermined reference time” in the present invention. The accumulated pinion shaft rotation number Mp corresponds to “the number of rotations of the pinion shaft accumulated from a predetermined reference time” in the present invention.

  Further, the process of determining (estimating) the amount of eccentricity R1 based on the expression 3 by the estimating means 33 of the present embodiment is the “number of rotations of the input shaft accumulated from a predetermined reference time and the predetermined reference time. This corresponds to “a process for estimating the amount of eccentricity of the eccentric mechanism based on the difference from the accumulated number of rotations of the pinion shaft”.

  As described above, the one-way clutch 17 used in the present embodiment generates a twist of a predetermined angle according to the torque input to the one-way clutch 17, and the elastic force is adjusted so that the torque can be stored. Has been.

  Accordingly, the torsion at a predetermined angle changes according to the torque input to the one-way clutch 17, so that the output torque To changes. That is, the gear ratio i with respect to the eccentricity R1 is not constant.

  Therefore, as shown in FIG. 9, a table corresponding to the relationship between the eccentric amount R1, the gear ratio i, and the input torque Ti is prepared in advance, and the input torque Ti is estimated based on the eccentric amount R1 and the gear ratio i. I can do it. Similarly to the input torque Ti, a table corresponding to the relationship between the eccentric amount R1, the gear ratio i, and the output torque To is prepared in advance, and the eccentric amount R1 and the gear ratio i estimated by the estimating means 33 are prepared. The output torque To can be estimated based on the above. These tables are determined in advance by experiments or the like and stored in the storage device.

  The CPU 32 can determine the speed ratio i from the ratio between the input shaft rotation speed Ni detected by the input shaft rotation angle sensor 34 and the rotation speed of the output shaft 3 detected by the output shaft rotation angle sensor 36.

  In this way, the CPU 32 sets the input torque Ti and the output torque To in the relationship as shown in FIG. 9 from the eccentricity R1, the speed ratio i obtained from the input shaft rotational speed Ni and the rotational speed of the output shaft 3. According to the present invention, “determining the amount of eccentricity estimated by the estimating means, the rotational speed of the input shaft, and the rotational speed of the motor based on the input torque to the input shaft or the output torque to the output shaft” Corresponds to “estimate”.

  Next, an eccentricity amount estimation process, which is a process for estimating the eccentricity amount R1 executed by the estimation means 33, will be described.

  FIG. 10 is a flowchart showing the procedure of the eccentricity estimation process executed by the control device 31. The control program shown in this flowchart is started immediately after the engine ENG is started.

  In the first step ST1, initialization processing is executed. As shown in step ST13 described later, the continuously variable transmission 1 of the present embodiment operates the electric motor 14 so that the eccentric amount R1 becomes zero at the end. For this reason, as processing of this step ST1, processing such as setting the value of a variable indicating the eccentricity R1 held internally by the control program to 0 is executed.

  Next, proceeding to step ST2, the cumulative input shaft rotation number Mi, the cumulative input shaft pulse Pi, the cumulative motor rotation number Mm, and the cumulative motor pulse Pm are set to zero. Here, the cumulative input shaft pulse Pi is a value obtained by accumulating the number of pulses generated by the input shaft rotation angle sensor 34 after the engine ENG is started as a predetermined reference time, and the cumulative motor pulse Pm is This is a value obtained by accumulating the number of pulses generated by the electric motor rotation angle sensor 35 after the engine ENG is started.

  Next, it progresses to step ST3 and it is determined whether the input shaft 2 is rotating. When the pulse is output from the input shaft rotation angle sensor 34, it is determined that the input shaft 2 is rotating. If the input shaft 2 is rotating (if the determination result in step ST3 is YES), the process proceeds to step ST4.

  In step ST4, the value of the cumulative input shaft pulse Pi is increased by one. Subsequently, the process proceeds to step ST5, where the cumulative input shaft rotation number Mi is set to a value obtained by dividing the cumulative input shaft pulse Pi from the input shaft rotation reference pulse number Ki. By the processing of this step ST5, the cumulative input shaft rotation number Mi after the start of the engine ENG is obtained.

  When the process of step ST5 ends or when the input shaft 2 is not rotating at step ST3 (when the determination result of step ST3 is NO), the process proceeds to step ST6.

  In step ST6, it is determined whether or not the rotating shaft 14a of the electric motor 14 is rotating. When a pulse is output from the motor rotation angle sensor 35, it is determined that the rotating shaft 14a of the motor 14 is rotating. When the rotating shaft 14a of the electric motor 14 is rotating (when the determination result of step ST6 is YES), the process proceeds to step ST7.

  In step ST7, it is determined whether or not the motor rotation speed Nm is greater than zero. When the motor rotation speed Nm is greater than 0 (when the determination result of step ST7 is YES), the process proceeds to step ST8, and the value of the accumulated motor pulse Pm is increased by 1.

  When the motor rotational speed Nm is 0 or less in step ST7 (when the determination result in step ST7 is NO), the process proceeds to step ST9, and the value of the accumulated motor pulse Pm is decreased by 1. When the motor rotation speed Nm is less than 0, the rotating shaft 14a of the motor 14 is reversely rotated due to a sudden change in the gear ratio of the continuously variable transmission 1 or the like. For this reason, the values of the accumulated motor pulse Pm and the accumulated motor rotation number Mm are decreased when the rotation shaft 14a of the motor 14 is reversed by the processes of steps ST7 and ST9.

  When the process of step ST8 or ST9 is completed, the process proceeds to step ST10, where a value obtained by dividing the accumulated motor pulse Pm by the motor rotation reference pulse number Km is set to the accumulated motor rotation number Mm. By the processing in this step ST10, the cumulative number of motor revolutions Mm after the start of the engine ENG is obtained.

  When the rotating shaft 14a of the electric motor 14 is not rotating at step ST6 (when the determination result at step ST6 is NO), or when the process at step ST10 is completed, the process proceeds to step ST11.

  In step ST11, based on the cumulative input shaft rotation number Mi determined in step ST5 and the cumulative motor rotation number Mm determined in step ST10, the eccentricity amount R1 is calculated by the above-described eccentricity amount estimation function h (Mi, Mm). Set.

  Then, it progresses to step ST12 and it is determined whether the engine ENG was complete | finished. If engine ENG has not ended (if the determination result in step ST12 is NO), the process returns to step ST3. If the engine ENG has ended (if the determination result in step ST12 is YES), the process proceeds to step ST13.

  In step ST13, as an end process, the estimating means 33 controls the rotation of the electric motor 14 so that the eccentric amount R1 of the eccentric mechanism 4 becomes zero.

  When the process of step ST13 ends, this control process ends.

  The cumulative values Pi, Mi, Pm, and Mm are set to 0, that is, the cumulative values Pi, Mi, Pm, and Mm are initialized by the process of step ST2 that is executed after the engine ENG is started. In the present embodiment, since the timing at which step ST2 is executed is substantially the same as when the engine ENG is started, it is substantially handled as when the engine ENG is started. Therefore, the starting time of the engine ENG corresponds to the “predetermined reference time” in the present invention.

  The process of setting the eccentric amount R1 of the eccentric mechanism 4 by the process of step ST12 is performed according to the present invention as follows: “the number of rotations of the input shaft accumulated from the predetermined reference time, the number of rotations of the pinion shaft accumulated from the predetermined reference time, Corresponds to a process of estimating the amount of eccentricity of the eccentric mechanism based on the difference.

  As described above, in the present embodiment, the estimation unit 33 can estimate the eccentric amount R1 of the eccentric mechanism 4 from the cumulative input shaft rotation number Mi and the cumulative motor rotation number Mm by the eccentric amount estimation function h (Mi, Mm). .

  The eccentricity estimation function h (Mi, Mm) internally determines the cumulative pinion shaft rotation number Mp from the cumulative motor rotation number Mm and the cumulative input shaft rotation number Mi. Therefore, the estimation means 33 can estimate the eccentric amount R1 of the eccentric mechanism 4 based on the difference between the cumulative input shaft rotation number Mi and the cumulative pinion shaft rotation number Mp.

  Thereby, the estimation means 33 accurately calculates the eccentric amount R1 based on the difference between the cumulative input shaft rotation number Mi and the cumulative pinion shaft rotation number Mp without using a special device or the like for measuring the eccentric amount R1. Can be estimated.

  In the present embodiment, the one-way clutch 17 is used as the one-way rotation prevention mechanism. However, the one-way rotation prevention mechanism of the present invention is not limited to this, and torque is applied from the swing link 18 to the output shaft 3. May be configured by a two-way clutch (two-way clutch) configured to be able to switch the rotation direction of the swing link 18 capable of transmitting the rotation with respect to the output shaft 3.

  DESCRIPTION OF SYMBOLS 1 ... Continuously variable transmission, 2 ... Input shaft, 2a ... Notch hole, 3 ... Output shaft, 4 ... Eccentric mechanism, 5 ... Fixed disk, 6 ... Swing disk, 6a ... Receiving hole, 6b ... Internal tooth, 7 ... Pinion shaft, 7a ... external teeth, 8 ... differential mechanism (planetary gear mechanism), 9 ... sun gear, 10 ... first ring gear, 11 ... second ring gear, 12 ... stepped pinion, 12a ... large diameter part, 12b DESCRIPTION OF SYMBOLS ... Small diameter part, 13 ... Carrier, 14 ... Drive source (electric motor), 14a ... Rotating shaft, 15 ... Connecting rod, 15a ... Large diameter annular part, 15b ... Small diameter annular part, 15c ... Lubricating oil hole, 16 ... Roller bearing, 17 ... One-way clutch (one-way rotation prevention mechanism), 18 ... Swing link, 18a ... Swing end, 18b ... Projection piece, 18c ... Through hole, 19 ... Connecting pin, 20 ... Four-bar linkage mechanism, ENG ... Engine (drive source), P1 ... Input center axis P2: fixed disk center point, P3: swing disk center point, Ra: distance between P1 and P2, Rb: distance between P2 and P3, R1: eccentricity (distance between P1 and P3), θ2: swing range , Mi: Cumulative input shaft rotation speed, Ni: Input shaft rotation speed, Mm: Cumulative motor rotation speed, Nm: Motor rotation speed, Mp: Cumulative pinion shaft rotation speed, Np: Pinion shaft rotation speed, h (Mi, Mm) ... Eccentricity estimation function.

Claims (3)

A hollow input shaft to which a driving force from a driving source of the vehicle is transmitted;
An output shaft arranged parallel to the input shaft;
A plurality of eccentric mechanisms including a fixed disk provided eccentrically with respect to the input shaft, and a swinging disk provided eccentrically with respect to the fixed disk and rotatably provided;
A plurality of swing links pivotally supported by the output shaft;
The swing link is provided between the swing link and the output shaft, and the swing link is fixed to the output shaft when attempting to rotate relative to the output shaft and relative rotation to the other side. A one-way rotation prevention mechanism that idles the swing link with respect to the output shaft when
A connecting rod having a large-diameter annular portion that is rotatably fitted to the eccentric mechanism at one end, and the other end connected to the swing end of the swing link;
A pinion shaft inserted into the input shaft,
In the input shaft, a notch hole is formed at a location facing the eccentric direction of the fixed disk, and the pinion shaft is exposed from the notch hole,
The swing disk is provided with a receiving hole for receiving the input shaft and the fixed disk,
Inner teeth are formed on the inner peripheral surface of the rocking disk that forms the receiving hole,
The inner teeth mesh with the pinion shaft exposed from the notch hole of the input shaft,
The eccentric amount of the eccentric mechanism is maintained by rotating the input shaft and the pinion shaft at the same speed, and the eccentric amount of the eccentric mechanism is changed by changing the rotational speeds of the input shaft and the pinion shaft. And a control device for a continuously variable transmission for controlling the transmission ratio,
An estimation unit configured to estimate an eccentric amount of the eccentric mechanism based on a difference between a cumulative number of rotations of the input shaft accumulated from a predetermined reference time and a cumulative number of rotations of the pinion shaft accumulated from the reference time; Control device characterized. The control device according to claim 1,
An electric motor and a differential mechanism that transmits rotation to the pinion shaft;
The number of rotations of the pinion shaft is a number of rotations according to the gear ratio of the differential mechanism, the number of rotations of the input shaft, and the number of rotations of the electric motor.   The control device according to claim 1 or 2, wherein the input torque to the input shaft or the output shaft is based on the amount of eccentricity estimated by the estimating means, the rotational speed of the input shaft, and the rotational speed of the electric motor. The control apparatus characterized by estimating the output torque to.

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