JP2015064080A - Automatic shift device and automatic shift method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic shift device that attains rapid gear shift and can relax the collision between a movable gear and a stationary gear in a drawing operation.SOLUTION: When the engagement of a movable gear and a stationary gear is released, after the movable gear starts moving in a detachment direction and before the engagement of the movable gear and the stationary gear is completely released, an automatic shift device applies brake force to the movable gear in the reverse direction of the detachment direction, and thereby the engagement is rapidly released while the collision between the movable gear and the stationary gear is relaxed. When the movable gear is fixed to the stationary gear in such a process, thrust in the detachment direction is applied to the movable gear again.

Description

  The present invention relates to an automatic transmission device and an automatic transmission method used for a vehicle or the like.

  The automatic transmission has a transmission mechanism including two fixed gears (clutch rings) attached to a rotating shaft and a moving gear (sleeve) provided therebetween. The fixed gear is attached to the rotating shaft so as to be rotatable and impossible to move in the axial direction of the rotating shaft. The moving gear is attached so as not to be relatively rotatable with respect to the rotating shaft and to be able to move in the axial direction of the rotating shaft.

  The moving gear meshes with one of the adjacent fixed gears by moving in the axial direction of the rotating shaft. Accordingly, the rotation of the shaft is transmitted to the fixed gear meshed with the moving gear via the moving gear, or the rotation of the fixed gear meshed with the moving gear is transmitted to the rotating shaft via the moving gear.

  The automatic transmission is provided with a plurality of transmission mechanisms as described above, and the gear ratios of the plurality of fixed gears are different from each other. In any one or more of the transmission mechanisms (one or more), the transmission of the rotation is performed by the movement gear meshing with the adjacent fixed gear. At this time, the movement gears of the other transmission mechanisms are the same as any of the fixed gears. It is positioned at the neutral position where it does not mesh.

  When performing a shift in this automatic transmission, an axial thrust is applied to the moving gear meshing with the fixed gear to move the moving gear in the axial direction so that the fixed gear and the moving gear are engaged. After releasing (pulling operation), an axial thrust is applied to the moving gear (the moving gear or the moving gear of another speed change mechanism) to engage the moving gear with another fixed gear.

  In order to perform this speed change quickly, it is necessary to apply a large thrust to the moving gear during the pulling operation. However, if the thrust applied to the moving gear is too large, the moving gear contacts or collides with the other fixed gear (hereinafter simply referred to as “collision”) due to the movement of the moving gear in the axial direction after the moving gear comes out of the fixed gear. )). When the moving gear collides with the other fixed gear, there is a problem that a shift shock or contact noise occurs when the rotation speed of the other fixed gear is high. On the other hand, if the thrust applied to the moving gear is reduced to suppress the movement of the moving gear in the axial direction and the collision between the moving gear and the other fixed gear is to be avoided, the shift time becomes longer.

  With respect to such a problem, the dog clutch transmission described in Patent Document 1 releases the engagement of the moving gear with the fixed gear in the pulling operation for releasing the engagement between the fixed gear and the moving gear. A thrust in the direction (separation direction) is applied, and after the moving gear is detached from the fixed gear, a thrust in the direction opposite to the separating direction is applied to the moving gear. As a result, it is possible to reduce the collision between the moving gear and the fixed gear and realize a quick shift.

JP 2012-225436 A

  However, if the timing at which thrust is applied in the reverse direction to the moving gear in the pulling operation is too late, the collision between the moving gear and the fixed gear cannot be avoided. Therefore, the large thrust in the separating direction must be suppressed in the pulling operation. I will have to. As a result, the movement time to the neutral position is delayed, and a quick shift cannot be performed.

  Therefore, the inventors of the present application, when removing the moving gear from the fixed gear, before the engagement between the moving gear and the fixed gear is completely released, Invented to perform control to add power) (Japanese Patent Application No. 2013-017263). As a result, the moving gear can be moved with a large thrust before applying such a braking force, and the moving gear is quickly converged to the target position before the neutral position, so that the collision between the moving gear and the fixed gear can be prevented. Can be relaxed.

  FIG. 20 is a time chart of the prior invention. When there is a request to move the sleeve (moving gear) to the neutral position, the speed change control device supplies a constant current Ia to the linear actuator for driving the sleeve (time t0 to t1). As a result, thrust in the separation direction is applied to the sleeve, and as a result, the sleeve starts to move in the separation direction. When the shift control device confirms the movement of the sleeve at the sleeve position Qa (time point t1), it starts initial feedback control with the position Pa before the neutral position Na as the target position. As a result, as shown in FIG. 20, the linear actuator supply current gradually decreases from time t1, and thrust (braking force) in the direction opposite to the separation direction is applied at the position Pb before the target position Pa. Here, the position Pb is a position before the sleeve is completely detached from the fixed gear.

  However, in the above pulling-out operation, before the engagement between the moving gear and the fixed gear is completely released, there is something unexpected in the gear fixed gear due to factors such as a brake operation by the driver and a change in running resistance due to a step on the road surface. When an external force in the rotational direction is applied, the resistance of the tooth surface between the fixed gear and the moving gear changes abruptly. Even in such a case, if control is performed to apply a braking force in the direction opposite to the direction in which the sleeve is detached before the moving gear is detached from the fixed gear, the moving gear may be fixed to the fixed gear.

  The present invention has been made in view of the above problems, and provides an automatic transmission that realizes quick shifting and can eliminate sticking of a moving gear in a pulling operation for releasing the engagement between the fixed gear and the moving gear. The main purpose is to provide.

  An automatic transmission according to the present invention includes a moving gear that is supported on a rotating shaft, is not rotatable relative to the rotating shaft and is movable in the axial direction of the rotating shaft, and the moving gear is moved in the axial direction of the rotating shaft. An axial movement mechanism that moves, a fixed gear that is supported by the rotating shaft at a position adjacent to the moving gear, is rotatable with respect to the rotating shaft, and can be engaged with and disengaged from the moving gear by movement of the moving gear; A sensor that detects a position of the moving gear in the axial direction, and a control device that controls the operation of the axial movement mechanism based on the position detected by the sensor. As a control for releasing the engagement between the gear and the moving gear, a first current is supplied to the axial mechanism in order to move the moving gear in a disengagement direction in which the moving gear is disengaged from the fixed gear. The moving gear To apply a braking force in the direction opposite to the separation direction to the movement gear after the movement in the separation direction is started and before the engagement between the movement gear and the fixed gear is completely released. In addition, after the second current is supplied to the axial movement mechanism and the moving gear starts to move in the disengagement direction, before the engagement between the moving gear and the fixed gear is completely released. When the moving gear is determined to be fixed to the fixed gear, a third current is supplied to the axial movement mechanism in order to apply a thrust in the disengaging direction to the moving gear. doing.

  According to this configuration, after the movement of the moving gear is started, a static force in the direction opposite to the disengagement direction is applied to the moving gear, so that a large thrust is applied to the moving gear in order to release the engagement between the moving gear and the fixed gear. Therefore, the time required for disengagement can be shortened. In addition, since the static force in the direction opposite to the disengagement direction is applied to the moving gear before the engagement between the moving gear and the fixed gear is completely released, the collision between the moving gear and the fixed gear can be mitigated and the engagement can be reduced. Compared with the control in which the static force is applied after the engagement is completely released, the time required to converge the moving gear to the target position where the engagement with the fixed gear is released can be shortened. Furthermore, when performing control to apply a braking force in the reverse direction, when some external force is applied to the fixed gear and the moving gear is fixed to the fixed gear, a thrust in the disengaging direction is applied to the moving gear again. , Such sticking can be released. Here, the state in which the engagement between the moving gear and the fixed gear is completely released refers to a state in which there is no portion where they overlap in the axial direction of the rotating shaft.

  The control device may determine the magnitude of the third current based on a fixed position of the fixed moving gear. According to this configuration, the closer the fixed position is to the target position of movement of the moving gear, the smaller the adjustment of the third current for releasing the fixed state, and the like, which is necessary for converging the moving gear to the target position. Time can be shortened appropriately.

  The control device may determine the magnitude of the third current based on a deviation between the fixing position and a target position for movement of the moving gear. Even with this configuration, the closer the fixed position is to the target position of movement of the moving gear, the smaller the adjustment of the third current for releasing the fixed state becomes possible, and the time required for the moving gear to converge to the target position. Can be shortened appropriately.

  The control device may determine the magnitude of the third current with reference to a map that defines a correspondence relationship between the deviation and the magnitude of the third current. According to this configuration, the magnitude of the third current can be determined at a higher speed compared to a method of calculating the magnitude of the third current each time based on the deviation.

  The third current may be smaller than the first current. According to this configuration, even when the engagement between the moving gear and the fixed gear is completely released after the fixation is released, the moving gear is prevented from greatly exceeding the target position of the movement, and the target position is quickly reached. It can be quickly stopped at the target position while converging.

  The automatic transmission method of the present invention includes a moving gear that is supported on a rotating shaft, is not rotatable relative to the rotating shaft and is movable in the axial direction of the rotating shaft, and an axial movement that moves the moving gear in the axial direction. A mechanism, a fixed gear that is supported on the rotary shaft at a position adjacent to the moving gear, is rotatable with respect to the rotating shaft, and can be engaged with and disengaged from the moving gear by movement of the moving gear; and the moving gear An automatic transmission device including a sensor for detecting a position in the axial direction of the shaft to release the engagement between the fixed gear and the moving gear based on the position detected by the sensor. An automatic transmission method for controlling a moving mechanism, wherein a first current is supplied to the shaft moving mechanism to move the moving gear in a disengagement direction in which the moving gear is disengaged from the fixed gear. How to disengage the gear In order to apply a braking force in a direction opposite to the disengagement direction to the moving gear after the start of movement to and before the engagement between the moving gear and the fixed gear is completely released, The movement is performed after supplying a second current to the axial movement mechanism, and after the movement gear starts to move in the disengagement direction and before the engagement between the movement gear and the fixed gear is completely released. When it is determined that the gear is fixed to the fixed gear, a third current is supplied to the axial movement mechanism in order to apply a thrust in the disengagement direction to the moving gear. .

  Even with this configuration, a static force in the direction opposite to the disengagement direction is applied to the moving gear after the movement of the moving gear is started, so that a large thrust is applied to the moving gear in order to release the engagement between the moving gear and the fixed gear. Therefore, the time required for releasing the engagement can be shortened. In addition, since the static force in the direction opposite to the disengagement direction is applied to the moving gear before the engagement between the moving gear and the fixed gear is completely released, the control to apply the static force after the engagement is completely released As compared with the above, the time required to converge the moving gear to the target position where the engagement with the fixed gear is released can be shortened. Furthermore, when performing control to apply a braking force in the reverse direction, when some external force is applied to the fixed gear and the moving gear is fixed to the fixed gear, a thrust in the disengaging direction is applied to the moving gear again. , Such sticking can be released.

  According to the present invention, when the moving gear is fixed to the fixed gear in the process of releasing the engagement between the moving gear and the fixed gear, a thrust in the disengagement direction is applied to the moving gear. it can.

1 is a schematic diagram illustrating a configuration of a vehicle including an automatic transmission according to an embodiment of the present invention. It is a skeleton figure which shows the structure of the automatic transmission apparatus of FIG. It is a block diagram which shows the detail of a part of automatic transmission apparatus of FIG. FIG. 3 is a perspective view showing a first speed gear, a clutch hub, and a sleeve constituting the dog clutch transmission mechanism of FIG. 2. It is a top view which shows the 1st speed gear of FIG. It is a side view which shows the 1st speed gear of FIG. It is a top view which shows the clutch hub of FIG. It is a top view which shows the sleeve of FIG. FIG. 5 is a cross-sectional view showing a state before shifting of the dog clutch transmission mechanism of FIG. 4. FIG. 5 is a cross-sectional view showing a state where the high teeth and the clutch front teeth of the dog clutch transmission mechanism of FIG. 4 are in contact with each other. FIG. 5 is a cross-sectional view showing a state where the high and low teeth of the dog clutch transmission mechanism of FIG. 4 are in contact with the clutch rear teeth. FIG. 5 is a cross-sectional view showing a state where the high and low teeth of the dog clutch transmission mechanism of FIG. 4 are engaged with the clutch rear teeth. FIG. 5 is a development view showing a state where the high teeth and the clutch front teeth of the dog clutch transmission mechanism of FIG. 4 are in contact with each other. FIG. 5 is a development view showing a state in which the high teeth of the dog clutch transmission mechanism of FIG. 4 are in contact with the inclined surfaces of the clutch front teeth. FIG. 5 is a development view showing a state where the high and low teeth of the dog clutch transmission mechanism of FIG. 4 are in contact with the contact surfaces of the clutch rear teeth. FIG. 5 is a development view showing a state where the high and low teeth of the dog clutch transmission mechanism of FIG. 4 are engaged with the clutch rear teeth. It is a figure which shows the operation | movement by the side of the 2nd speed in the case of shifting to the 3rd speed from the 2nd speed by the transmission control device. It is a figure which shows the operation | movement on the 3rd speed side in the case of shifting from 2nd speed to 3rd speed by the transmission control device. It is a figure which shows the engagement release operation | movement of the sleeve by a transmission control apparatus. It is a functional block diagram which shows the structure of a transmission control apparatus. It is a main flowchart which shows the whole movement process of the sleeve by a speed-change control apparatus. It is a flowchart which shows the engagement release process (engagement release control) of the sleeve by a transmission control apparatus. It is a flowchart which shows the initial stage movement process (initial FB control) of the sleeve by a speed-change control apparatus. It is a flowchart which shows the final stage movement process (final stage FB control) of the sleeve by a transmission control apparatus. It is a flowchart which shows the idle process (idle control) of the sleeve by a transmission control apparatus. It is a flowchart which shows the disengagement process of the other sleeve by a transmission control apparatus. It is a figure which shows the time-dependent change of the sleeve position at the time of the movement of the sleeve by a transmission control apparatus, and a linear actuator supply current. It is a figure which shows the time-dependent change of the sleeve position at the time of the movement of the sleeve by a transmission control apparatus, and a linear actuator supply current.

  Hereinafter, an automatic transmission according to an embodiment of the present invention will be described with reference to the drawings. The embodiment described below shows an example when the present invention is implemented, and the present invention is not limited to the specific configuration described below. In carrying out the present invention, a specific configuration according to the embodiment may be adopted as appropriate.

(1. Configuration of vehicle equipped with automatic transmission)
FIG. 1 is a schematic diagram illustrating a configuration of a vehicle including an automatic transmission according to an embodiment of the present invention. As shown in FIG. 1, the vehicle M includes an engine 11, a clutch 12, an automatic transmission 13, a differential device 14, a control device 15, drive wheels (left and right front wheels) Wfl, Wfr, and the like. ing.

  The engine 11 generates driving force by burning fuel. The driving force of the engine 11 is configured to be transmitted to the drive wheels Wfl, Wfr via the clutch 12, the automatic transmission 13, and the differential device 14. The vehicle shown in FIG. 1 is a so-called FF vehicle. The clutch 12 is configured to be automatically connected / disconnected in response to a command from the control device 15. The automatic transmission 13 automatically selects, for example, six forward speeds and one reverse speed. The differential device 14 includes both a final gear and a differential gear, and is formed integrally with the automatic transmission 13.

(2. Configuration of automatic transmission)
FIG. 2 is a skeleton diagram showing the configuration of the automatic transmission. As shown in FIG. 2, the automatic transmission 13 includes a shift control provided in the casing 21, the drive shaft 22, the main shaft 23, the counter shaft 24, the dog clutch transmission mechanisms 251, 252, 253, and 254, and the control device 15. It includes the device 26 and the like.

  The casing 21 includes a main body 21a formed in a substantially cylindrical shape, a first wall 21b and a second wall 21c that divide the main body 21a in the left-right direction. The drive shaft 22 and the main shaft 23 are arranged coaxially, and the counter shaft 24 is arranged in parallel to the drive shaft 22 and the main shaft 23. The drive shaft 22, the main shaft 23, and the counter shaft 24 are rotatably supported by the casing 21.

  That is, one end (the left end in FIG. 2) of the drive shaft 22 is rotationally connected to the output shaft of the engine 11 via the clutch 12, and the other end (the right end in FIG. 2) side of the drive shaft 22 is connected via the bearing 271. It is supported by the first wall 21b. Therefore, the output of the engine 11 is input to the drive shaft 22 when the clutch 12 is connected.

  One end (the left end in FIG. 2) of the main shaft 23 is rotatably supported by one end (the right end in FIG. 2) of the drive shaft 22 via a dog clutch transmission mechanism 251 which will be described later. 2 (right end) side is rotatably supported by the second wall 21 c via a bearing 272.

  One end (left end in FIG. 2) of the counter shaft 24 is rotatably supported on the first wall 21b via a bearing 273, and the other end (right end in FIG. 2) of the counter shaft 24 is supported via a bearing 274. The second wall 21c is rotatably supported. The main shaft 23 corresponds to the “rotating shaft” of the present invention. The counter shaft 24 can also correspond to the “rotating shaft” of the present invention.

  The main shaft 23 is provided with a dog clutch transmission mechanism 251 for shifting to the 5th speed or the reverse in order from the clutch side, and a dog clutch transmission mechanism 252 for shifting to the 1st speed or the 1st speed. A dog clutch transmission mechanism 253 for shifting to the fourth speed or the third speed and a dog clutch transmission mechanism 254 for shifting to the sixth speed are arranged. Each of the dog clutch transmission mechanisms 251, 252, 253, 254 includes gears 281, 282, 283, 284, 285, 286, 28R of each speed described later.

  At the other end of the drive shaft 22 (the right end in FIG. 2), the rotation center of the fifth speed gear 285 is fixed by spline fitting or the like. The reverse gear 28R is rotatably supported on the main shaft 23 from the clutch 12 side, the rotation center of the fourth speed gear 284 is fixed by spline fitting or the like, and the rotation center of the third speed gear 283 is spline fitting or the like. The second speed gear 282 is rotatably supported, the first speed gear 281 is rotatably supported, and the rotation center of the sixth speed gear 286 is fixed by spline fitting or the like.

  The rotation center of the fifth counter gear 295 that meshes with the fifth speed gear 285 is fixed to the counter shaft 24 by spline fitting or the like, and the rotation center of the second counter gear 29R that meshes with the reverse gear 28R through one gear 29r. A fourth counter gear 294 that is fixed by spline fitting or the like and meshes with the fourth speed gear 284 is rotatably supported, and a third counter gear 293 that meshes with the third speed gear 283 is rotatably supported and meshes with the second speed gear 282. The center of rotation of the second counter gear 292 is fixed by spline fitting or the like, and the center of rotation of the first counter gear 291 meshed with the first speed gear 281 is fixed by spline fitting or the like, and the sixth counter gear meshed with the sixth speed gear 286 296 is rotatably supported. Gears (helical gears) that mesh with each other are formed on the outer peripheral surfaces of the first speed gear 281 and the first counter gear 291. The same applies to other meshing gears.

  As shown in FIG. 3, the dog clutch transmission mechanism 252 includes a first speed gear (first clutch ring) 281, a second speed gear (second clutch ring) 282, a clutch hub (hub) 311, a sleeve 312, an axial movement device 313, A position detection sensor 314 and the like are included. The dog clutch transmission mechanism 253 includes a third counter gear (first clutch ring) 293, a fourth counter gear (second clutch ring) 294, a clutch hub (hub) 321, a sleeve 322, an axial movement device 323, a position detection sensor 324, and the like. It is comprised including. The same applies to the other dog clutch transmission mechanisms 251. However, the dog clutch transmission mechanism 254 does not include the second clutch ring, and includes only the sixth speed gear 286 as the second clutch ring. Hereinafter, a detailed configuration of the dog clutch transmission mechanism 252 will be described.

  The clutch hub 311 is fixed between the first speed gear 281 and the second speed gear 282 adjacent to them by spline fitting or the like. A first dog clutch portion 281 a that engages with a spline 312 a (see FIG. 4) formed on the sleeve 312 is formed on the side surface of the first speed gear 281 on the clutch hub 311 side. Similarly, a second dog clutch portion 282 a that engages with the spline 312 a of the sleeve 312 is formed on the side surface of the second speed gear 282 on the clutch hub 311 side. Here, since the first dog clutch portion 281a of the first speed gear 281 has the same configuration as the second dog clutch portion 282a of the second speed gear 282, the first speed gear 281, the clutch hub 311 and the sleeve 312 are shown in FIGS. This will be described in detail below.

  As shown in FIGS. 4 and 7, the sleeve 312 rotates integrally with the clutch hub 311 and can slide in the axial direction with respect to the clutch hub 311, and is formed in a ring shape. A spline 312 a is formed on the inner peripheral surface of the sleeve 312 so as to be slidably engaged with the spline 311 a formed on the outer peripheral surface of the clutch hub 311 in the axial direction.

  The spline 312a is formed such that a plurality of (for example, two) high teeth 312a1 are higher in height than the remaining low teeth 312bl. Both ends of the front end surface on the first gear 281 side of the high teeth 312a1 and the low teeth 312b1 are generally 45 ° chamfered so as not to be damaged by an impact when contacting the clutch front teeth 281b1 and the clutch rear teeth 281c1 ( C shape). Further, an outer peripheral groove 312d is formed on the outer peripheral surface of the sleeve 312 along the circumferential direction. The tip arc portion of the fork 313a engages with the outer circumferential groove 312d so as to be slidable in the circumferential direction.

  As shown in FIG. 3, the axial movement device 313 reciprocates the sleeve 312 along the axial direction, and when the sleeve 312 is pressed against the first speed gear 281 or the second speed gear 282, When a reaction force is applied from the gear 281 or the second speed gear 282, the sleeve 312 is allowed to move by the reaction force. The same applies to the axial movement device 323. This axial movement device 313 corresponds to the “axial movement mechanism” of the present invention.

  The axial movement device 313 includes a fork 313a, a fork shaft 313b, a detent mechanism 313C, a linear actuator 313d, and the like. Similarly, the axial movement device 323 includes a fork 323a, a fork shaft 323b, a detent mechanism 323c, a linear actuator 323d, and the like. Hereinafter, the axial movement device 313 will be described.

  The tip of the fork 313 a is formed in accordance with the outer peripheral shape of the outer peripheral groove 312 b of the sleeve 312. The base end portion of the fork 313a is fixed to the fork shaft 313b. The fork shaft 313b is slidably supported on the casing 21 along the axial direction. That is, one end (the right end in FIG. 3) of the fork shaft 313b is supported on the second wall 21c via the bearing 313e, the other end (the left end in FIG. 3) side of the fork shaft 313b is fixed to the bracket 313f, and the bracket 313f It is slidable by a guide member (anti-rotation) 313g protruding in the axial direction from the one wall 21b, and is fixed to the nut member 313h so as not to be relatively rotatable. The nut member 313h is screwed to a drive shaft 313i provided with a linear actuator 313d so as to advance and retreat. The drive shaft 313i is supported on the first wall 21b via a bearing 313j.

  The detent mechanism 313c is a mechanism for positioning the sliding position in the axial direction of the fork shaft 313b, that is, the moving position of the sleeve 312. The detent mechanism 313c includes a stopper 313c1 biased in a direction perpendicular to the axis of the fork shaft 313b by a spring (not shown), and the stopper 313c1 is spring-loaded in the triangular grooves s1, sn, and s2 provided in the fork shaft 313b. The sliding position of the fork shaft 313b in the axial direction can be positioned by fitting with force.

  The stopper 313c1 is fitted into the triangular groove s1 when the spline 312a of the sleeve 312 and the first dog clutch portion 281a of the first speed gear 281 are engaged, and the sleeve 312 is intermediate between the first speed gear 281 and the second speed gear 282. When it is located at the set neutral position (neutral position) Na (see FIG. 10), it is fitted into the triangular groove sn, and when the spline 312a of the sleeve 312 and the second dog clutch portion 282a of the second gear 282 are engaged, it is triangular. It fits into the groove s2.

  An example of the linear actuator 313d is a ball screw type linear actuator. This is, for example, a casing that is formed in a cylindrical shape and has a plurality of coils arranged in the inner circumferential direction as a stator (not shown), and is provided so as to be rotatable with respect to the stator. A rotor (not shown) in which a plurality of N-pole magnets and S-pole magnets are alternately arranged on the outer periphery, a drive shaft 313i (ball screw shaft) that rotates integrally with the rotor around the rotation axis of the stator, and a drive shaft And a nut member 313h made of a ball nut screwed to 313i.

  The drive shaft 313i is screwed into the nut member 313h so as to be relatively rotatable via a plurality of balls (not shown). By controlling energization to each coil of the stator, the drive shaft 313i is arbitrarily rotated in both forward and reverse directions, and the nut member 313k and the fork shaft 313b are reciprocated and positioned and fixed at arbitrary positions. Further, this linear actuator 313d allows the sleeve 312 to move by the reaction force when a reaction force is applied from the first speed gear 281 or the second speed gear 282 by forming the lead of the drive shaft 313i to be long. Is configured to do. As a result, the spline 312a of the sleeve 312 and the second dog clutch portion 282a of the second gear 282 can be reliably engaged.

  In this embodiment, a ball screw type linear actuator is adopted as the linear actuator 313d. However, when the sleeve 312 is pressed against the first speed gear 281 or the second speed gear 282, the first speed gear 281 or the second speed gear 282 is used. As long as it is configured to allow the sleeve 312 to move by the reaction force when a reaction force is applied from the above, other drive devices such as a solenoid drive device and a hydraulic drive device may be used. . The position detection sensor 314 is a sensor that detects a position when the sleeve 312 moves. For example, various position sensors such as an optical position sensor and a linear encoder are used.

(3. Actuation of dog clutch transmission mechanism)
Next, the operation of the high teeth 312a1 and low teeth 312b1 of the sleeve 312 and the clutch front teeth 281b1 and the clutch rear teeth 281c1 of the first speed gear 281 in the dog clutch transmission mechanism 252 will be described with reference to FIGS. explain. When the sleeve 312 meshes with the second gear 282 and rotates at a high speed and the first gear 281 rotates at a low speed, the sleeve 312 is decelerated when the sleeve 312 is shifted and meshed with the first gear 281. On the other hand, when the sleeve 312 meshes with the first speed gear 281 and rotates at a low speed and the second speed gear 282 rotates at a high speed, the sleeve 312 is shifted and meshed with the second speed gear 282 to increase the speed of the sleeve 312. The In the following description, the deceleration operation will be described.

  As shown in FIG. 8A, the sleeve 312 is separated from the first-speed gear 281 before the automatic transmission 13 is shifted. When the sleeve 312 is moved to the first speed gear 281 side along the axial direction by the axial movement device 313, as shown in FIGS. 8B and 9A, the front end face 312a2 of the high tooth 312a1 is moved to the clutch front tooth 281b1. It contacts the contact surface 281b4. At this time, the low teeth 312b1 are not in contact with anything. Thereby, the sleeve 312 is decelerated somewhat. 9A to 9D, the sleeve 312 advances downward in FIGS. 9A to 9D, and the first speed gear 281 advances at a lower speed than the sleeve 312 and downwards in FIGS. 9A to 9D. Proceeding downward in FIGS. 9A to 9D relative to the gear 281.

  Further, when the sleeve 312 is moved in the axial direction by the axial movement device 313, as shown in FIG. 9B, the front end surface 312a2 (the chamfered portion) of the high tooth 312a1 contacts the inclined surface 281b2 of the clutch front tooth 281b1. Touch. At this time, the low teeth 312b1 are not in contact with anything. Thereby, the sleeve 312 is greatly decelerated.

  Further, when the sleeve 26 is moved along the axial direction by the axial movement device 313, as shown in FIGS. 8C and 9C, the front end surface 312a2 of the high teeth 312a1 and the front end surface 312b2 of the low teeth 312b1 It contacts the contact surface 281c2 of the tooth 281c1. Thereby, the sleeve 312 is decelerated somewhat.

  Further, when the sleeve 312 is moved along the axial direction by the axial movement device 313, the front end surface 312a2 (the chamfered portion) of the high tooth 312a1 and the front end surface 312b2 (the chamfered portion) of the low tooth 312b1 become the clutch rear teeth 281c1. It contacts with the side inclined surface 281c4. Since the clutch front tooth 281b1 and the clutch rear tooth 281c1 are formed with a clutch tooth groove 281d1 having a certain width on the outer periphery of the convex portion 281a1, the high tooth 281a1 and the low tooth 281b1 are the nearest clutch tooth groove 281d1 in a short time. Can jump into. Thereby, the sleeve 312 is greatly decelerated.

  Further, when the sleeve 312 is moved along the axial direction by the axial movement device 313, as shown in FIGS. 8D and 9D, the high teeth 312a1 and the low teeth 312b1 are completely engaged with the clutch rear teeth 281c1, and the sleeve 312 and 1st speed gear 281 rotate synchronously, and the shift operation is completed.

  As described above, the sleeve 312 is supported by the main shaft 23, cannot rotate relative to the main shaft 23, and can move in the axial direction of the main shaft 23. The sleeve 312 corresponds to the “moving gear” of the present invention. To do. The first speed gear 281 is supported by the main shaft 23 at a position adjacent to the sleeve 312, can rotate with respect to the main shaft 23, and can be engaged with and disengaged from the sleeve 312 by the movement of the sleeve 312. Corresponds to "fixed gear". The sleeve 321 shown in FIG. 3 also corresponds to the “moving gear” of the present invention, and corresponds to the second gear 282, the third gear 283, the fourth gear 284, the fifth gear 285, the sixth gear 286, and the reverse gear. Similarly, 28R corresponds to the “fixed gear” of the present invention.

(4. Control action of transmission control device)
Next, the control operation when shifting from the second speed to the third speed by the shift control device 26 will be described. The shift control device 26 is realized by a computer device having an arithmetic processing unit, a memory, an input / output interface, and the like executing a shift control program. The shift control program may be stored in advance in a computer, or may be acquired and stored by downloading the shift control device 26 via a wired or wireless network.

  As shown in FIG. 10A, the shift control device 26 controls the shaft driving device 313 and sets the sleeve 312 engaged with the second speed gear 282 between the first speed gear 281 and the second speed gear 282. It is moved to the neutral position Na and stopped. Then, as shown in FIG. 10B, the axial movement device 323 is controlled, and the sleeve 322 stopped at the neutral position Nb set between the third counter gear 293 and the fourth counter gear 294 is replaced with the third counter gear 293. It moves toward the gear 293 and engages with the third counter gear 293.

  Here, in the automatic transmission 13 according to the present embodiment, the distance between the first speed gear 281 and the second speed gear 282 and the distance between the third counter gear 293 and the fourth counter gear 294 are reduced. The shift time is shortened. However, for example, when the mechanism has a backlash, when the sleeve 312 stops at the neutral position Na, the sleeve 312 may swing in the axial direction and collide with the first speed gear 281. Further, the thrust applied to the sleeve 312 in the disengagement direction is too large, and the sleeve 312 cannot be stopped at the neutral position Na, and the sleeve 312 may swing in the axial direction beyond the neutral position Na and collide with the first speed gear 281. When the sleeve 312 comes into contact with the first speed gear 281, there is a problem that a shift shock or contact sound is generated due to a difference in the rotational speed between the sleeve 312 and the first speed gear 281.

  Therefore, as shown in FIG. 11, in the speed change control device 26 of the present embodiment, the target position Pa is set between the second speed gear 282 with which the sleeve 312 is engaged and the neutral position Na. In the target position Pa, when the engagement between the sleeve 312 and the second speed gear 282 is released, and the sleeve 312 reaches the target position Pa, the sleeve 312 does not come into contact with the first speed gear 281 even if it swings in the axial direction. The position is set to a position before the neutral position Na as viewed from the second gear 282 (gear to be disengaged). The target position Pa in the present embodiment is a position where the sleeve 312 is completely removed from the gear with which the sleeve 312 was engaged.

  Thereby, the moving speed of the sleeve 312 can be increased and moved to the target position Pa. From the target position Pa to the neutral position Na, the sleeve is moved at a moving speed that does not contact the first gear 281 even if the sleeve 312 is swung in the axial direction. That is, control is performed such that the moving speed va of the sleeve 312 to the target position Pa is faster than the moving speed vb of the sleeve 312 from the target position Pa to the neutral position Na. Thereby, the shift time can be shortened.

(5. Configuration of transmission control device)
As shown in FIG. 12, the shift control device 26 includes a position setting unit 261, a low-pass filter unit 262, an I control unit 263, an FF control unit 264, a PD control unit 265, a P control unit 266, and a PI. And a control unit 267. The transmission control device 26 generates a control current corresponding to the position of the sleeve 312 and supplies the control current to the linear actuator 313d by known PID control and feedforward control. The position setting unit 261 switches and sets the target position Pa and the neutral position Na. The low-pass filter unit 262 commands the position of the sleeve 312 for smoothly moving the sleeve 312 to the target position Pa and the neutral position Na set by the position setting unit 261.

  The I control unit 263 calculates a control command value for performing control proportional to the integral of the deviation between the command position from the low-pass filter unit 262 and the detection position from the position detection sensor 324. Based on the target position Pa set by the position setting unit 261, the FF control unit 264 outputs a feedforward command value for moving the sleeve 312 quickly and converging to the target position Pa quickly. The FF control unit 264 outputs a feedforward command value during the initial feedback control (see FIG. 14). This feedforward command value is added to the control command value calculated by the I control unit 263.

  The PD control unit 265 calculates a control command value for performing control based on the speed obtained by time differentiation of the deviation of the detected position from the position detection sensor 324. This control command value is subtracted from the control command value calculated by the I control unit 263. The P control unit 266 performs control in proportion to the deviation between the control command value from the I control unit 263, the FF control unit 264, and the PD control unit 265 and the detection position from the position detection sensor 324 in order to prevent divergence. The target current for calculating is calculated. The PI control unit 267 matches the actual current with the target current according to the deviation between the target current from the P control unit 266 and the detected current from the linear actuator 313d and the integration of the deviation.

(6. Processing of transmission control device)
Next, the processing of the shift control device 26 will be described with reference to the flowcharts of FIGS. 13 to 18 and the time chart of FIG. Note that the shift control device 26 according to the present embodiment performs an operation to cancel the fixation when the sleeve 312 is fixed in the process of releasing the engagement between the sleeve 312 and the second speed gear 282. However, if this sticking does not occur, as a result of the control of the present embodiment, the linear actuator supply current and the sleeve position change as shown in the time chart of FIG. Therefore, hereinafter, the processing of the shift control apparatus of the present embodiment will be described with reference to FIG.

  As shown in FIG. 13, the transmission control device 26 determines whether or not there is a request for movement of the sleeve 312 to the neutral position Na (that is, a dog removal request) (step S <b> 1). If there is a request to move the sleeve 312 to the neutral position Na (YES in step S1), the disengagement control (dog release control) between the spline 312a of the sleeve 312 and the second dog clutch portion 282a of the second gear 282 is performed. Perform (step S2). On the other hand, if there is no request for movement to the neutral position Na (NO in step S1), the process waits until there is a movement request.

  In the disengagement control (step S2), as shown in FIG. 14, the transmission control device 26 first determines whether or not it is the first loop after transitioning to the disengagement control (step S21). If it is the first loop (YES in step S21), the shift control device 26 supplies a constant current to the linear actuator 313d (step S24). The constant current at this time corresponds to the “first current” of the present invention.

  When a constant current is supplied to the linear actuator 313d in step S24, as shown in FIG. 19 and FIG. 20, thrust in the separation direction corresponding to a predetermined constant current Ia is applied to the sleeve 312 from the time point t0. The sleeve 312 gradually moves and the spline 312a of the sleeve 312 begins to come off from the second dog clutch portion 282a of the second speed gear 282. The speed change control device 26 determines whether or not the sleeve 312 has started to move (step S25). If it is determined that the sleeve 312 has started to move (YES in step S25), it performs initial feedback control (step S4). .

  On the other hand, if it is not determined in step S25 that the sleeve 312 has started moving (NO in step S25), the process returns to step S24, and the speed change control device 26 continues to supply a constant current to the linear actuator 313d. The case where the transition to the engagement release control is not performed and the loop is not the first time (NO in step S21) will be described later.

  In the initial feedback control (step S4), as shown in FIG. 15, the shift control device 26 sets a target position Pa (step S41) and performs a low-pass filter process (step S42). In the low pass filter process, the transmission control device 26 commands the position of the sleeve 312 for smoothly moving the sleeve 312 to the target position Pa. Then, the transmission control device 26 calculates a deviation between the target position of the sleeve 312 and the detected position of the sleeve 312 (step S43).

  Next, the transmission control device 26 calculates the sleeve speed by subtracting the previously detected sleeve position from the currently detected sleeve position (step S44), and determines whether the sleeve speed is equal to or less than a predetermined threshold value. Thus, it is determined whether or not the sleeve 312 is fixed (step S45).

  When the sleeve 312 is moving at a speed greater than the threshold, that is, when the sleeve 312 is not fixed (NO in step S45), the transmission control device 26 performs the following control. That is, the I control unit 263 calculates a deviation between the command position of the sleeve 312 and the detection position of the sleeve 312 to calculate an integral value of the deviation (step S46), and multiplies the integral value of the deviation by the integral gain for control. The command value IA is calculated (step S47). The PD control unit 265 calculates a control command value IB by multiplying the deviation by a proportional gain (step S48), and calculates a control command value IC by multiplying the time variation of the deviation by a differential gain (step S49).

  Then, the FF control unit 264 obtains a feedforward command value ID for quickly moving the sleeve 312 and converging to the target position Pa by multiplying the target position Pa by a feedforward gain (step S50). Then, the FF control unit 264 adds the feedforward command value ID obtained in step S50 to the control command value IA obtained in step S48, and the control command value IB obtained in step S49 and the control command obtained in step S49. The final control current IA-IB-IC + ID supplied to the linear actuator 313d to move the sleeve 312 is calculated by subtracting the value IC (step S51). Then, upper and lower limit guards for the current value for preventing the linear actuator 313d from being destroyed are calculated (step S52). The current determined in this way and supplied to the linear actuator 313d corresponds to the “second current” of the present invention.

  Then, as shown in FIG. 19 and FIG. 20, the feedforward current ID is supplied to the linear actuator 313d at the time t1 when the feedback control is started. Then, a current IA−IB−IC + ID that decreases once from time t1 and increases toward 0 is supplied, and the sleeve 312 moves toward the target position Pa at a relatively high speed. At this time, the speed change control device 26 controls the linear actuator 313d at the command position indicated by the dotted line in order to smoothly move the sleeve 312 as indicated by the solid line in the figure.

  Then, as shown in FIGS. 19 and 20, before the spline 312a of the sleeve 312 disengages from the second dog clutch portion 282a of the engaged second gear 282, that is, the sleeve position is before the target position Pa. Before reaching Pr (preferably immediately before), the shift control unit 26 performs control to apply a braking force in the direction opposite to the moving direction to the sleeve 312.

  This braking force is applied when the linear actuator supply current reaches the zero cross point and exceeds the zero cross point, that is, when the sleeve position reaches Pb and exceeds Pb. From the feedback control start time t1 until the linear actuator supply current reaches the zero cross point, the sleeve 312 is applied with a linear actuator supply current in order to quickly remove the spline 312a of the sleeve 312 from the second dog clutch portion 282a of the second speed gear 282. No braking force is applied to. Note that it is possible to perform control to apply a braking force in the direction opposite to the moving direction to the sleeve 312 only by PID control.

  By performing the feedforward control described above, the sleeve 312 can be moved quickly and converged quickly to the target position Pa. By performing the PID control described above, the spline 312a of the sleeve 312 is engaged. Since the sleeve 312 can be braked before it is disengaged from the second dog clutch portion 282a of the second gear 282, it can be quickly stopped at the target position Pa.

  Next, the transmission control device 26 determines whether or not the sleeve 312 has converged to the target position Pa (step S53). If the sleeve 312 does not converge to the target position Pa (NO in step S53), step S43 is performed. Return to. On the other hand, when the sleeve 312 converges to the target position Pa, from the time t2 when the difference between the command position of the sleeve 312 and the actual position of the sleeve 312 becomes smaller than the predetermined value and the difference becomes smaller than the predetermined value. At a time point t3 when the predetermined time T has elapsed, it is determined that the sleeve 312 has converged to the target position Pa (YES in step S53). Since waiting for the elapse of the predetermined time T, the axial deflection of the sleeve 312 moved to the target position Pa can be attenuated, and the moving speed of the sleeve 312 from the target position Pa to the neutral position Na can be increased. .

  Here, when the shift control device 26 determines that the sleeve 312 has converged to the target position Pa, it starts the engagement control of the spline 322a of the sleeve 322 and the third dog clutch portion 293a of the third counter gear 293. That is, as shown in FIG. 18, when it is determined that the sleeve 312 has converged to the target position Pa and the meshing between the spline 312a of the sleeve 312 and the second dog clutch portion 292a of the second speed gear 282 has been released (step S91). The sleeve 322 stopped at the position Nb starts to move toward the third counter gear 293, and the spline 322a of the sleeve 322 and the third dog clutch portion 293a of the third counter gear 293 are engaged (step S92).

  If it is determined in step S45 that the movement of the sleeve 312 has stopped and the sleeve 312 is fixed (YES in step S45), the transmission control device 26 returns to the engagement release control (step S2). In the example of FIG. 19, the sleeve is fixed at time t5. When the control returns to the disengagement control, the shift control device 26 makes a transition to the disengagement control in step S21 and determines that it is not the first loop (NO in step S21), and the sleeve target position and the sleeve detection position. The deviation from (fixed position) is calculated (step S22). Here, the neutral position Na is adopted as the target position, but the target position Pa may be adopted.

  Subsequently, the shift control device 26 determines a constant current value Ib according to the deviation calculated in step S22 (step S23). At this time, the shift control device 26 determines a constant current value corresponding to the deviation amount with reference to a map that defines the relationship between the deviation amount and the constant current value. The map defines the relationship between the deviation amount and the constant current value so that the current value decreases as the deviation decreases. In step S24, the shift control device 26 supplies the current value Ib determined in step S23 to the linear actuator 313d as a constant current for releasing the fixation. The constant current value Ib is a value smaller (close to 0) than the constant current value Ia in the first loop. When the current value Ib for releasing the sticking is supplied in this way, as shown in FIG. 19, the sleeve 312 is released from the sticking and starts moving again in the separating direction. After this, it becomes YES at step S25, and transitions to initial feedback control (step S4) again.

  As described above, when it is determined that the sleeve is fixed, a constant current corresponding to the deviation is supplied to the linear actuator, and thrust in the disengagement direction is applied to the sleeve. Even when the sleeve is fixed to the clutch ring by applying some external force to the clutch ring when the braking force in the direction opposite to the release direction is applied to the sleeve before it is completely released, the sleeve is fixed. To release the engagement between the sleeve and the clutch ring.

  Furthermore, when the sleeve is fixed, the position of the sleeve is more than the position of the sleeve when the disengagement control is started, that is, when the sleeve spline and the dog clutch portion of the clutch ring are completely engaged. Since it is closer to the position or neutral position, when thrust is applied again in the disengagement direction in order to release the sticking of the sleeve, the magnitude of the thrust is determined according to the deviation between the sticking position of the sleeve and the target position In addition, the current Ib for releasing the fixation is made smaller than the current Ia initially supplied for releasing the engagement, thereby avoiding the sleeve from greatly exceeding the target position Pa during the initial feedback control. Thus, it is possible to quickly stop at the target position Pa while converging quickly to the target position Pa.

  If it is determined in the initial feedback control (step S4) that the sleeve 312 has converged to the target position Pa (YES in step S53), the transmission control device 26 performs final feedback control (step S6). That is, as shown in FIG. 16, the speed change control device 26 sets the neutral position Na (step S61), and the following processing (step S61 to step S52 shown in FIG. Steps S44 and S45) and processing other than processing for obtaining and adding the feedforward current (step S50 and ID addition in step S51) are performed (steps S62 to S69).

  Then, as shown in FIGS. 19 and 20, the linear actuator 313d is supplied with the current IA-IB-IC that once increases from the time t3 and then decreases toward 0, and the sleeve 312 moves toward the neutral position Na. It moves at a relatively slow speed, that is, at a speed slower than the speed toward the target position Pa. At this time, the speed change control device 26 controls the linear actuator 313d at the command position indicated by the dotted line in order to smoothly move the sleeve 312 as indicated by the solid line in the figure.

  When the sleeve 312 has converged to the neutral position Na in step S71, as shown in FIGS. 19 and 20, the command position of the sleeve 312 indicated by the dotted line and the actual position of the sleeve 312 indicated by the solid line are shown. At time t4 when the difference becomes smaller than the predetermined value, it is determined that the sleeve 312 has converged to the neutral position Na (YES in step S71).

  If it is determined that the sleeve 312 has converged to the neutral position Na (YES in step S49), the transmission control device 26 ends the final feedback control, performs idle control (step S8), as shown in FIG. Terminate the process. In the idle control, as shown in FIG. 17, the shift control device 26 sets the current supplied to the linear actuator 313d to 0 (step S81).

  In the above example, a current Ib smaller than the first constant current Ia (close to 0) is applied as a current for releasing the sticking in order to give the sleeve a thrust in the separating direction again after the sleeve is stuck. However, the current Ib for releasing the sticking may be larger than the initial constant current Ia. The static frictional force between the tooth surface of the spline of the sleeve and the tooth surface of the dog clutch portion of the clutch ring is higher than the static friction force of both tooth surfaces when releasing the engagement between the sleeve and the clutch ring at normal times. In this case, it is effective to supply a current larger than the initial constant current Ia as the current Ib for releasing the fixation. Further, the current Ib for releasing the fixation may not be a constant value.

  In the above example, the magnitude of the current for releasing the sticking is determined based on the deviation between the target position of the sleeve and the sticking position of the sleeve. That is, the map defines the deviation and the magnitude of the current for releasing the sticking. However, the present invention is not limited to this. Since the target position of the sleeve is fixed, the fixed position of the sleeve can be used as it is instead of the deviation between the target position of the sleeve and the fixed position of the sleeve in the above example. That is, the map may define the association between the sleeve fixing position and the current value for releasing the fixing. Whether the deviation between the fixed position and the target position is used or the fixed position is used as it is, the speed change control unit 26 determines the current value for releasing the fixation based on the fixed position of the sleeve. become.

  In the above example, the relationship between the deviation between the target position of the sleeve and the detected position of the sleeve and the current value for releasing the fixation is defined in the map, and the shift control unit 26 refers to this map. Although the current value for fixing release is determined, the present invention is not limited to this. For example, the shift control unit 26 uses a predetermined calculation formula based on the above deviation or the detected position of the sleeve to release the fixing. You may determine by calculating an electric current value.

(8. Other processing of the shift control device)
In the above-described processing of the speed change control device 26, in step S53 in FIG. 15, it is determined whether or not the sleeve 312 has converged to the target position Pa by determining whether the difference between the command position of the sleeve 312 and the actual position is greater than a predetermined value. A case has been described in which the process is performed at time t3 when the predetermined time T has elapsed since the difference is smaller than the predetermined value. However, when the difference between the command position of the sleeve 312 and the actual position becomes smaller than a predetermined value, that is, without waiting for the elapse of the predetermined time T, it is determined that the sleeve 312 has immediately converged to the target position Pa, and final feedback Control may be started. Also in this case, control is performed so that the moving speed of the sleeve 312 to the target position Pa is faster than the moving speed of the sleeve 312 from the target position Pa to the neutral position Na.

  In the above-described processing, the feedforward control for supplying the predetermined current ID to the linear actuator 313d is performed at the time point t1, so that the time constant of the low-pass filter processing can be increased from the time point t1 to t2. On the other hand, although the shift time becomes slightly longer, the feedforward control may be omitted and only the feedback control performed by reducing the time constant of the low-pass filter process from time t1 to t2.

  In the above embodiment, the dog clutch type automatic transmission has been described as an example. However, the automatic transmission of the present invention is not limited to the dog clutch type, and the engagement between the moving gear and the fixed gear is performed in the shifting operation. The present invention can be applied to any automatic transmission to be released.

  In the present invention, when the moving gear is fixed to the fixed gear in the process of releasing the engagement between the moving gear and the fixed gear, a thrust in the disengagement direction is applied to the moving gear, so that such fixing can be released. It has an effect and is useful as an automatic transmission device and an automatic transmission method used for vehicles and the like.

13 Automatic transmission 23 Main shaft (rotating shaft)
252 and 253 dog clutch transmission mechanism 26 transmission control device 281 first gear (first clutch ring)
282 2nd gear (second clutch ring)
283 3rd gear 284 4th gear 293 3rd counter gear (1st clutch ring)
294 Fourth counter gear (second clutch ring)
311 and 321 Clutch hub (hub)
312 and 322 Sleeve (moving gear)
313, 323 Axial motion device 314, 324. Position detection sensor 313d, 323d Linear actuator

Claims (6)

A moving gear supported by a rotating shaft, incapable of rotating relative to the rotating shaft and movable in the axial direction of the rotating shaft;
An axial movement mechanism for moving the moving gear in the axial direction of the rotary shaft;
A fixed gear that is supported by the rotating shaft at a position adjacent to the moving gear, is rotatable with respect to the rotating shaft, and is detachable from the moving gear by movement of the moving gear;
A sensor for detecting a position of the moving gear in the axial direction;
A control device for controlling the operation of the axial movement mechanism based on the position detected by the sensor;
With
As the control for releasing the engagement between the fixed gear and the moving gear,
Supplying a first current to the axial movement mechanism in order to move the moving gear in a disengagement direction in which the moving gear disengages from the fixed gear;
After the movement gear starts to move in the disengagement direction and before the engagement between the movement gear and the fixed gear is completely released, the movement gear is controlled in the direction opposite to the disengagement direction. Supplying a second current to the shaft mechanism to apply power;
It is determined that the moving gear is fixed to the fixed gear after the moving gear starts to move in the disengagement direction and before the engagement between the moving gear and the fixed gear is completely released. In order to apply a thrust in the disengaging direction to the moving gear, a third current is supplied to the axial movement mechanism.   The automatic transmission according to claim 1, wherein the control device determines the magnitude of the third current based on a fixed position of the fixed moving gear.   3. The automatic transmission according to claim 2, wherein the control device determines the magnitude of the third current based on a deviation between the fixed position and a target position of movement of the moving gear.   The automatic controller according to claim 3, wherein the control device determines the magnitude of the third current with reference to a map that defines a correspondence relationship between the deviation and the magnitude of the third current. Transmission device.   The automatic transmission according to any one of claims 1 to 4, wherein the third current is smaller than the first current. A moving gear supported by a rotating shaft, incapable of rotating relative to the rotating shaft and movable in the axial direction of the rotating shaft;
An axial movement mechanism for moving the moving gear in the axial direction;
A fixed gear that is supported by the rotating shaft at a position adjacent to the moving gear, is rotatable with respect to the rotating shaft, and is detachable from the moving gear by movement of the moving gear;
A sensor for detecting a position of the moving gear in the axial direction;
An automatic transmission method comprising: controlling an axial movement mechanism based on a position detected by the sensor in order to disengage the fixed gear from the moving gear. ,
Supplying a first current to the axial movement mechanism in order to move the moving gear in a disengagement direction in which the moving gear disengages from the fixed gear;
After the movement gear starts to move in the disengagement direction and before the engagement between the movement gear and the fixed gear is completely released, the movement gear is controlled in the direction opposite to the disengagement direction. Supplying a second current to the shaft mechanism to apply power;
It is determined that the moving gear is fixed to the fixed gear after the moving gear starts to move in the disengagement direction and before the engagement between the moving gear and the fixed gear is completely released. And a third current is supplied to the axial movement mechanism to apply a thrust in the disengagement direction to the moving gear.

Images