JP2017138232A - Rotation direction estimation method and rotation direction estimation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To estimate a rotation direction of a rotary element of an automatic transmission without using a rotation direction sensor.SOLUTION: An input shaft 30A is connected to a constituent 31S of a planetary gear mechanism 31, and an intermediate rotary element M8 is connected to a constituent 31C. In a specific state where friction engage elements B2 and B3 are fastened, the intermediate rotary element M8 is rotated at a rotational speed which is increased/decreased in a linear relationship of a ratio corresponding to a gear ratio with respect to an output shaft rotational speed and specified in accordance with an input shaft rotational speed. In the specific state, detection information of input shaft rotations, output shaft rotations and intermediate rotations are acquired, and an estimate rotation speed of the intermediate rotary element M8 is calculated from the acquired rotational speed of the input shaft and the acquired rotational speed of the output shaft including a rotation direction. Two detection value corresponding rotational speeds of the acquired rotational speed of the intermediate rotary element M8 are derived and based on the two detection value corresponding rotational speed and the calculated estimate rotational speed, a rotation direction of the intermediate rotary element M8 is estimated.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a rotation direction estimation method and a rotation direction estimation device for grasping the rotation direction of a rotation element of an automatic transmission.

Some stepped automatic transmissions have a configuration in which a plurality of planetary gear mechanisms are combined to achieve a shift stage by selective engagement of a plurality of friction engagement elements (clutch or brake). In such an automatic transmission, when the friction engagement element is engaged, the engagement pressure is controlled based on the rotation state of the rotating element to be engaged, thereby smoothly engaging the engagement element.
For this reason, a rotation sensor for detecting the rotation speed (number of rotations) of the rotation element is provided, and the detection information of the sensor is used for controlling the engagement pressure of the friction engagement element.

However, some rotating elements do not always rotate in a constant direction, but rotate in the normal direction and the reverse direction. The rotating state of the rotating element includes not only information on the rotational speed but also information on the rotational direction. May be necessary.
In this regard, Patent Document 1 discloses a technique related to a method for controlling a running operation of an automobile or the like using a rotation sensor that detects a rotation direction instead of a rotation sensor that detects a rotation speed (number of rotations).

Special table 2008-540234 gazette

  As described above, rotation sensors include a rotation speed sensor that detects a rotation speed and a rotation direction sensor that detects a rotation direction. Although there is a composite rotation sensor in which the rotation speed sensor and the rotation direction sensor are integrated, it is naturally more expensive than the rotation speed sensor.

  Therefore, if the rotation direction of each rotating element is directly detected using a plurality of sensors, the cost increases accordingly. Therefore, from the viewpoint of cost reduction, there is a demand for development of a technique that makes it possible to grasp the rotation direction without using a sensor as much as possible.

  The present invention was devised in view of such a problem, and a rotational direction estimation method and rotational direction estimation that enable the rotational direction of a rotational element of an automatic transmission to be grasped by estimation with a small number of rotational direction sensors. An object is to provide an apparatus.

  [1] In order to achieve the above object, the rotational direction estimation method of the present invention includes an input shaft that receives rotation from a drive source, an output shaft that outputs a shifted rotation, the input shaft, and the output A stepped automatic transmission mechanism that is interposed between the shaft and configured by combining a plurality of planetary gear mechanisms and that achieves a shift stage by selective engagement of a plurality of friction engagement elements. In the transmission, a rotation direction estimation method for estimating a rotation direction of the first intermediate rotation element between the input shaft and the output shaft, wherein the first configuration of the first planetary gear mechanism among the plurality of planetary gear mechanisms. The input shaft is connected to an element, the first intermediate rotating element is connected to a second component, and the first intermediate rotating element is in a specific state in which any one of the plurality of friction engagement elements is fastened. Output shaft rotation An input that detects the rotational speed of the input shaft, and is a rotating element that increases or decreases in a linear relationship with the ratio of the number of teeth to the speed and rotates at a rotational speed defined according to the rotational speed of the input shaft. A shaft rotation sensor, an output shaft rotation sensor that detects a rotation speed including a rotation direction of the output shaft, and an intermediate rotation sensor that detects a rotation speed of the first intermediate rotation element. Detection information acquisition step of acquiring each detection information of the input shaft rotation sensor, the output shaft rotation sensor, and the intermediate rotation sensor, the linear relationship, the rotation speed of the input shaft acquired in the detection information acquisition step, and the A rotation speed calculation step of calculating an estimated rotation speed of the first intermediate rotation element from a rotation speed including the rotation direction of the output shaft, and the rotation of the first intermediate rotation element acquired in the detection information acquisition step Deriving two detection value-corresponding rotation speeds including a rotation direction by adding a positive / negative sign to the degree, and based on the two detection value-corresponding rotation speeds and the estimated rotation speed calculated in the rotation speed calculation step And an estimation step for estimating the rotation direction of the first intermediate rotation element.

  [2] The rotation direction of the input shaft is variable, and in the rotation speed calculation step, the rotation speed of the input shaft acquired in the detection information acquisition step is added with a positive / negative sign to assume two rotation speeds. Thus, it is preferable to calculate the two estimated rotational speeds of the first intermediate rotational element from these two rotational speeds, the linear relationship, and the rotational speed including the rotational direction of the output shaft.

  [3] In the estimation step, the two rotation speeds corresponding to the detected values positive and negative are compared with the estimated rotation speed, and the closest to the estimated rotation speed among the two rotation speeds corresponding to the detection value. It is preferable that the value of the rotation speed corresponding to the detection value is determined as an appropriate value and the rotation direction of the first intermediate rotation element is estimated.

  [4] A second intermediate rotation element coupled to the third component of the first planetary gear mechanism, and a third intermediate rotation element connected to the second intermediate rotation element via the second planetary gear mechanism. It is preferable that the third intermediate rotating element and the output shaft are connected via a third planetary gear mechanism.

  [5] The plurality of planetary gear mechanisms include the first, second, and third planetary gear mechanisms and the fourth planetary gear mechanism. In the first planetary gear mechanism, the input shaft is a sun gear and the first intermediate is a carrier. In the second planetary gear mechanism, the fourth intermediate rotating element is connected to the sun gear, the second intermediate rotating element is connected to the carrier, and the third intermediate rotating element is connected to the ring gear. The third planetary gear mechanism, the third intermediate rotating element is connected to the sun gear, the output shaft is connected to the carrier, and the fifth intermediate rotating element is connected to the ring gear. In the fourth planetary gear mechanism, the sun gear is connected. The third intermediate rotation element, the carrier the input shaft, and the ring gear the sixth intermediate rotation element. Rolling elements are respectively connected, between the input shaft and the first intermediate rotating element, between the first intermediate rotating element and the third intermediate rotating element, and the sixth intermediate rotating element and the output shaft. Between the first intermediate rotation element and the transmission case, between the fourth intermediate rotation element and the transmission case, and the fifth intermediate rotation. It is preferable that a friction engagement element is interposed between the element and the transmission case.

  [6] Further, the rotation direction estimation device of the present invention includes an input shaft that receives rotation from a drive source, an output shaft that outputs a rotated rotation, and an intermediate between the input shaft and the output shaft. A stepped automatic transmission mechanism configured by combining a plurality of planetary gear mechanisms and selectively engaging a plurality of friction engagement elements, wherein the input shaft Direction estimation device for estimating the rotation direction of the first intermediate rotation element between the output shaft and the output shaft, wherein the input shaft is coupled to the first component of the first planetary gear mechanism of the plurality of planetary gear mechanisms The first intermediate rotation element is coupled to the second component, and the first intermediate rotation element is in a specific state in which any one of the plurality of friction engagement elements is fastened with respect to the rotation speed of the output shaft. The teeth ratio An input shaft rotation sensor for detecting the rotation speed of the input shaft, and a rotation element that rotates at a rotation speed defined according to the rotation speed of the input shaft. An output shaft rotation sensor that detects a rotation speed including the rotation direction of the first intermediate rotation element, and an intermediate rotation sensor that detects a rotation speed of the first intermediate rotation element. In the specific state, the input shaft rotation sensor, the output shaft Each detection information of the rotation sensor and the intermediate rotation sensor is acquired, and the first intermediate rotation element is estimated from the linear relationship and the acquired rotation speed of the input shaft and the rotation speed of the output shaft. Rotational speed calculating means for calculating the rotational speed, and adding the positive and negative signs to the rotational speed of the acquired first intermediate rotational element to derive two detected value corresponding rotational speeds including the rotational direction, And output values corresponding rotational speed, on the basis of the rotational speed calculating step in the calculated estimated rotation speed, is characterized by having an estimation means for estimating the direction of rotation of the first intermediate rotating element.

  [7] The rotation direction of the input shaft is variable, and the rotation speed calculation means attaches positive and negative signs to the acquired rotation speed of the input shaft and assumes two rotation speeds. It is preferable to calculate two estimated rotational speeds of the first intermediate rotational element from the speed, the linear relationship ratio, and the rotational speed including the rotational direction of the output shaft.

  [8] The estimation unit compares the two rotation speeds corresponding to the positive and negative detection values with the estimated rotation speed, and is closest to the estimated rotation speed among the two detection value rotation speeds. It is preferable that the value of the rotation speed corresponding to the detection value is determined as an appropriate value and the rotation direction of the first intermediate rotation element is estimated.

  [9] A second intermediate rotating element coupled to the third component of the first planetary gear mechanism, and a third intermediate rotating element connected to the second intermediate rotating element via the second planetary gear mechanism. It is preferable that the third intermediate rotating element and the output shaft are connected via a third planetary gear mechanism (33).

  [10] The plurality of planetary gear mechanisms include the first, second, and third planetary gear mechanisms and the fourth planetary gear mechanism. In the first planetary gear mechanism, the input shaft is a sun gear and the first intermediate is a carrier. In the second planetary gear mechanism, the fourth intermediate rotating element is connected to the sun gear, the second intermediate rotating element is connected to the carrier, and the third intermediate rotating element is connected to the ring gear. The third planetary gear mechanism, the third intermediate rotating element is connected to the sun gear, the output shaft is connected to the carrier, and the fifth intermediate rotating element is connected to the ring gear. In the fourth planetary gear mechanism, the sun gear is connected. The third intermediate rotating element, the carrier the input shaft, and the ring gear Rotating elements are respectively connected, between the input shaft and the first intermediate rotating element, between the first intermediate rotating element and the third intermediate rotating element, and between the sixth intermediate rotating element and the output shaft. Between the first intermediate rotation element and the transmission case, between the fourth intermediate rotation element and the transmission case, and the fifth intermediate rotation. It is preferable that a friction engagement element is interposed between the element and the transmission case.

  According to the present invention, one rotation direction sensor called an output shaft sensor that detects a rotation speed including a rotation direction can be used for rotation elements that do not have a rotation direction sensor among rotation elements of an automatic transmission while suppressing an increase in cost. The rotation direction can be grasped, and the automatic transmission can be controlled more appropriately.

1 is an overall system configuration diagram showing a power train of a vehicle according to an embodiment of the present invention together with its control system (including a rotation direction estimating device). It is a skeleton figure which shows the structure of the automatic transmission which concerns on one Embodiment of this invention. It is a fastening operation | movement table | surface of each friction engagement element for every gear stage of the automatic transmission which concerns on one Embodiment of this invention. It is a shift diagram of the automatic transmission which concerns on one Embodiment of this invention. It is a collinear diagram explaining the estimation of the rotation direction of the rotation element by the rotation direction estimation method and the rotation direction estimation device according to an embodiment of the present invention, (a) is a case where the rotation element is rotating in the positive direction. (B) illustrates the case where the rotating element is rotating in the negative direction. It is a speed correspondence diagram of a plurality of rotation elements explaining estimation of the rotation direction of the rotation elements by the rotation direction estimation method and the rotation direction estimation device according to the embodiment of the present invention. It is a block diagram explaining the rotation direction estimation apparatus which concerns on one Embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. Note that the embodiment described below is merely an example, and there is no intention to exclude various modifications and technical applications that are not explicitly described in the following embodiment. Each configuration of the following embodiments can be implemented with various modifications without departing from the spirit thereof, and can be selected or combined as appropriate.

[1. Overall system configuration]
As shown in FIG. 1, the power train of the vehicle according to the present embodiment includes an engine 1 as a drive source, an automatic transmission 4 including a torque converter 2 with a lock-up clutch and a stepped automatic transmission mechanism 3, And a power transmission mechanism 5 provided between the output shaft of the automatic transmission 4 and the drive wheels 6.

  The stepped automatic transmission mechanism 3 is connected to the engine 1 via a torque converter 2 having a lock-up clutch 20, and includes various friction engagement elements (clutch or brake). Each gear stage is achieved by fastening or releasing. The engagement or disengagement of various friction engagement elements and the engagement state of the lock-up clutch of the torque converter 2 are performed by controlling a required solenoid valve provided in the hydraulic circuit unit 7 to switch the oil supply state.

  In order to control such a hydraulic circuit unit 7, an automatic transmission controller (transmission control means) 10 is provided, and in order to control the engine 1, an engine controller 100 is provided. The automatic transmission controller 10 controls the hydraulic circuit unit 7 based on information from various sensors 11 to 16. The automatic transmission controller 10 and the engine controller 100 are connected so as to transmit information to each other, and the automatic transmission 4 and the engine 1 can be controlled in cooperation.

[2. Configuration of automatic transmission]
As shown in FIG. 2, the automatic transmission mechanism 3 includes four first planetary gear mechanisms (PG 1) 31, second planetary gear mechanisms (PG 2) 32, third planetary gear mechanisms (PG 3) 33, and fourth planetary gear mechanisms (PG 4) 34. Two planetary gear mechanisms are arranged in series on the same axis, and have first to ninth forward gears and reverse gears. Each planetary gear mechanism 31 to 34 includes a sun gear (first component) 31S to 34S, a carrier (second component) 31C to 34C, and a ring gear (third component) 31R to 34R.

  The automatic transmission mechanism 3 includes an input shaft 30A that receives rotation from the engine 1 via the torque converter 2, an output shaft 30B that outputs rotation to the drive wheels via the power transmission mechanism 5, and planetary gear mechanisms 31 to 34. Intermediate shafts 30 </ b> C and 30 </ b> D that connect specific elements are provided. By selectively combining required elements of each planetary gear mechanism 31 to 34, a required power transmission path is configured and a corresponding gear stage is achieved.

  That is, the sun gear 31S of the first planetary gear mechanism 31 and the carrier 34C of the fourth planetary gear mechanism 34 are directly coupled to the input shaft 30A of the automatic transmission mechanism 3. Therefore, the sun gear 31S of the first planetary gear mechanism 31 and the carrier 34C of the fourth planetary gear mechanism 34 always rotate integrally with the input shaft 30A. Further, the carrier 31C of the first planetary gear mechanism 31 is coupled to the input shaft 30A of the automatic transmission mechanism 3 via the second clutch C2. The input shaft 30A, the sun gear 31S, and the carrier 34C that rotate together are referred to as a first rotating member M1.

  A carrier 33 </ b> C of the third planetary gear mechanism 33 is directly connected to the output shaft 30 </ b> B of the automatic transmission mechanism 3. Therefore, the carrier 33C of the third planetary gear mechanism 33 always rotates integrally with the output shaft 30B. A ring gear 34R of the fourth planetary gear mechanism 34 is connected to the output shaft 30B of the automatic transmission mechanism 3 via the first clutch C1. Note that the output shaft 30B and the carrier 33C that rotate together are referred to as a second rotating member M2.

  The ring gear 32R of the second planetary gear mechanism 32, the sun gear 33S of the third planetary gear mechanism 33, and the sun gear 34S of the fourth planetary gear mechanism 34 are all directly connected to the intermediate shaft 30C. Accordingly, the ring gear 32R of the second planetary gear mechanism 32, the sun gear 33S of the third planetary gear mechanism 33, and the sun gear 34S of the fourth planetary gear mechanism 34 always rotate integrally. The intermediate shaft 30C, the ring gear 32R, the sun gear 33S, and the sun gear 34S that rotate integrally are referred to as a third rotating member M3.

  The ring gear 31R of the first planetary gear mechanism 31 and the carrier 32C of the second planetary gear mechanism 32 are both directly connected to the intermediate shaft 30D. Therefore, the ring gear 31R of the first planetary gear mechanism 31 and the carrier 32C of the second planetary gear mechanism 32 always rotate integrally. The intermediate shaft 30D, the ring gear 31R, and the carrier 32C that rotate integrally are referred to as a fourth rotating member M4.

  A connecting shaft 30H is connected to the carrier 31C of the first planetary gear mechanism 31 so as to rotate integrally, and the carrier 31C is connected to the intermediate shaft 30C via the connecting shaft 30H and the third clutch C3. Further, the carrier 31C of the first planetary gear mechanism 31 is coupled to the transmission case 3A via the coupling shaft 30H and the first brake B1.

  Further, a connecting shaft 30E is connected to the sun gear 32S of the second planetary gear mechanism 32 so as to rotate integrally, and the sun gear 32S is connected to the transmission case 3A via the connecting shaft 30E and the third brake B3.

  The connecting shaft 30F is connected to the ring gear 33R of the third planetary gear mechanism 33 so as to rotate integrally, and the ring gear 33R is connected to the transmission case 3A via the connecting shaft 30F and the second brake B2.

  Further, the connecting shaft 30G is connected to the ring gear 34R of the fourth planetary gear mechanism 34 so as to rotate integrally, and the ring gear 34R is connected to one of the first clutches C1 via the connecting shaft 30G.

  The connecting shaft 30E and the sun gear 32S that rotate integrally are called a fifth rotating member M5, the connecting shaft 30F and the ring gear 33R that rotate integrally are called a sixth rotating member M6, and the connecting shaft 30G and the ring gear 34R that rotate integrally. Is called the seventh rotating member M7, and the connecting shaft 30H and the carrier 31C that rotate integrally are called the eighth rotating member M8.

The third to eighth rotation members M3 to M8 disposed between the input shaft 30A and the output shaft 30B are also referred to as intermediate rotation elements.
Regarding the correspondence between the first to sixth intermediate rotating elements in the claims and the third to eighth rotating members M3 to M8 in the present embodiment, the first intermediate rotating element is the eighth rotating member M8, and the second The intermediate rotation element is the fourth rotation member M4, the third intermediate rotation element is the third rotation member M3, the fourth intermediate rotation element is the fifth rotation member M5, and the fifth intermediate rotation element is the sixth rotation member. M6, and the sixth intermediate rotation element is the seventh rotation member M7.

  In the automatic transmission mechanism 3 configured as described above, the engagement of the friction engagement elements such as the first clutch C1, the second clutch C2, the third clutch C3, the first brake B1, the second brake B2, and the third brake B3 is established. Any one of the nine forward speeds and the reverse speeds from the first speed to the ninth speed is achieved by the combination.

  FIG. 3 is a fastening operation table showing a fastening state of each friction engagement element for each gear stage in the automatic transmission mechanism 3. In FIG. 3, ◯ indicates that the friction engagement element is in a fastening state, and a blank indicates that the friction engagement element is in a release state. The number of steps 1 to 9 indicates the first to ninth forward speeds, and the number of steps Rev indicates the reverse step.

  As shown in FIG. 3, to achieve the first speed, the second brake B2, the third brake B3, and the third clutch C3 are engaged, and the other friction engagement elements are released. To achieve the second speed, the second brake B2, the second clutch C2, and the third clutch C3 are engaged, and the other friction engagement elements are released. To achieve the third speed, the second brake B2, the third brake B3, and the second clutch C2 are engaged, and the other friction engagement elements are released.

  To achieve the fourth speed, the second brake B2, the third brake B3, the first clutch C1 are engaged, and the other friction engagement elements are released. To achieve the fifth speed, the third brake B3, the first clutch C1, and the second clutch C2 are engaged, and the other friction engagement elements are released. To achieve the sixth speed, the first clutch C1, the second clutch C2, and the third clutch C3 are engaged, and the other friction engagement elements are released.

  To achieve the seventh speed, the third brake B3, the first clutch C1, and the third clutch C3 are engaged, and the other friction engagement elements are released. To achieve the eighth speed, the first brake B1, the first clutch C1, and the third clutch C3 are engaged, and the other friction engagement elements are released. To achieve the ninth speed, the first brake B1, the third brake B3, the first clutch C1 are engaged, and the other friction engagement elements are released. To achieve the reverse gear, the first brake B1, the second brake B2, and the third brake B3 are engaged, and the other friction engagement elements are released.

[3. Shift control of automatic transmission]
The automatic transmission controller 10 performs the shift control by fastening and releasing the friction engagement elements of the automatic transmission mechanism 3. FIG. 4 is a shift diagram used for shift control when the D range is selected. In FIG. 4, a solid line indicates an upshift line, and a broken line indicates a downshift line. As shown in FIG. 1, the automatic transmission controller 10 includes an accelerator opening sensor 11, an engine rotation sensor 12, an inhibitor switch 13, a turbine rotation sensor (input shaft rotation sensor) 14, an output shaft rotation sensor (vehicle speed sensor). 15) Each information is input from the connecting shaft rotation sensor (intermediate rotation sensor) 16.

  The automatic transmission controller 10 is obtained by a shift control unit (shift control unit) 10A that controls the automatic transmission mechanism 3, a lockup control unit (lockup control unit) 10B that controls the lockup clutch 20, and a rotation sensor. A rotation information estimation unit (rotation information estimation means) 10C that estimates the rotation direction of the non-rotating elements and estimates the rotation speed including the rotation direction.

The shift control unit 10A determines the selection of the D range from the range selection information of the inhibitor switch 13. When the D range is selected, the transmission output shaft rotational speed No (transmission output shaft rotational speed ω ₂₎ from the output shaft rotation sensor 15 is selected. ) And the operating point determined based on the accelerator opening APO from the accelerator opening sensor 11 is searched for a position on the shift diagram. If the operating point does not move or if the operating point remains within one gear range on the shift diagram of FIG. 4 even if the operating point moves, the current gear is maintained as it is.

  On the other hand, when the operating point moves and crosses the upshift line on the shift diagram of FIG. 4, the shift stage indicated by the area where the operating point after crossing from the shift stage indicated by the area where the operating point before crossing exists is shown. Output upshift command to. Further, when the operating point moves and crosses the downshift line on the shift diagram of FIG. 4, the shift stage indicated by the area where the operating point after crossing from the shift stage indicated by the area where the operating point before crossing exists is shown. Output downshift command to.

  For example, when a downshift command is output, if the shift stage in the region where the operating point before crossing the downshift line is in the nth speed, the operating point after crossing the downshift line by the downshift operation Is switched to the (n-1) th speed in the region where is present. When the upshift command is output, the gear position is switched from the (n-1) th speed to the nth speed. Here, n is a natural number from 9 to 2.

  In the shift control unit 10A, during upshifting and downshifting, the frictional engagement element is engaged and released by hydraulic control. At this time, the two rotational elements (input side element and the frictional engagement element to be engaged) are engaged. The hydraulic control is performed while grasping the rotation state of the output side element) so that the frictional engagement element is smoothly engaged. For this purpose, information on the rotation state of both rotation elements of the friction engagement element is required.

  As described above, the automatic transmission mechanism 3 has the first to eighth rotation members M1 to M8, and the first clutch C1 is located between the second rotation member M2 and the seventh rotation member M7, and the second clutch C2. Is provided between the eighth rotating member M8 and the first rotating member M1, and the third clutch C3 is provided between the third rotating member M3 and the eighth rotating member M8.

  Therefore, the rotation information of the second rotation member M2 and the seventh rotation member M7 is required to control the first clutch C1, and the control of the second clutch C2 requires the rotation information of the eighth rotation member M8 and the first rotation member M1. Rotation information is required, and rotation information of the third rotation member M3 and the eighth rotation member M8 is required to control the third clutch C3.

  The first brake B1 is between the transmission case 3A and the eighth rotation member M8, the second brake B2 is between the transmission case 3A and the sixth rotation member M6, and the third brake B3 is between the transmission case 3A and the eighth rotation member M8. It is provided between each of the five rotation members M5.

  Therefore, the rotation information of the eighth rotation member M8 is necessary to control the first brake B1, the rotation information with the sixth rotation member M6 is necessary to control the second brake B2, and the third brake B3 is In order to control, the rotation information of the 5th rotation member M5 is needed.

  For this reason, each rotation information of the 1st-8th rotation members M1-M8 can be detected now. That is, the first rotation member M1 is provided with a turbine rotation sensor (input shaft rotation sensor) 14 that detects rotation of the turbine (not shown) of the torque converter 2 (that is, rotation of the input shaft 30A). For the second rotation member M2, an output shaft rotation sensor (output shaft rotation sensor) 15 that detects the rotation of the output shaft 30B is provided.

For the eighth rotation member M8, a connection shaft rotation sensor 16 that detects the rotation of the connection shaft 30H connected to the carrier 31C is provided.
The turbine rotation sensor 14 and the connecting shaft rotation sensor 16 are rotation speed sensors that detect only the rotation speed ω (rotation number N) information that does not include the rotation direction, but the output shaft rotation sensor 15 includes the rotation direction. It is a sensor that detects rotation speed ω (rotation speed N) information, and is a composite rotation sensor that is configured by integrating a rotation speed sensor and a rotation direction sensor.

  The remaining rotation information of the remaining third to seventh rotation members M3 to M7 is the rotation information detected by the rotation sensors 14 to 16, the engagement information of the first, second and third brakes B1 to B3, and the planetary gear mechanisms 31 to 34. It can be calculated from the tooth number ratio (= ratio based on the number of teeth) between the sun gears 31S to 34S and the ring gears 31R to 34R. For example, the rotation information of the third rotation member M3 when the second brake B2 is in the engaged state includes rotation speed information including the rotation direction of the output shaft rotation sensor 15, and teeth of the sun gear 33S and the ring gear 33R in the third planetary gear mechanism 33. From the number ratio, it can be calculated as rotation speed information including the rotation direction.

  For example, when the driver operates the shift lever to the R range and moves the vehicle backward, and then operates the shift lever from the R range to the N range through the N range, the first brake B1, the second brake B2, the second The first brake B1 is released from the state in which the three friction engagement elements of the three brake B3 are engaged, and the third clutch C3 in the released state is engaged.

  To achieve the Rev stage (reverse stage) of the automatic transmission mechanism 3 in accordance with the selection of the R range, as shown in the engagement table of FIG. 3, the first brake B1, the second brake B2, and the third brake B3 are engaged, The first clutch C1, the second clutch C2, and the third clutch C3 are released. Here, when switching from the R range to the D range, the first forward speed is normally set. To achieve the first speed, the second brake B2, the third brake B3, and the third clutch C3 are engaged, and the first clutch C1, the second clutch C2, and the first brake B1 are released.

  Therefore, when the R range is switched to the D range, the first brake B1 is switched from engagement to release, the reverse shift is shifted to neutral, and the third clutch C3 is switched from release to engagement, from neutral to first gear. Transition. At this time, for the third clutch C3 to be engaged, it is desired to perform the hydraulic control while grasping the rotation state of the input side element and the output side element so as to be smoothly engaged.

[4. Estimation of rotation direction]
Therefore, information on the rotation state of the eighth rotation element M8 that is the input side element of the third clutch C3 and information on the rotation state of the third rotation element M3 that is the output side element of the third clutch C3 are required. .
As for the rotation state of the eighth rotation element M8, rotation speed information not including the rotation direction detected by the connecting shaft rotation sensor 16 is obtained.

  Regarding the rotation state of the third rotation element M3, the second brake B2 is held in the engaged state when switching from the reverse gear to the first gear, so when focusing on the third planetary gear mechanism 33, the ring gear of the third planetary gear mechanism 33 33R is non-rotating, and includes rotational speed information including the rotational direction detected by the output shaft rotation sensor 15 (that is, rotational information of the carrier 33C of the third planetary gear mechanism 33), the sun gear 33S and the ring gear in the third planetary gear mechanism 33. It can be calculated from the tooth ratio of 33R.

  On the other hand, regarding the rotation state of the eighth rotation element M8 that is the input side element among the rotation states of the input side element and the output side element of the third clutch C3, only information on the rotation speed that does not include the rotation direction can be obtained. Therefore, when the third clutch C3 is engaged, the hydraulic pressure cannot be controlled appropriately, and the third clutch C3 may not be engaged smoothly.

  For example, FIGS. 5A and 5B show the first case where the driver operates the shift lever to the R range and moves the vehicle backward, and then operates the shift lever from the R range to the N range to the D range. The collinear charts L1 to L4 of the four planetary gear mechanisms 31 to 34 are respectively represented by sun gears (first component) 31S to 34S, carriers (second component) 31C to 34C, ring gear (third component) 31R to It is a figure shown in cooperation using the 1st-8th rotation members M1-M8 to which 34R belongs.

  5A and 5B, the vertical axis represents the rotational speed ω (rotational speed N), and the upper direction is along the forward direction (the forward direction of the vehicle) with the rotational speed 0 (rotational speed 0) as the center. The forward direction is the negative direction (the reverse direction along the reverse direction of the vehicle).

  The collinear diagram of the first planetary gear mechanism 31 is indicated by a solid line L1, and on the solid line L1, the sun gear 31S is provided for the first rotating member M1, the carrier 31C is provided for the eighth rotating member M8, and the fourth rotating member M4 is indicated. Each is provided with a ring gear 31R.

  A collinear diagram of the second planetary gear mechanism 32 is indicated by a one-dot chain line L2. On the one-dot chain line L2, the sun gear 32S is provided for the fifth rotation member M5, the carrier 32C is provided for the fourth rotation member M4, and the third rotation member. Each of M3 is provided with a ring gear 32R.

  The collinear diagram of the third planetary gear mechanism 33 is indicated by a two-dot chain line L3. On the two-dot chain line L3, the sun gear 33S is provided for the third rotating member M3, the carrier 33C is provided for the second rotating member M2, and the sixth The rotating members M6 are respectively provided with ring gears 33R.

  A collinear diagram of the fourth planetary gear mechanism 34 is indicated by a broken line L4. On the broken line L4, the sun gear 34S is provided for the third rotating member M3, the carrier 34C is provided for the first rotating member M1, and the seventh rotating member M7 is indicated. Are respectively provided with ring gears 34R.

  When the shift lever is switched from the R range to the D range before the vehicle is moved backward and completely stopped, as shown in FIGS. 5A and 5B, the second rotating member M2 including the output shaft 30B The rotation direction is a negative direction (reverse direction of the vehicle), and the first brake B1 among the first to third brakes B1 to B3 engaged in the R range by the shift range being out of the R range. Since only the second rotating member M8 is released, the stopped eighth rotating member M8 starts rotating.

However, at this time, according to the rotation state of the first rotation member M1 including the input shaft 30A, the rotation state of the eighth rotation member M8 is the state shown in FIG. 5A and the state shown in FIG. Can take. In other words, the rotation speed omega ₁ of the first rotary member M1 is relatively large, as shown in FIG. 5 (a), the eighth rotary member M8 is rotated in the forward direction, the rotational speed of the first rotary member M1 omega _{If 1} is relatively small, as shown in FIG. 5B, the eighth rotating member M8 rotates in the negative direction.

  Although the rotation state of the eighth rotation member M8 is detected by the connecting shaft rotation sensor 16, since this detection information is rotation speed information not including the rotation direction, is it in the positive direction as shown in FIG. Whether it is in the negative direction as shown in FIG. 5B cannot be determined from the detection information.

Therefore, in the present apparatus, the rotation information estimation unit 10C includes the detectable rotation information of the first rotation member M1 (only rotation speed information having no rotation direction) and rotation information of the second rotation member M2 (rotation speed information and rotation). Direction information), a rotation speed calculation unit (rotation speed calculation means) 10d that calculates the rotation speed ω ₈ of the eighth rotation member M8 by calculation, the calculated rotation speed calculation value ω _8C, and the connecting shaft rotation sensor 16 _Is provided with a rotation direction estimating unit (rotation direction estimating means) 10e for estimating the rotation direction of the eighth rotation member M8 based on the rotation speed detection value ω _8S acquired from the rotation direction sensor. The rotation direction of the eighth rotation member M8 can be estimated by using without using.

In this estimation method, the specific friction engagement element (clutch or brake) is engaged, and in the specific state where the eighth rotation member M8 and the second rotation member M2 are in a linear relationship, the rotation sensors 14 to 16 takes each detection information (detection information acquisition step), the estimated rotational linear relationship with the eighth rotating member from the rotational speed omega ₂ Metropolitan including the rotation direction of the rotational velocity omega ₁ and the output shaft 30B of the input shaft 30A acquired M8 When the speeds ω _8CA and ω _8CB are calculated (rotational speed calculation step), the rotation speeds ω _8S and −ω corresponding to the two detection values including the rotation direction by _adding a positive / negative sign to the acquired rotation speed of the eighth rotation member M8. _8S is derived, and the rotation direction of the eighth rotation member M8 is estimated based on the two detection value corresponding rotation speeds ω _8S , −ω _8S and the calculated estimated rotation speeds ω _8CA , ω _{8CB (reduction)} Regular process).

Hereinafter, this estimation method will be specifically described. In the following description, the rotation speed of the n-th rotation member M is expressed as ω _n , the calculated rotation speed of the n-th rotation member M is expressed as ω _nC, and the rotation speed of the n-th rotation member M is detected. The value is expressed as ω _nS .

  As shown in FIG. 5, when paying attention to the first planetary gear mechanism 31, the carrier 31C included in the eighth rotation member M8 includes a sun gear 31S included in the first rotation member M1 and a ring gear 31R included in the fourth rotation member M4. It rotates in conjunction.

Here, if the number of teeth of the sun gear 31S is Z _1S and the number of teeth of the ring gear 31R is Z _1R , the rotational speed ω ₈ of the eighth rotating member M8 (carrier 31C) is expressed by the following equation (1): 1 rotary member M1 may be represented by the rotational speed omega ₄ of the rotation speed omega ₁ and the fourth rotating member of (sun gear 31S) M4 (ring gear 31R).
ω ₈ = B · ω ₁ + ω ₄ (1)
However, B = Z _1S / (Z _1S + Z _1R )

  When attention is paid to the second planetary gear mechanism 32, the carrier 32C included in the fourth rotating member M4 rotates in conjunction with the sun gear 32S included in the fifth rotating member M5 and the ring gear 32R included in the third rotating member M3. .

Since the third brake B3 is engaged, the rotation speed of the fifth rotation member M5 (sun gear 32S) is 0, the number of teeth of the sun gear 32S is Z _2S, and the number of teeth of the ring gear 32R is Z _2R . The rotation speed ω ₄ of the four-rotation member M4 (carrier 32C) can be expressed by the rotation speed ω ₃ of the third rotation member M3 (ring gear 32R) as in the following equation (2).
ω ₄ = c · ω ₃ (2)
However, c = Z _2R / (Z _2S + Z _2R )

  Further, paying attention to the third planetary gear mechanism 33, the sun gear 33S included in the third rotating member M3 rotates in conjunction with the carrier 33C included in the second rotating member M2 and the ring gear 33R included in the sixth rotating member M6. .

Since the engagement of the second brake B2 is maintained at the above speed change (from the reverse speed to the first speed), the rotational speed of the sixth rotating member M6 (ring gear 33R) is 0, and the number of teeth of the sun gear 33S is reduced. When Z _3S is set and the number of teeth of the ring gear 33R is Z _3R , the rotational speed ω ₃ of the third rotating member M3 (sun gear 33S) is expressed by the second rotating member M2 (carrier 33C) as shown in the following equation (3). It can be represented by the rotational speed ω ₂ .
ω ₃ = d · ω ₂ (3)
However, d = (Z _3S + Z _3R ) / Z _3S

Therefore, from the equations (1) to (3), the rotation speed ω ₈ of the eighth rotation member M8 is equal to the rotation speed ω ₁ of the first rotation member M1 and the rotation velocity ω ₁ of the second rotation member M2, as shown in the following equation (4). It can be represented by the rotational speed ω ₂ .
ω ₈ = B · ω ₁ + A · ω ₂ (4)
However, A = c · d

As described above, the rotation speed ω ₂ of the second rotation member M ₂ is detected by the output shaft rotation sensor 15 including the rotation direction (positive / negative), and the rotation speed ω ₁ of the first rotation member M ₁ is detected by the turbine rotation sensor 14. The magnitude (absolute value) is detected (however, the direction of rotation (positive or negative) is not known).

From the detected value (absolute value) ω _1S (> 0) of the rotation speed of the first rotation member M1 detected by the turbine rotation sensor 14, the actual rotation speed of the first rotation member M1 is positive (that is, ω _1S ) and negative (ie, −ω _1S ), and given as a constant value in equation (4), the following two linear function equations (5A) and (5B) are derived: The rotational speed ω ₈ of the eighth rotating member M8 has a linear relationship with the ratio A corresponding to the gear ratio with respect to the rotational speed ω ₂ of the second rotating member M2.
ω ₈ = A · ω ₂ + E ... (5A)
However, E = B · ω _1S
ω ₈ = D · ω ₂ −E ... (5B)
However, E = B · ω _1S

FIG. 6 is a graph illustrating the linear functions of the equations (5A) and (5B). The horizontal axis represents the rotational speed ω ₂ of the second rotating member M2, and the vertical axis represents the rotational speed ω ₈ of the eighth rotating member M8. is there. Straight LL1 is a linear function (5A) when the rotational speed omega ₁ of the first rotary member M1 is positive, the straight line LL2 is a linear function of when the rotational speed omega ₁ of the first rotary member M1 is negative ( 5B) is shown respectively.

Here, when the detected value ω _2S of the rotational speed ω ₂ of the second rotating member M2 is ω _2SR (<0), the rotational speed detected value ω _2SR is substituted into the equations (5A) and (5B), respectively. As shown in FIG. 6, the rotation speed calculation values ω _8CA and ω _{8CB of} the eighth rotation member M8 are calculated. In this case, the calculated rotational speed values ω _8CA and ω _8CB are both negative values.

6, the value relating to operation of the rotational speed of the eighth rotary member M8, i.e., the rotational speed detection value of the second rotary member M2 omega _2SR and eighth rotation speed calculation value omega _{8 CA} rotary member M8, small and omega _8CB The values (detection corresponding values) ω _8SR and −ω _8SR based on the actual detection value ω _8SR of the rotation speed of the eighth rotation member M8 are indicated by large circles. Each value is assumed to be at the center of each circle mark shown.

Eighth rotary member M8 2 two articles detected corresponding value omega _8SR indicated by large _circles, - [omega] _8SR refers detection value omega _8SR detected by the connecting shaft rotation sensor 16 by an amount that does not include the rotation direction value ( Therefore, the detected corresponding value ω _8SR when the rotational speed ω ₈ of the eighth rotating member M8 is positive and the detected corresponding value −ω _8SR when it is negative are _estimated .

As a result, two calculated values ω _8CA and ω _8CB and two detection corresponding values ω _8SR and −ω _8SR are obtained for the rotational speed ω ₈ of the eighth rotating member M8, and the calculated values ω are compared with each other. _8CA , _ω8CB and detection corresponding values _ω8SR , _-ω8SR are _selected to have the same or the smallest absolute value (in other words, the closest value), and two detection corresponding values _ω8SR , The selected one of −ω _8SR is adopted as the rotation speed ω ₈ of the eighth rotation member M8. Here, as shown in FIG. 6, the two calculated values omega _{8 CA,} omega since the closest to the calculated value omega _{8 CA} and detected corresponding value - [omega] _8SR of _8CB, eighth rotary member detected corresponding value - [omega] _8SR M8 for adoption as a rotation speed ω _8.

Note that, as a method of selecting the closest value between the calculated values ω _CA and ω _CB and the detection corresponding values ω _S and −ω _S , an arithmetic process as shown in the block diagram of FIG. 7 can be employed. In FIG. 7, the arithmetic processing is roughly divided into three processing blocks 10CA, 10CB, and 10CC. The processing block 10CA corresponds to a detection information acquisition step, and the processing block 10CB includes a rotation speed calculation step and a rotation speed calculation unit. The processing block 10CC corresponds to the estimation step and estimation unit 10e.

As shown in FIG. 7, the rotation speed omega ₂ of the detection value of the second rotary member M2 and the (code containing) omega _2SR, rotational speed omega ₁ of the detected value of the first rotating member M1 (unsigned) and omega _lSR, the The detected value (unsigned) ω _8SR of the rotational speed ω ₈ of the 8-rotation member M8 is appropriately input to each gain processing unit 10C ₁₁ , 10C ₁₂ , 10C ₁₃ and processed.

Gain processing unit _{10C 11} is input to the detection value (the code containing) omega _2SR gain A is multiplication, the input detected values to the gain processing unit _{10C 12} (unsigned) to omega _lSR gain B is multiplication processing Is done. Processed detecting value (code containing) Aw _2SR and detection values (unsigned) Bω _1SR is sent to the arithmetic unit (adder unit) _{10C 21} and the arithmetic unit (subtraction unit) _{10C 22.} The arithmetic unit _{10C 21,} the added value _{X1 (= Aω 2SR + Bω 1SR} = ω 8CA) is calculated, the arithmetic unit _{10C 22,} subtraction value _{X2 (= Aω 2SR -Bω 1SR =} ω 8CB) is calculated.

On the other hand, the detection corresponding value Y2 (= _{−ω 8SR} ) _obtained by multiplying the detection value (unsigned) ω _8SR input to the gain processing unit 10C ₁₃ by gain −1 and inverting the positive / negative sign is calculated.

Then, the addition value X1 is sent to the calculation units (subtraction units) 10C ₃₁ and 10C ₃₂ , and the subtraction value X2 is sent to the calculation units (subtraction units) 10C ₃₃ and 10C ₃₄ . Also, the detection corresponding value Y1 (= ω _8SR ) whose sign is not inverted is sent to the calculation units 10C ₃₁ and 10C ₃₃ , and the detection corresponding value Y2 is sent to the calculation units 10C ₃₂ and 10C ₃₄ .

In the calculation unit 10C ₃₁ , the detection corresponding value Y1 is subtracted from the addition value X1, and this subtraction value (= X1-Y1) is processed into an absolute value (= | X1-Y1 |) in the absolute value processing unit 10C _41. .
The arithmetic unit _{10C 32,} is subtracted detected corresponding value Y2 from the addition value X1, the subtraction value (= X1-Y2) is the absolute value by the absolute value processing unit _{10C 42} are processed (= | | X1-Y2) .

In the arithmetic unit _{10C 33,} is subtracted detected corresponding value Y1 from the addition value X2, the subtraction value (= X2-Y1) is, in absolute value processing unit _{10C 43} absolute value is processed (= | | X2-Y1) .
In the calculation unit 10C ₃₄ , the detection corresponding value Y2 is subtracted from the addition value X4, and this subtraction value (= X4-Y2) is processed into an absolute value (= | X2-Y2 |) in the absolute value processing unit 10C _44. .

These absolute value (| X1-Y1 |, | X1-Y2 |, | X2-Y1 |, | X2-Y2 |) is the minimum value are input to the minimum value determining section 10C ₅ is determined.

Further, the determined minimum value is input to the comparison determination units 10C ₆₁ and 10C ₆₂ , and the comparison determination unit 10C ₆₁ determines whether the minimum value is equal to the absolute value | X1-Y1 |. The comparison determination unit 10C ₆₂ It is determined whether the minimum value is equal to the absolute value | X2-Y1 |.

Each determination information of the comparison determination units 10C ₆₁ and 10C ₆₂ is sent to the OR condition determination unit 10C ₇ . In OR condition determining section 10C _7, the minimum value is determined to be equal to the absolute value in one of the comparison determination unit _10C 61, _{10C 62,} and outputs the condition fulfillment signal to estimate selecting unit 10C _8. In estimating value selection section 10C _8, the condition establishing signal from the OR condition determining section 10C ₇ is outputted, and selected as an estimate omega _8E the Y1 output condition establishing signal from the OR condition determining section 10C ₇ is not outputted Y2 is selected as the estimated value ω _8E and output.

The estimated value ω _8E output in this way includes a sign in the rotation speed, and the rotation direction of the eighth rotation member M8 can be grasped from this sign. For example, if the estimated value ω _8E is Y1, the sign of the rotational speed is positive, and the rotational direction of the eighth rotating member M8 is positive. For example, if the estimated value ω _8E is Y2, the sign of the rotational speed Is negative, and it can be seen that the rotation direction of the eighth rotation member M8 is negative.

At the same time, the rotation direction of the input shaft 30A (the first rotating member M1 including the input shaft 30A) can also be grasped. For example, the minimum value determined in the minimum value determining section 10C ₅ is, | X1-Y1 | or | X1-Y2 | if the rotation direction of the input shaft 30A is found to be positive, the determination minimum minimum value determined in the section 10C ₅ is, | X2-Y1 | or | X2-Y2 | if the rotation direction of the input shaft 30A is found to be negative.

[5. Action and effect]
The rotation direction estimation method and apparatus according to the present embodiment are configured as described above, acquire each rotation information from the rotation sensors 14, 15, 16, and obtain an eighth rotation member M8, which is an intermediate rotation element, and an output shaft. Paying attention to the linear relationship with the second rotation member M2 including 30B and the point that the rotation speed of the eighth rotation member M8 is defined according to the rotation speed of the first rotation member M1 including the input shaft 30A, the rotation direction The estimated rotational speeds ω _8CA and ω _8CB of the eighth rotating member M8 are calculated from the rotational speed detection information of the input shaft 30A not including the rotational speed and the rotational speed detection information of the output shaft 30B including the rotational direction (rotational speed). Calculation process). Since the rotation direction of the eighth rotation member M8 is estimated based on the two detected value corresponding rotation speeds ω _8S , −ω _8S and the calculated estimated rotation speeds ω _8CA , ω _8CB (estimation step), The rotational direction of the intermediate rotational element M8 can be grasped while suppressing an increase in cost without using the rotational direction sensor. Further, the rotation direction of the input shaft 30A can also be grasped.

  After the driver operates the shift lever to the R range and moves the vehicle backward, when the shift lever is operated from the R range to the N range through the N range, the second brake B2 and the third brake B3 are engaged. While maintaining, the first brake B1 is switched from engagement to release to shift from reverse to neutral, and the third clutch C3 is switched from release to engagement to achieve the first gear.

At this time, for the third clutch C3 to be engaged, it is desired to perform the hydraulic control while grasping the rotation state of the input side element and the output side element so as to be smoothly engaged. The rotation speed (including direction) of the input side element of the third clutch C3 is the rotation speed ω ₈ of the eighth rotation member M8, and the rotation speed (including direction) of the output side element of the third clutch C3 is the third rotation. The rotational speed ω ₃ of the member M3.

As described above, the rotation speed ω ₈ of the eighth rotation member M8 is acquired including the rotation direction, and the rotation speed ω ₃ of the third rotation member M3 is also the rotation speed information including the rotation direction of the output shaft rotation sensor 15. And the gear ratio of the sun gear 33S and the ring gear 33R of the third planetary gear mechanism 33, including the rotational direction, the third clutch C3 grasps the rotational state of the input side element and the output side element. The hydraulic control can be performed while smoothly engaging.

[6. Others]
As mentioned above, although embodiment of this invention was described, the rotation direction estimation method and apparatus concerning this invention can be implemented by changing said embodiment suitably in the range which does not deviate from the meaning of this invention.
For example, in the above-described embodiment, the transmission mechanism 8 with nine forward speeds illustrated in FIG. 2 has been described as an example. However, the present invention is configured by combining a plurality of planetary gear mechanisms and selectively selects a plurality of friction engagement elements. Therefore, the present invention can be applied to an automatic transmission having various stepped automatic transmission mechanisms that achieve a gear position by simple fastening.

  That is, in a specific state in which any one of the plurality of friction engagement elements is fastened, any intermediate rotation element increases or decreases in a linear relationship with a ratio corresponding to the gear ratio with respect to the rotation speed of the output shaft and is input. This is a rotating element that rotates at a rotational speed defined according to the rotational speed of the shaft. The rotational speed information of the input shaft (not including the rotational direction), the rotational speed information of the output shaft (including the rotational direction), and the intermediate rotation In the case of detecting the rotation speed information (not including the rotation direction) of an element by a sensor, it can be widely applied to the estimation of the rotation direction of the intermediate rotation element and further the rotation direction of the input shaft.

  For the input shaft, if the rotation direction is constant, it is not necessary to add a positive and negative sign to the detected rotation speed of the input shaft and to divide the two into two cases assuming the rotation speed. Based on the rotation speed of the input shaft including the rotation direction, the rotation speed of the output shaft including the rotation direction, and the linear relationship between the intermediate rotation element and the output shaft, an estimated rotation speed of the intermediate rotation element is obtained by calculation. The estimated rotation speed may be compared with the two rotation speeds corresponding to the detected values based on the detected rotation speed information (not including the rotation direction) of the intermediate rotation element to estimate the rotation direction of the intermediate rotation element.

1 Engine (drive source)
2 Torque converter 3 Automatic transmission mechanism 4 Automatic transmission 5 Power transmission mechanism 6 Drive wheel 7 Hydraulic circuit unit 10 Automatic transmission controller (transmission control means)
10A shift control unit (shift control means)
10B Lock-up control unit (lock-up control means)
10C Rotation information estimation unit (rotation information estimation means)
10d Rotation speed calculation unit (rotation speed calculation means)
10e Rotation direction estimation unit (rotation direction estimation means)
10CA, 10CB, 10CC Arithmetic processing block 14 Turbine rotation sensor (input shaft rotation sensor)
15 Output shaft rotation sensor (vehicle speed sensor)
16 Connecting shaft rotation sensor (intermediate rotation sensor)
30A input shaft 30B output shaft 30C, 30D intermediate shaft 30E-30H connecting shaft 31-34 first 1-4 planetary gear mechanism 31C-34C carrier 31R-34R ring gear 31S-34S sun gear 100 engine controller (engine control means)
B1 to B3 Brake (Friction engagement element)
C1-C3 clutch (friction engagement element)
M1, M2 1st and 2nd rotation member M3 to M8 3rd to 8th rotation member (intermediate rotation element)

Claims (10)

An input shaft that receives rotation from a drive source, an output shaft that outputs a rotated rotation, and an input shaft that is interposed between the input shaft and the output shaft, and is configured by combining a plurality of planetary gear mechanisms. A stepped automatic transmission mechanism that achieves a shift stage by selectively engaging a plurality of friction engagement elements, wherein the first intermediate rotation element between the input shaft and the output shaft is A rotation direction estimation method for estimating a rotation direction,
The input shaft is connected to the first component of the first planetary gear mechanism of the plurality of planetary gear mechanisms, and the first intermediate rotation element is connected to the second component,
The first intermediate rotation element increases or decreases in a linear relationship with a ratio corresponding to a gear ratio with respect to the rotation speed of the output shaft in a specific state in which any of the plurality of friction engagement elements is fastened. It is a rotating element that rotates at a rotation speed defined according to the rotation speed of the input shaft,
An input shaft rotation sensor for detecting the rotation speed of the input shaft;
An output shaft rotation sensor for detecting a rotation speed including a rotation direction of the output shaft;
An intermediate rotation sensor for detecting a rotation speed of the first intermediate rotation element;
In the specific state, a detection information acquisition step of acquiring each detection information of the input shaft rotation sensor, the output shaft rotation sensor, and the intermediate rotation sensor;
A rotational speed calculating step of calculating an estimated rotational speed of the first intermediate rotational element from the linear relationship and the rotational speed including the rotational speed of the input shaft and the rotational direction of the output shaft acquired in the detection information acquiring step; ,
Deriving two detection value corresponding rotation speeds including a rotation direction by adding a positive / negative sign to the rotation speed of the first intermediate rotation element acquired in the detection information acquisition step, and the two detection value corresponding rotation speeds, An estimation step of estimating a rotation direction of the first intermediate rotation element based on the estimated rotation speed calculated in the rotation speed calculation step. The input shaft has a variable rotation direction,
In the rotational speed calculation step, the rotational speed of the input shaft acquired in the detection information acquisition step is assumed to have two rotational speeds with a positive and negative sign, and these two rotational speeds, the linear relationship, The rotation direction estimation method according to claim 1, wherein two estimated rotation speeds of the first intermediate rotation element are calculated from a rotation speed including a rotation direction of the output shaft. In the estimation step, the two detected rotation speeds corresponding to the positive and negative detected values are compared with the estimated rotational speed, and the detected value corresponding to the estimated rotational speed closest to the estimated rotational speed is compared among the two detected value corresponding rotational speeds. The rotational direction estimation method according to claim 1, wherein the rotational speed value is determined as an appropriate value, and the rotational direction of the first intermediate rotational element is estimated. A second intermediate rotation element coupled to a third component of the first planetary gear mechanism;
A third intermediate rotation element connected to the second intermediate rotation element via a second planetary gear mechanism;
The rotation direction estimation method according to any one of claims 1 to 3, wherein the third intermediate rotation element and the output shaft are connected via a third planetary gear mechanism. The plurality of planetary gear mechanisms includes the first, second, third planetary gear mechanism and the fourth planetary gear mechanism,
In the first planetary gear mechanism, the input shaft is connected to a sun gear, the first intermediate rotating element is connected to a carrier, and the second intermediate rotating element is connected to a ring gear.
In the second planetary gear mechanism, a fourth intermediate rotating element is connected to a sun gear, the second intermediate rotating element is connected to a carrier, and the third intermediate rotating element is connected to a ring gear.
In the third planetary gear mechanism, the third intermediate rotation element is connected to a sun gear, the output shaft is connected to a carrier, and the fifth intermediate rotation element is connected to a ring gear.
In the fourth planetary gear mechanism, the third intermediate rotation element is connected to the sun gear, the input shaft is connected to the carrier, and the sixth intermediate rotation element is connected to the ring gear,
Friction between the input shaft and the first intermediate rotation element, between the first intermediate rotation element and the third intermediate rotation element, and between the sixth intermediate rotation element and the output shaft, respectively. An engaging element is interposed,
Friction engagement elements between the first intermediate rotation element and the transmission case, between the fourth intermediate rotation element and the transmission case, and between the fifth intermediate rotation element and the transmission case, respectively. The rotation direction estimation method according to claim 4, wherein the rotation direction is interposed. An input shaft that receives rotation from a drive source, an output shaft that outputs a rotated rotation, and an input shaft that is interposed between the input shaft and the output shaft, and is configured by combining a plurality of planetary gear mechanisms. A stepped automatic transmission mechanism that achieves a shift stage by selectively engaging a plurality of friction engagement elements, wherein the first intermediate rotation element between the input shaft and the output shaft is A rotation direction estimation device for estimating a rotation direction,
The input shaft is connected to the first component of the first planetary gear mechanism of the plurality of planetary gear mechanisms, and the first intermediate rotation element is connected to the second component,
The first intermediate rotation element increases or decreases in a linear relationship with a ratio corresponding to a gear ratio with respect to the rotation speed of the output shaft in a specific state in which any of the plurality of friction engagement elements is fastened. It is a rotating element that rotates at a rotation speed defined according to the rotation speed of the input shaft,
An input shaft rotation sensor for detecting the rotation speed of the input shaft;
An output shaft rotation sensor for detecting a rotation speed including a rotation direction of the output shaft;
An intermediate rotation sensor for detecting a rotation speed of the first intermediate rotation element;
In the specific state, each detection information of the input shaft rotation sensor, the output shaft rotation sensor, and the intermediate rotation sensor is acquired, and the linear relationship, the acquired rotation speed of the input shaft, and the rotation direction of the output shaft are acquired. Rotation speed calculation output means for calculating an estimated rotation speed of the first intermediate rotation element from a rotation speed including
The obtained rotation speed of the first intermediate rotation element is attached with a positive or negative sign to derive two detection value corresponding rotation speeds including a rotation direction, and the two detection value corresponding rotation speeds and the rotation speed calculation step A rotation direction estimation device comprising: estimation means for estimating a rotation direction of the first intermediate rotation element based on the calculated estimated rotation speed. The input shaft has a variable rotation direction,
The rotation speed calculation means attaches positive and negative signs to the acquired rotation speed of the input shaft and assumes two rotation speeds, and these two rotation speeds, the linear relationship ratio, and the rotation direction of the output shaft The rotational direction estimation apparatus according to claim 6, wherein two estimated rotational speeds of the first intermediate rotational element are calculated from a rotational speed including The estimation means compares the two rotation speeds corresponding to the positive and negative detection values with the estimated rotation speed, and corresponds to the detection value closest to the estimated rotation speed among the two detection value rotation speeds. The rotational direction estimation device according to claim 6 or 7, wherein a rotational speed value is determined as an appropriate value, and a rotational direction of the first intermediate rotational element is estimated. A second intermediate rotation element coupled to a third component of the first planetary gear mechanism;
A third intermediate rotation element connected to the second intermediate rotation element via a second planetary gear mechanism;
The rotation direction estimation device according to any one of claims 6 to 8, wherein the third intermediate rotation element and the output shaft are connected via a third planetary gear mechanism. The plurality of planetary gear mechanisms includes the first, second, third planetary gear mechanism and the fourth planetary gear mechanism,
In the first planetary gear mechanism, the input shaft is connected to a sun gear, the first intermediate rotating element is connected to a carrier, and the second intermediate rotating element is connected to a ring gear.
In the second planetary gear mechanism, a fourth intermediate rotating element is connected to a sun gear, the second intermediate rotating element is connected to a carrier, and the third intermediate rotating element is connected to a ring gear.
In the third planetary gear mechanism, the third intermediate rotation element is connected to a sun gear, the output shaft is connected to a carrier, and the fifth intermediate rotation element is connected to a ring gear.
In the fourth planetary gear mechanism, the third intermediate rotation element is connected to the sun gear, the input shaft is connected to the carrier, and the sixth intermediate rotation element is connected to the ring gear,
Friction between the input shaft and the first intermediate rotation element, between the first intermediate rotation element and the third intermediate rotation element, and between the sixth intermediate rotation element and the output shaft, respectively. An engaging element is interposed,
Friction engagement elements between the first intermediate rotation element and the transmission case, between the fourth intermediate rotation element and the transmission case, and between the fifth intermediate rotation element and the transmission case, respectively. The rotation direction estimation apparatus according to claim 9, wherein

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