JP2018013203A - Electronic controller for actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic controller for an actuator capable of easily releasing wedge engagement.SOLUTION: An actuator includes an engagement shaft 10, a wedge engagement mechanism 3 (wedge engagement device) and an engagement release device. The wedge engagement mechanism 3 is configured so as to transmit force in a first direction along the engagement shaft 10 to the engagement shaft 10 at the time of electrification, and to inhibit the engagement shaft 10 from moving in a second direction opposite to the first direction at the time of non-electrification. The engagement release device is configured so as to release wedge engagement of the wedge engagement mechanism 3. A driver 2 (electronic controller 100) is configured so as to electrify the wedge engagement device for a predetermined period in a case of causing the engagement release device to release the wedge engagement.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electronic control device for an actuator.

  2. Description of the Related Art Conventionally, many transmissions mounted on a vehicle realize a transmission actuator by hydraulic drive. However, the hydraulic pressure is poor in response, and the characteristic change is significant due to environmental factors such as temperature. Moreover, since it is necessary to mount a hydraulic pressure generating device, it becomes a cause of deterioration of cost, mass, and volume.

  On the other hand, electromechanical parts such as electric motors have advantages such as good responsiveness and little change in characteristics due to environmental factors, but they are used in conventional vehicles due to their small power capacity and mechanical output. Often not. However, as a transmission-related electrification technique, a technique using an electric motor as an actuator of an automatic transmission is disclosed (for example, see Patent Document 1). Further, the content of controlling the belt-type CVT with a motor is known (see, for example, Patent Documents 2 to 4).

  As described above, although there has been an idea of electrification for a long time from a technical point of view, it is in a state in which the hydraulic drive occupies most of the above problems because of the above-mentioned problem.

  However, due to improvements in electrification technology in recent years, the above-mentioned problems have been solved, and products that take into account electrification, such as electric oil pumps, are now on the market.

  Among actuators directly related to controlling the gear ratio in such a situation, there is an actuator that uses an electric motor, for example, an automatic MT (AMT) obtained by electrifying MT (Manual Transmission). Further, many automatic MTs are also electrified as starting clutches.

  In order to control the gear ratio and the starting clutch with an electric motor, a motor that can output thrust and torque for operating the shift movable portion is required. The advantage of the hydraulic pressure is that the movable part can be operated strongly by the amplification of force by the principle of high pressure and Pascal. Although it is possible to amplify the force by decelerating the motor with a speed reducer or the like, the responsiveness deteriorates with an electric motor having the same output specifications when the reduction with the speed reducer is performed. This means that the same amount of energy is required for shifting operation, whether hydraulic or electric. Therefore, in order to ensure better controllability than hydraulic control, an electric motor having a large output performance is usually required, which may be disadvantageous in terms of physique and cost.

  On the other hand, in hydraulic control, in order to ensure sufficient response and pressure, make sure that the output of the hydraulic pressure generator, which is the source of the hydraulic circuit, generates a pressure significantly higher than the pressure required for gear shifting and clutch engagement. Otherwise, there is a concern of functional degradation due to loss of the hydraulic circuit. Since electric motors and other devices have low power line losses, electrification equipment can be selected with consideration for the holding power and responsiveness of the hydraulic pressure, which can greatly reduce energy consumption and, in turn, contribute to improving vehicle fuel efficiency. Connected.

  However, even if electrification is performed as described above, excessive hydraulic pressure energy can be reduced, but considering a sudden change in external force, a certain margin is required even when electrified, leading to significant energy reduction. There may not be.

  In addition, since the burden on power storage devices due to electrification increases rapidly, it is necessary to strengthen devices such as batteries and DCDC converters, and there are significant disadvantages such as weight increase and volume increase.

  Furthermore, since the final movable part was originally hydraulically controlled, it must be pressed with a large thrust in a stationary state. With an electric motor, continuous output in a stationary state changes all energy into heat. Therefore, the heat dissipation device for releasing the generated heat becomes large.

  For this reason, a lot of electric energy is used and a lot of battery energy is used, so that energy reduction cannot be effectively performed and the fuel efficiency improvement effect becomes small. In terms of this heat dissipation, the hydraulic drive can be regarded as having a powerful heat dissipation function by circulating oil as a fluid, and is therefore a suitable device for holding thrust in a stationary state.

  In addition, an actuator with a brake mechanism has been devised as an actuator (for example, Patent Documents 8 to 9). However, the brake holding force cannot be lost with the brake mechanism, and there is a durability problem due to wear of the sliding portion. is there.

  Therefore, there is a mechanism having a wedge engaging mechanism as an electric actuator that includes the above-described elements (for example, Patent Documents 5 to 7).

  With this mechanism, it is possible to maintain a continuous high thrust in a stationary state by wedge engagement. If the thrust can be maintained by wedge engagement without using electric energy while maintaining this continuous high thrust, energy can be reduced and fuel efficiency can be improved. In addition, the responsiveness can be improved by repeating minute changes continuously at high speed, which is suitable as a motorized device for a thrust system.

JP 2010-265956 Japanese Unexamined Patent Publication No. 63-188537 Japanese Unexamined Patent Publication No. 1-153855 JP 2008-106813 A JP 2008-228525 A JP 2008-154396 A JP 2005-33978 A JP 2005-319898 A JP 2013-18449

  However, it becomes difficult to release the engagement of the wedge engagement mechanism when the engagement is deepened by an external force or the like. Normally, the wedge is engaged only by the force of the actuator itself, but when used in a powertrain where the vibration of the automobile or the driving environment changes, the wedge engagement is stronger than its own ACT thrust due to the changing driving environment. It may be engaged.

  For example, when wedge engagement is used for the pulley pressing mechanism of a continuously variable transmission, the reaction force from the tire on the side where the pulley spreads against steep power fluctuations such as when the tire hits the curb. Since it is held by wedge engagement, the reaction force acts in a direction that further strengthens the engagement. This is because even though the power is transmitted by pushing the pulley with high thrust, the tension increases as the belt slides with a steep external force, so some force acts on the inner diameter side of the pulley to push the pulley. This is because a component force toward the spreading side is generated.

  When such a force is applied, even if the actuator is operated to release the engagement, the engagement cannot be released unless a force exceeding the wedge engaging force is applied. This principle is due to the elastic deformation of the engaging portion. Since a force corresponding to the deformation stress of the material is applied by the minute elastic deformation, the influence is small if the material is high hardness. However, high hardness materials are expensive and costly.

  In short, when an electric actuator having a wedge engagement mechanism is used in a portion where a reaction force acts greatly, such as an automobile, it is difficult to release the engagement when there is a strong engagement.

  An object of the present invention is to provide an electronic control device for an actuator that can easily release wedge engagement.

  In order to achieve the above object, the present invention is an electronic control device for an actuator, wherein the actuator transmits a force in a first direction along the shaft and the shaft to the shaft when energized, thereby de-energizing the shaft. A wedge engaging device that sometimes prevents the shaft from moving in a second direction opposite to the first direction by a wedge engagement; and an engagement releasing device that releases the wedge engagement of the wedge engaging device; The electronic control device energizes the wedge engagement device for a predetermined period when the engagement release device releases the wedge engagement.

  According to the present invention, the wedge engagement can be easily released. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is a block diagram of the system containing the control apparatus of the actuator by embodiment of this invention. It is a schematic diagram of the wedge engaging mechanism shown in FIG. It is a block diagram which shows the function of the driver shown in FIG. 3 is a flowchart showing an operation of the driver shown in FIG. It is a figure which shows the example which applied this invention to the continuously variable automatic transmission. It is a figure which shows the example which applied this invention to the dog clutch.

  Hereinafter, the configuration and operation of an electronic controller 100 for an actuator according to an embodiment of the present invention will be described with reference to the drawings. In each figure, the same numerals indicate the same parts.

(Embodiment)
FIG. 1 is a system diagram in which an electric actuator is mounted as a transmission control device for a transmission according to an embodiment of the present invention.

  The control unit 1 is connected to a driver 2 that controls the wedge engagement mechanism 3 through a communication line 30, and transmits a position command to the wedge engagement mechanism 3 and receives a measurement position. The driver 2 controls the electric mechanism of the wedge engagement mechanism 3 by the drive wiring 31 and inputs position information from the position sensor 4 to control the position of the engagement shaft 10 to a predetermined position. The control unit 1 and the driver 2 constitute an electronic control device 100 that controls the actuator.

  The wedge engagement mechanism 3 can change the gear ratio of the transmission 13 by sliding the engagement shaft 10 and moving the slide shaft 12 connected to the engagement shaft 10. Since the rotational speed ratio between the input shaft 15 and the output shaft 14 changes as the transmission 13 changes the speed ratio, a speed change during vehicle travel can be realized.

  Here, as the transmission 13 for realizing the change in the gear ratio, for example, a belt-type continuously variable transmission, an automatic MT, or a two-clutch automatic MT called DCT (Dual Clutch Transmission) can be used. .

  In the case of a conventional vehicle, for example, an internal combustion engine is connected to the input shaft 15, and wheels are connected to the output shaft 14 via, for example, a differential (diff). In FIG. 1, it is omitted for the sake of clarity.

  When the position of the sliding shaft 12 and the gear ratio are in a proportional relationship, for example, the gear shaft can be arbitrarily set by changing the position of the sliding shaft 12 by sliding the engagement shaft 10 of the wedge engaging mechanism 3. Since it can be set, it is possible to perform a shift while the vehicle is running.

  FIG. 2 is a schematic view of a part of the internal structure of the wedge engaging mechanism 3. The engaging member 311 can be moved left and right by an electromagnetic solenoid or the like. The engagement roller 301 functions to move the engagement member 311 and the engagement shaft 10 in one direction so that the engagement shaft 10 does not return. The spring 321 presses the engagement roller so that the engagement roller can be reliably engaged. The disengagement connecting portion 331 is a mechanism that can disengage the engagement roller by moving left and right with an electromagnetic solenoid or the like.

  The engaging member 312, the engaging roller 302, and the spring 322 also have the same functions as the engaging member 311, the engaging roller 301, and the spring 321, respectively, and include the engaging member 311, the engaging roller 301, and the spring 321. This is a mechanism for continuing to hold the engagement shaft 10 even when the engagement mechanism is disengaged. Note that FIG. 2 is a diagram imitating the main part of Patent Document 5 in an easy-to-understand manner, and the description of the engaging parts for moving the shaft in the reverse direction is omitted.

  In the wedge engaging mechanism having such a configuration, the engaging roller 312 is vibrated left and right by an electromagnetic solenoid or the like, whereby the engaging roller 301 can vibrate and the engaging shaft 10 can be moved to the left. To move it in the reverse direction, although not shown in the figure, the engagement shaft 10 can be moved to the right by operating the above-described engagement set arranged in the reverse direction. At this time, since the engaging rollers 301 and 302 for moving to the left must be disengaged, it is necessary to move the disengaging connection portions 331 and 332 to the left.

  Here, as shown in FIG. 2, the wedge engaging device WD1 includes, for example, engaging members 311 and 312, engaging rollers 301 and 302 (rollers), springs 321 and 322 (elastic bodies), and not illustrated. The electromagnetic solenoid (vibration device).

  The engaging members 311 and 312 have inclined surfaces that are inclined with respect to the first direction Dir1. The engagement rollers 301 and 302 are disposed in a wedge-shaped gap between the engagement shaft 10 (shaft) and the inclined surface. The springs 321 and 322 bias the engaging rollers 301 and 302 in the second direction Dir2. An electromagnetic solenoid (not shown) causes the engaging members 311 and 312 to vibrate along the axis of the engaging shaft 10.

  The wedge engagement device WD1 transmits a force in the first direction Dir1 along the engagement shaft 10 (shaft) to the engagement shaft 10 when energized, and a second direction opposite to the first direction Dir1 when de-energized. The wedge shaft is prevented from moving the engagement shaft 10 to Dir2. Note that the wedge engaging device WD1 and the wedge engaging device WD2 (not shown) that are symmetrical to each other shown in FIG. 2 transmit the force in the second direction Dir2 to the engaging shaft 10 (shaft) when energized, and when not energized. The wedge shaft prevents the engagement shaft 10 from moving in the first direction Dir1.

  The disengagement device RD1 includes, for example, the disengagement connecting portions 331 and 332 shown in FIG. 2 and an electromagnetic solenoid (vibration device) (not shown). The electromagnetic solenoid (not shown) generates a magnetic field by the electric power supplied from the driver 2 (electronic control device 100), and biases the disengagement connecting portions 331 and 332 in the first direction by the generated magnetic field.

  Subsequently, when the engagement release connecting portions 331 and 332 press the engagement rollers 301 and 302, the engagement release device RD1 releases the wedge engagement of the wedge engagement device WD1. Note that the disengagement device RD2 (not shown) symmetrical to the disengagement device RD1 shown in FIG. 2 releases the wedge engagement of the wedge engagement device WD2 (not shown).

  Here, as described in the problem, when both sides of the engagement roller 301 (the engagement member 311 side and the engagement shaft 10 side) have a high engagement force due to the stress from the vehicle, the engagement release connecting portion Even if 331 is operated, the engaging roller may not move.

  This is because the wedge engagement is strongly acting on the steep reaction force RF due to elastic deformation. Therefore, it is necessary to operate the actuator on the side where the wedge engagement force is weakened. Since the engagement cannot be released even if the actuator is controlled unless the stress is within the elastic deformation range, the mechanism must be designed so that the stress is contained within the elastic deformation.

  In order to weaken the engagement state, for example, when a wedge engagement mechanism is used as the pulley pressing mechanism of the continuously variable transmission as described above, the reaction force RF acts on the side of spreading the pulley. The engaging part must act on the spreading side. However, the engaging member is already on the right side and cannot move to the side that weakens the engagement (right side in FIG. 2).

  Here, once the engagement member 311 is pressed to the left with high thrust, the position of the engagement roller 301 slightly changes (the engagement roller 301 moves to the left side in FIG. 2). In other words, the driver 2 (electronic control device 100) energizes the wedge engagement device WD1 for a predetermined period when the engagement release device RD1 releases the wedge engagement.

  For this reason, the degree of engagement of the engagement roller 301 can be reduced by removing the thrust of the engagement member 311 with a margin on the side where the thrust can be removed.

  This means that the direction of operation of the actuator is not the target but is operated in a direction that opposes the stress. Since the purpose of releasing the wedge engagement is to change to the side that reduces the pushing force of the pulley, lowering the pushing force of the target should be the calculation result of the control calculator. On the other hand, operating the actuator to the side that presses the pulley moves it in the direction opposite to the target.

  This means that controllability is deteriorated, but this problem can be dealt with by specifying an amount and a time that do not impair the controllability of the system. Specifically, in the wedge engagement mechanism, the amount of movement per movement is minute, and the thrust is repeatedly applied to control the position. Therefore, a high thrust is applied to the side opposite to the target. However, the movement of the controlled object is not affected unless it is repeated. Therefore, if this one-time movable amount is made small, the influence on the power transmission system that acts indirectly even if the influence on the actuator that is a direct acting member is large can be made very small. Yes, the final control target can be operated without degrading the controllability.

  Such an operation does not necessarily have to be performed every time, and can be normally released only by applying a force in the direction of releasing the engaging portion (the right side in FIG. 2). May always be performed when the engagement is released.

  In normal control, if it is desired to save such an operation time, the operation may be performed only when it is determined to be necessary. When such an operation is required, it cannot be released even if a force is applied in the direction of releasing the engaging portion.

  This is because the force to be released to detect this state is applied to the engaging portion, and the controlled object does not move in the direction of release (right side in FIG. 2) even if the force to be released is applied. It is possible to determine that the engagement has not been released by detecting the operating force as a current and detecting the movement from position information such as a position sensor. Here, the operation force can also be realized by F / B (Feedback) the output state of the control device itself. However, if the operating force cannot actually be applied due to an electrical failure such as disconnection, it is certain that there is position information such as current.

  FIG. 3 is a control block diagram. Normally, the F / B control means 501 calculates the vibration pulses of the engaging members 311 and 312 from the target position and the actual position. For example, if the target position is on the left side of the actual position, the engagement release output is turned OFF, the engagement release connection portions 331 and 332 are arranged on the right, and the engagement members 311 and 312 are alternately output with pulses. The combined shaft 10 moves to the left. If this is continued and the actual position acquired by the position sensor 4 becomes the same as the target position, the pulse output is stopped. If the target position is on the right side of the actual position, the engagement release output is turned ON, and the engagement release connecting portions 331 and 332 are arranged on the left, and the engagement member facing right side not shown in FIG. And the engagement shaft 10 is moved to the right side.

  At this time, if the engagement releasing connection portions 331 and 332 are not changed even if they are pressed against the engaging rollers 301 and 302, the engaging roller 301 or 302 cannot be released, so that the engaging force is strong. Conceivable. This state is determined by the disengagement observation means 503 as follows. The disengagement observation means 503 is a current to the disengagement connection parts 331 and 332 input from the current sensor 5 to the disengagement observation means 503 (the electromagnetic solenoid driving the disengagement connection parts 331 and 332). Drive current) is monitored, and the engagement position input from the disengagement position sensor 11 to the disengagement observation means 503 does not reach the disengagement position while a sufficient disengagement current (drive current) is flowing. It is determined that the engagement force is increased. Here, as described above, it is possible to determine whether or not the engagement is disengaged from the command value even if the current is not measured by the current sensor 5.

  When the engagement is not released, the output processing unit 502 keeps outputting the operation force for releasing the engagement of the engagement rollers 301 and 302 by moving the engagement release connecting portion 331 or 332 to the left side, One pulse output of the engaging members 311 and 312 is output. Here, the engagement roller for moving to the right side not shown in FIG. 2 releases the engagement by operating the engagement release connecting portion for the right side. At this time, since the stress acts on the engagement release side, it can be easily released by operating the engagement release connecting portion for the right side.

  In other words, the driver 2 (electronic control device 100) supplies a pulse (for example, a voltage pulse) to the electromagnetic solenoid (vibration device) during a period in which the engagement release device RD1 releases the wedge engagement. The electromagnetic solenoid (vibration device) vibrates the engaging members 311 and 312 once based on the pulse. For example, the electromagnetic solenoid (vibration device) generates a magnetic field when a pulse is applied, and biases the engaging members 311 and 312 in the first direction Dir1 by the generated magnetic field. On the other hand, for example, a disc spring (elastic body) (not shown) biases the engaging members 311 and 312 in the second direction Dir2 during a period in which no pulse is applied to the electromagnetic solenoid.

  During the period in which the pulse is applied, the reaction force RF and the force in the first direction Dir1 applied to the shaft cancel each other, and the wedge engagement is weakened when the pulse falls.

  When the driver 2 (the electronic control device 100) is requested to move the engagement shaft 10 in the second direction Dir2, the driver 2 (electronic control device 100) sends a pulse to the electromagnetic solenoid during a period in which the engagement release device RD1 releases the wedge engagement. (Vibration device). The driver 2 (electronic control device 100) may energize the wedge engaging device WD2 after the wedge engaging device WD1 is released.

  FIG. 4 shows a control flowchart. As described above, the operation of engaging members 311 and 311 toward the disengagement side (S10) → determination not to disengage (S15) → increase in pushing thrust (S20) → reduction in pushing thrust is performed in this order. It can be canceled by following. If the engagement cannot be released (S25: NO), pulse output is repeatedly performed until the engagement is released. When the engagement cannot be released, there is no problem even if the engagement shaft 10 cannot be moved and is repeatedly operated.

  Further, at this time, it is also possible to change so as to surely perform the release operation by increasing the pulse period (S30). In other words, the driver 2 (the electronic control device 100) generates a pulse at a predetermined period, and increases the pulse period when the wedge engagement is not released.

  This is effective because by increasing the pulse period, it is possible to have a time margin for transmitting a thrust of an electromagnetic solenoid or the like due to an electrical and mechanical response delay.

  Further, if the actuator is broken due to disconnection or breakage, it can be determined that the failure has occurred a certain number of times (S35). In other words, the driver 2 (electronic control device 100) determines that the actuator has failed when the number of pulses exceeds the threshold value and the wedge engagement is not released. In this case, the driver 2 may output information indicating an actuator failure to an external device (indicator, display, etc.) via the control unit 1.

  The thrust applied to the disengagement connecting portion is the phenomenon of the stress and strain in the equation of σ = Eε (σ: stress, E: elastic deformation coefficient, ε: strain), which is Hooke's law if the event is within elastic deformation. Since the relationship is known, the thrust for pushing the engaging member requires a thrust larger than the maximum stress calculated from the maximum external force, strain, elastic coefficient, and contact angle at the time of engagement. The thrust setting of an electromagnetic solenoid or the like requires a configuration that takes this into account.

(First application example)
FIG. 5 shows an example in which the present invention is applied to a belt CVT. The rotational energy of the input pulley 103 connected to the input shaft 15 is transmitted from the output pulley 102 to the output shaft 14 via the belt 101. The distance between the shaft center of the input shaft 15 and the contact point between the input pulley 103 and the belt 101 is the input radius, and the distance from the shaft center of the output shaft 14 to the contact point between the output pulley 102 and the belt 101 is the output radius. = Output radius / Input radius.

  The input shaft 15 is connected to, for example, an internal combustion engine, and the output shaft 14 is connected to wheels via, for example, a differential (diff).

  The input shaft side actuator 601 and the output shaft side actuator 602 have functions equivalent to the wedge engaging mechanism 3 and the driver 2 of FIG. The principle of the wedge engaging mechanism is as described above with reference to FIG.

  Here, by changing the positions of the input shaft side actuator 601 and the output shaft side actuator 602, the input radius and the output radius change, thereby changing the gear ratio. The relationship between the positions of the input shaft side actuator 601 and the output shaft side actuator 602 and the gear ratio is roughly as follows.

  Large gear ratio (low speed side): 601 moves to the left and 602 moves to the left.

  Small gear ratio (high speed side): 601 moves to the right and 602 moves to the right.

  Here, when stress is applied to the input pulley 103, a force to the left is applied to the engagement shaft 10 of the input shaft side actuator 601, and the engagement roller and the engagement member, which are wedge engagement mechanisms of the input shaft side actuator 601, The engagement force increases.

  As the engagement force increases, it becomes difficult to disengage the engagement roller. Therefore, as described above, the operation of the engagement member toward the disengagement side → determination not to disengage → increase in push thrust → push thrust Release by operating in the order of reduction.

  Here, the amount of change of the pulley that changes with one engagement release becomes the vibration amplitude of the engaging member, and this amplitude can be made very small with respect to the movable range of the pulley, so the influence on the shift can be ignored. .

  The operation of the output shaft side actuator 602 can also be disengaged by performing the same control as the input shaft side actuator 601.

  Thus, the present invention can be applied to a transmission of a continuously variable transmission.

(Second application example)
FIG. 6 shows an example in which an actuator is attached to the dog clutch mechanism. As shown in FIG. 6, the present invention can also be applied to a shift control actuator such as AT, automatic MT, and DCT. Since automatic MT and DCT are stepped transmission mechanisms via two-shaft gears, the gear transmission path is switched by a dog clutch when shifting.

  The dog clutch is a mechanism in which teeth that slide and mesh in this way (input shaft side meshing ring 801 and output shaft side meshing ring 802) are mounted. An abrupt reaction force is generated due to the angle of the (Chamfer) and the rotation difference during fastening. For this reason, when a wedge engagement mechanism is used for fastening and releasing the dog clutch, stress may be applied to the actuator due to the reaction force to increase the wedge engagement force, and it may be difficult to release the engagement. Therefore, the engagement can be released by controlling as in the present invention.

  Furthermore, for example, in a starting clutch, when a wedge engagement mechanism is used as an actuator that presses the clutch plate with a conventional hydraulic pressure or electric motor, vibration is transmitted in the axial direction due to vibration caused by friction of the clutch plate. There is a case to increase the resultant power. Therefore, the present invention can be solved in the same manner as the above-described problem.

  As described above, according to the present embodiment, the wedge engagement can be easily released.

  In addition, this invention is not limited to above-described embodiment, Various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  In the above embodiment, the electromagnetic solenoid is used as the vibration device that vibrates the engaging members 311 and 312 along the axis of the engaging shaft 10, but a magnetostrictive element may be used.

  Further, each of the above-described configurations, functions, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. In addition, each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by a processor (control unit). Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

  In addition, the following aspects may be sufficient as embodiment of this invention.

(1) An electric motor that applies thrust to an in-vehicle device that controls a transmission and the like, and the electric motor includes a wedge engaging mechanism and an electric mechanism such as an electromagnetic solenoid,
In the control device for controlling an in-vehicle actuator provided with an engagement release device capable of releasing engagement, the wedge engagement mechanism temporarily disengages the wedge engagement mechanism when the engagement release device releases the engagement. An on-vehicle actuator control device that applies a force that moves in a direction opposite to a target direction.

  (2) In (1), the position sensor that detects an engagement position at which the engagement release can be determined, and the control device includes an engagement release observation unit of the engagement release device, A control device for an on-vehicle actuator, which applies a force for moving the wedge engagement mechanism to a direction opposite to a target direction temporarily based on a command value of a combination release device.

  (3) In (1), a current sensor that detects an energization current to the disengagement device, a position sensor that detects an engagement position at which the disengagement can be determined, and the control device includes the disengagement device The disengagement observation means is provided, and based on the disengagement position and the energization current of the disengagement device detected by the current sensor, the direction in which the wedge engagement mechanism is temporarily targeted is reversed. A control device for an in-vehicle actuator, which applies a force that moves to the side.

  (4) In (2) or (3), when it is determined that the output to the disengagement device is sufficient and the position sensor has little change in the situation of the disengagement observation means, the wedge engagement mechanism A control device for an in-vehicle actuator, which applies a force that moves in a direction opposite to the target direction.

  (5) In (4), applying a force that moves the wedge engaging mechanism to the opposite side of the target direction temporarily, and repeatedly applying the force to the opposite side after a predetermined time has elapsed. An on-vehicle actuator control device characterized by the above.

(6) In (5), a force is applied to move the wedge engaging mechanism to the opposite side of the target direction temporarily, and the application of the force to the opposite side is stopped after a certain period of time. In-vehicle actuator control apparatus characterized by increasing force application time.

  (7) The on-vehicle actuator control device according to (5) to (6), wherein a failure is determined when the number of times the force is applied to the wedge engaging mechanism becomes a predetermined number or more.

  (8) The on-vehicle actuator control device according to (1), wherein the disengagement thrust of the disengagement device is a thrust equal to or greater than a maximum stress of the system + a strain stress due to elastic deformation.

DESCRIPTION OF SYMBOLS 1 ... Control unit 2 ... Driver 3 ... Wedge engagement mechanism 4 ... Position sensor 5 ... Current sensor 6 ... Memory | storage device 10 ... Engagement shaft 11 ... Engagement release position sensor 12 ... Sliding shaft 13 ... Transmission 14 ... Output shaft DESCRIPTION OF SYMBOLS 15 ... Input shaft 100 ... Electronic control apparatus WD1, WD2 ... Wedge engagement apparatus RD1, WD2 ... Engagement release apparatus 101 ... Belt 102 ... Output pulley 103 ... Input pulley 301 ... Engagement roller (front side)
302 ... Engagement roller (rear side)
311 ... engaging member (front side)
312 ... engaging member (rear side)
321 ... Spring (front side)
322 ... Spring (rear side)
331... Disengaging connection part (front side)
332... Disengaging connection part (rear side)
501 ... F / B control means 502 ... output processing means 503 ... disengagement observation means 601 ... input shaft side actuator 602 ... output shaft side actuator 801 ... input shaft side meshing ring 802 ... output shaft side meshing ring

Claims (5)

An electronic control unit for an actuator,
The actuator is
A shaft,
A wedge mechanism that transmits a force in a first direction along the shaft to the shaft when energized, and prevents the shaft from moving in a second direction opposite to the first direction by non-energizing by wedge engagement. Combined device,
An engagement release device for releasing the wedge engagement of the wedge engagement device,
The electronic control device
An electronic control unit for an actuator, wherein when the engagement release device releases wedge engagement, the wedge engagement device is energized for a predetermined period. An electronic control device for an actuator according to claim 1,
The wedge engaging device is:
An engaging member having an inclined surface that is an inclined surface with respect to the first direction;
A roller disposed in a wedge-shaped gap between the shaft and the inclined surface;
An elastic body for urging the roller in the second direction;
A vibration device that vibrates the engagement member along the axis of the shaft,
The electronic control device
Supplying a pulse to the vibration device during a period of causing the engagement release device to release the wedge engagement;
The vibration device includes:
An electronic control device for an actuator, wherein the engagement member is vibrated once based on the pulse. An electronic control device for an actuator according to claim 2,
The electronic control device
Generating the pulse at a predetermined period;
The electronic control device for an actuator, wherein the period of the pulse is increased when the wedge engagement is not released. An electronic control device for an actuator according to claim 2,
The electronic control device
When the number of pulses exceeds a threshold value and the wedge engagement is not released, it is determined that the actuator is malfunctioning. An electronic control device for an actuator according to claim 2,
The electronic control device
An electronic control device for an actuator, wherein a pulse is supplied to a vibration device during a period in which the engagement release device releases the wedge engagement when requested to move the shaft in the second direction.

Images