JP2020122523A - Control device of shift position changeover device - Google Patents

Abstract

To provide a control device of a shift position changeover device which can learn a reference position of a detent plate by suppressing a load applied on the detent plate.SOLUTION: A step motor 50 is rotated in a direction in which a detent plate 54 moves to a D-shift position from a P-shift position at a constant positive angular speed, and a motor rotational speed θmt indicating a rotation angle of the step motor 50 in this case, and an MS rotation angle θms indicating a rotation angle of a manual shaft 52 are detected. An actual measurement value θact of an inter-trough/crest rotation angle between a P-trough and an M1-crest of an irregular face 56 formed at the detent plate 54 is calculated from changes of the motor rotation angle θmt and the MS rotation angle θms. It is determined whether or not the actual measurement angle θact of the inter-trough/crest rotation angle is within a determination tolerable range θjdg, and when the determination is affirmative, a control start position of the motor rotation angle θmt is learnt as a reference position (P-shift position).SELECTED DRAWING: Figure 7

Description

The present invention relates to a shift-by-wire type shift position switching device control device that learns a reference position of a detent plate.

A control device of a shift-by-wire type shift position switching device in which a motor drives a detent plate for rotation is known. For example, the one described in Patent Document 1 is that. The detent plate of the shift position switching device described in Patent Document 1 is provided with a plurality of engaging concave surfaces for generating a positioning action by engagement with an engagement roller, that is, a moderation action. In the control device for the shift position switching device described in Patent Document 1, among the plurality of engaging concave surfaces of the detent plate, a so-called wall surface that is steeply inclined from the bottom of the engaging concave surface corresponding to the P shift position is so-called. The reference position of the detent plate is learned by hitting the wall and detecting the wall position.

JP, 2004-308848, A

In the control device of the shift position switching device described in Patent Document 1 described above, since the reference position is learned by the wall that increases the load on the detent plate, the shift position switching device can withstand this load. Cost increases.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control device for a shift position switching device capable of suppressing the load on the detent plate and learning the reference position of the detent plate. To do.

The gist of the present invention is to engage a detent plate rotatably driven by a motor with an uneven surface formed on the detent plate by a predetermined pressing force so that the engaging position of the uneven surface is the uneven surface. In a vehicle shift position switching device including an engagement roller for urging the detent plate so as to move toward the valley position and a rotation angle detection device for detecting a rotation angle of the detent plate, the motor is preset. A control device for a vehicle shift position switching device, comprising: rotating the engagement roller from a reference position at a rotation angle corresponding to a shift operation position to position the engagement roller at the valley position corresponding to the shift operation position; A crest position detection unit that detects arrival of the engagement roller to a crest position of the uneven surface during rotation of the detent plate, and (b) the crest position detection unit detects the arrival from a rotation start position of the motor. If the rotation angle of the motor to the rotation detection position of the motor in the case of is within the determination allowable range stored in advance, a reference position learning unit that sets the rotation start position of the motor as the reference position, Is included.

According to the present invention, (a) a crest position detection unit that detects arrival of the engagement roller to a crest position of the uneven surface during rotation of the detent plate, and (b) the rotation start position of the motor from the rotation start position. If the rotation angle of the motor to the rotation detection position of the motor when the arrival is detected by the mountain position detection unit is within a determination allowable range stored in advance, the rotation start position of the motor is set to the reference position. And a reference position learning unit set as. In this way, the rotation angle of the motor from the rotation start position of the motor to the rotation detection position of the motor when the arrival of the engagement roller to the peak position of the uneven surface during rotation of the detent plate is detected is stored in advance. If it is within the determination allowable range, the rotation start position of the motor is learned as the reference position of the detent plate. Therefore, since the reference position of the detent plate is not learned by the wall contact, it is possible to suppress the load on the detent plate and learn the reference position of the detent plate.

FIG. 1 is an example of a configuration diagram of a vehicle equipped with an electronic control device for a shift position switching device according to an embodiment of the present invention, and is a functional block diagram illustrating a main part of a control function of the electronic control device. FIG. 2 is a perspective view of a shift position switching device that switches the shift position shown in FIG. 1 and a parking lock device that non-rotatably fixes an output shaft of an automatic transmission. It is an example of the figure of the detent plate seen from the axial direction of the manual shaft shown in FIG. It is a figure explaining the contact position of an engagement roller and a detent plate when the detent plate shown in Drawing 3 is rotated, and (a) is a mimetic diagram explaining a state when an engagement roller goes up. Yes, (b) is a schematic diagram for explaining a state in which the engagement roller goes down. It is explanatory drawing about the relative angle of an engagement roller and a detent plate when an engagement roller is contacting the uneven|corrugated surface provided in the detent plate shown in FIG. FIG. 4 is an explanatory diagram of changes in rotation angles of a step motor and a manual shaft in a control method for learning a P shift position as a reference position of the detent plate shown in FIG. 3. 4 is an example of a flowchart illustrating a control operation of an electronic control device in a control method of learning a P shift position as a reference position of a detent plate shown in FIG. 3. It is another example of the figure of the detent plate seen from the axial direction of the manual shaft.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an example of a configuration diagram of a vehicle 10 in which an electronic control unit 100 of a shift position switching device according to an embodiment of the present invention is mounted, and a functional block for explaining main control functions of the electronic control unit 100. It is a figure.

The power generated by the engine 12 as a driving force source is input to the automatic transmission 16 via the torque converter 14, and the output shaft 20 of the automatic transmission 16 sequentially drives the differential gear device 22, the pair of axles 24, and the like. It is transmitted to the pair of drive wheels 26 via.

In the vehicle 10, the shift operation device 40 is arranged near the driver's seat. The shift lever 42 of the shift operation device 40 is manually operated by the driver to any one of the four operation positions of the operation position “P”, the operation position “R”, the operation position “N”, and the operation position “D”. It is like this.

The operation position “P” is in a neutral state (neutral state) in which the power transmission path in the automatic transmission 16 is released, that is, the power transmission in the automatic transmission 16 is cut off, and the mechanical parking mechanism mechanically shifts the automatic transmission. This is a parking position for blocking (locking) the rotation of the 16 output shafts 20. The operation position "R" is a reverse traveling position for causing the output shaft 20 of the automatic transmission 16 to rotate in the reverse direction. The operation position "N" is a neutral position for bringing the power transmission in the automatic transmission 16 into a neutral state in which the power transmission is cut off. The operation position “D” is a forward traveling position in which automatic shift control is executed using all forward gears of the automatic transmission 16.

The electronic control unit 100 is configured to include a so-called microcomputer provided with, for example, a CPU, a RAM, a ROM, an input/output interface, and the CPU uses a temporary storage function of the RAM while following a program stored in the ROM in advance. Various controls of the vehicle 10 are executed by performing signal processing. The electronic control device 100 corresponds to the "control device" in the present invention.

The electronic control unit 100 includes, for example, a position signal Psh indicating an operation position of the shift lever 42 detected by a position sensor 44 provided in the shift operation device 40, a vehicle shift position switching device 32 (hereinafter, referred to as “shift position switching device”). 32”), the angle pulse signal Spls and the like are input. The details of the angle pulse signal Spls will be described later.

From the electronic control unit 100, a hydraulic control command signal Sp for instructing shift control to the hydraulic control circuit 30 for performing hydraulic control of the automatic transmission 16 and a shift switching command signal for instructing the shift position switching unit 32 to switch the shift position. Ss and the like are output respectively. By switching the shift position of the shift position switching device 32, for example, the operation of the parking lock device 34 is controlled.

FIG. 2 is a perspective view of the shift position switching device 32 for switching the shift position shown in FIG. 1 and the parking lock device 34 for fixing the output shaft 20 of the automatic transmission 16 in a non-rotatable manner. The shift position switching device 32 employs a shift-by-wire system in which the shift position is switched by a shift switching command signal Ss which is an electric signal based on a position signal Psh representing the operating position of the shift lever 42 of the shift operating device 40. There is.

The shift position switching device 32 includes a step motor 50, a manual shaft 52, and a plate-shaped detent plate 54. The step motor 50 is rotationally driven based on the shift switching command signal Ss output in response to the shift operation of the shift operating device 40. Thereby, for example, the shift position switching device 32 is operated according to the position signal Psh and the shift switching command signal Ss based on the operation position “P”, the operation position “R”, the operation position “N”, and the operation position “D”. The shift position is switched to any of the P shift position, the R shift position, the N shift position, and the D shift position. The manual shaft 52 is connected to the output shaft of the step motor 50 via, for example, a speed reducer. The detent plate 54 is fixed to the manual shaft 52 by caulking, press fitting, etc., and the detent plate 54 and the manual shaft 52 integrally rotate so as not to rotate relative to each other. Both the manual shaft 52 and the detent plate 54 are rotatable about the axis C1. The rotation angle (rotation amount) of the step motor 50, that is, the rotation angle of the rotor of the step motor 50 is detected by the rotary encoder 74. The rotation angle of the manual shaft 52 is detected by a rotation angle sensor 76 provided on the manual shaft 52. The rotary encoder 74 and the rotation angle sensor 76 are angle (quantity) sensors that output a pulse for each unit angle as an angle pulse signal Spls. Therefore, the output of the angle pulse signal Spls represents the relative change amount of the rotation angle of the rotor and the rotation angle of the manual shaft 52, and does not represent the absolute angular position. The step motor 50 corresponds to the "motor" in the present invention, and the rotation angle sensor 76 corresponds to the "rotation angle detection device" in the present invention.

The detent plate 54 is provided with a spool valve engaging rod 64 protruding from one side surface in the plate thickness direction and engaging with the spool valve 62 in the axial direction (moving direction) of the spool valve 62. When the detent plate 54 is rotated around the axis C1 by the rotation of the manual shaft 52, the spool valve element 62 is rotated by the spool valve element engaging rod 64 according to the rotation angle of the detent plate 54. It can be moved in the axial direction. Of the plurality of movement positions of the spool valve element 62 preset according to each shift position, the spool valve element 62 is moved to one of the movement positions according to the shift position corresponding to the operation position selected by the shift lever 42. Can be moved.

A corrugated concavo-convex surface (cam surface) 56 is provided on the outer peripheral edge located above the detent plate 54. On the concave-convex surface 56 of the detent plate 54, a plurality of valleys (engagement concave surfaces) for positioning the detent plate 54 at a rotation angle corresponding to each shift position (four concave portions in this embodiment) are formed.

An engaging roller 72, which is rotatably supported with respect to the base end portion, is brought into contact with the uneven surface 56 at the tip end portion of the leaf spring 70 having the base end portion fixed. The leaf spring 70 presses the engagement roller 72 toward the uneven surface 56 with a predetermined pressing force F[N] (see FIG. 4B). That is, the engagement roller 72 is engaged with the uneven surface 56 by a predetermined pressing force F, and urges the detent plate 54 so that the engagement position with the uneven surface 56 is toward the valley position of the uneven surface 56. doing. As a result, the engaging roller 72 falls into one of the plurality of valley positions formed on the uneven surface 56 of the energized detent plate 54, so that the rotation angle of the detent plate 54 corresponds to each shift position. Be positioned in one of.

The parking lock device 34 includes a parking gear 80, a parking lock pole 82, a parking rod 86, and a spring 88. The parking gear 80 is a gear connected to the output shaft 20 of the automatic transmission 16. The parking lock pole 82 can be moved toward and away from the parking gear 80 by being rotated about one axis, and has a claw portion 84 that meshes with the parking gear 80 when approached to the parking gear 80. The output shaft 20 is non-rotatably fixed by engaging the portion 84 with the parking gear 80. A taper member 90 that engages with the parking lock pole 82 is inserted through one end of the parking rod 86 to support the taper member 90. The other end of the parking rod 86 is connected to the lower end of the detent plate 54. The taper member 90 is moved to the small diameter side or the large diameter side of the taper member 90 by the parking rod 86 being moved by the rotation of the detent plate 54. The spring 88 biases the taper member 90 toward the smaller diameter side.

FIG. 2 shows a state in which the detent plate 54 is at a rotation angle corresponding to the P shift position. In this state, the spool valve element 62 of the valve 60 is moved to the moving position corresponding to the P shift position, that is, the lock position, and the claw portion 84 of the parking lock pawl 82 meshes with the parking gear 80, whereby the output shaft 20 of the output shaft 20 moves. Rotation is blocked. From this state, when the step motor 50 is rotated and the manual shaft 52 is rotated in the direction of arrow A shown in FIG. 2, the spool valve element 62 is moved in the direction of arrow B to shift to another shift position (R shift). Position, N shift position, or D shift position), that is, the moving position corresponding to the unlocked position. When the manual shaft 52 is rotated in the direction of arrow A shown in FIG. 2, one end of the parking rod 86 is moved in the direction of arrow C and the taper member 90 provided at the tip of the one end is moved. The movement causes the parking lock pole 82 to move in the direction of arrow D. Then, when the parking lock pole 82 is moved in the direction of the arrow D to move the claw portion 84 to a position where it does not mesh with the parking gear 80, the lock of the output shaft 20 is released.

FIG. 3 is an example of a diagram of the detent plate 54 seen from the direction of the axis C1 of the manual shaft 52 shown in FIG. On the uneven surface 56 of the detent plate 54, four troughs for positioning the detent plate 54 at the rotation angle corresponding to each shift position are formed. These four valleys are P valleys, R valleys, N valleys, and D valleys corresponding to the P shift position, the R shift position, the N shift position, and the D shift position, respectively (hereinafter, unless otherwise specified. Mean they are valley bottoms.). Between the adjacent valleys in the P valley, R valley, N valley, and D valley, M1 peaks, M2 peaks, and M3 peaks (convex surfaces) are formed in order from the P valley side to the D valley side. Has been done.

FIG. 4 is a diagram for explaining a contact position between the engagement roller 72 and the detent plate 54 when the detent plate 54 shown in FIG. 3 is rotated, and FIG. 4A is a case where the engagement roller 72 goes up. 4B is a schematic diagram for explaining the state of FIG. 4B, and FIG. 6B is a schematic diagram for explaining the state when the engagement roller 72 is in the downward direction. In addition, in the description of FIG. 4 and FIGS. 6 and 7 to be described later, when the manual shaft 52 and the detent plate 54 are actually rotating in the arrow A direction shown in FIG. I may note.

In FIG. 4A, the solid line indicates the contact position between the engagement roller 72 and the detent plate 54 at the P valley position, and the contact position moves from the P valley position toward the M1 crest position. The state, that is, the state in which the engagement roller 72 is in the upward direction is shown by a chain line.

By the way, between the meshing portion 50a on the side of the step motor 50 and the meshing portion 52a on the side of the manual shaft 52, there is a play G at an angle α [rad] in the rotational direction thereof (the circumferential direction with respect to the axis C1). For example, the backlash G is a gap between gears that mesh with each other in the above-described speed reducer or the like provided between the step motor 50 and the manual shaft 52. The backlash G is schematically shown in FIGS. 4A and 4B as a relative positional relationship between the meshing portion 50a and the meshing portion 52a.

As shown in FIG. 4A, the meshing portion 50a of the step motor 50 rotates in the direction of the white arrow, and the meshing portion 50a is in contact with one side of the meshing portion 52a (the meshing portion 50a is located at the position 50a1). In a certain state, the step motor 50 rotates the manual shaft 52 and the detent plate 54 in the direction of the white arrow. When the meshing portion 50a of the step motor 50 rotates in the direction opposite to the white arrow and the meshing portion 50a abuts the other side of the meshing portion 52a (the meshing portion 50a is at the position 50a2), the step motor 50 rotates the manual shaft 52 and the detent plate 54 in the direction opposite to the white arrow. In a state in which the meshing portion 50a is not in contact with either one side or the other side of the meshing portion 52a, the step motor 50 rotates in either the direction of the white arrow or the direction opposite to the white arrow. However, the manual shaft 52 and the detent plate 54 do not rotate. The state in which the meshing portion 50a of the step motor 50 is in contact with either one side or the other side of the meshing portion 52a of the manual shaft 52 is referred to as a "backlash-filled state", and a state other than the "backlash-filled state" is " It is a "non-backlash state".

From here, the case where the engagement roller 72 changes from the state in which the engagement roller 72 is in contact at the P valley position to the state in which the engagement roller 72 is upward will be described with reference to FIG.

When the rotation angle of the step motor 50 is controlled so that the reference position of the detent plate 54 becomes the P shift position, the step motor 50 and the manual shaft 52 are in the non-rattled state. For example, the meshing portion 50a of the step motor 50 is located at the position 50a0 which is the center position of the backlash G.

When the step motor 50 is rotationally driven so that the detent plate 54 (and the manual shaft 52) moves to the right in FIG. 4A, the position of the meshing portion 50a moves from the position 50a0 in the direction of the white arrow. Is started. The detent plate 54 does not move to the right since the meshing portion 50a is in the non-backlashing state from the position 50a0 to the position 50a1. When the meshing portion 50a moves to the position 50a1, the rattling state is established, and thus the detent plate 54 starts to move to the right along with the movement of the meshing portion 50a to the right.

When the detent plate 54 moves further to the right, a force of −F[N] that resists the pressing force F is applied to the engagement roller 72 from the uneven surface 56 of the detent plate 54, so that FIG. As shown by the alternate long and short dash line, the engagement roller 72 is in a state of going up the slope of the uneven surface 56. In this state, the meshing portion 50a is in a looseness state at the position 50a1 which is one side of the meshing portion 52a.

Next, based on FIG. 4B, a case will be described in which the state in which the engagement roller 72 is in the up position is changed to the state in which the engagement roller 72 is in the down position.

Until the engagement roller 72 crosses the top of the M1 mountain, the meshing portion 50a is in the backlash-filled state in the position 50a1, and the rotation of the step motor 50 causes the engagement roller 72 to go up the slope of the uneven surface 56. .. When the engaging roller 72 crosses the top of the M1 peak, that is, when the engaging roller 72 starts to descend the slope of the uneven surface 56, the pressing force against the detent plate 54 as indicated by the chain double-dashed line in FIG. 4B. By F, the engagement roller 72 pushes the detent plate 54 (and the manual shaft 52) rightward (in the direction of the white arrow in FIG. 4B) by an amount corresponding to the angle α of the backlash G. As a result, the rattling state in which the meshing portion 50a is located at the position 50a1 on one side of the meshing portion 52a is changed to the rattling state at the position 50a2 on the other side of the meshing portion 52a. That is, the backlash direction changes from the position 50a1 where the meshing portion 50a is one side of the meshing portion 52a to the position 50a2 which is the other side of the meshing portion 52a. When the detent plate 54 further moves to the right after the backlash reduction state changes, the engagement roller 72 is in a state of moving down the slope of the uneven surface 56. In this state, the meshing portion 50a is in the backlash-filled state with the position 50a2.

FIG. 5 is an explanatory diagram of the relative angle between the engagement roller 72 and the detent plate 54 when the engagement roller 72 is in contact with the uneven surface 56 provided on the detent plate 54 shown in FIG. FIG. 5 is illustrated in a form in which the detent plate 54 is intentionally immovable and the engagement roller 72 is displaced to facilitate understanding.

As described above, the detent plate 54 is positioned at any of a plurality of rotation angles by the engaging roller 72 falling in any of a plurality of valleys formed on the uneven surface 56 of the biased detent plate 54. It When the operation position “P” is selected, the detent plate 54 is rotated so that the engagement roller 72 falls in the P valley. Similarly, when any one of the operation position “R”, the operation position “N”, and the operation position “D” is selected, the engagement roller 72 moves in the R valley and the N valley according to the selected operation position. , And D, the rotation of the detent plate 54 is controlled so as to fall. In addition, the rotation angle of the detent plate 54 when the engagement roller 72 is in contact with the concave and convex surface 56 at the P valley position, and the detent plate 54 when the change in the direction of rattling is completed beyond the top of the M1 peak. The absolute value of the difference between the rotation angle and the rotation angle corresponds to a determination center value θc described later.

Basically, the rotation angle of the step motor 50 from the reference position is controlled so that the engagement roller 72 contacts the detent plate 54 at the valley position corresponding to the operation position selected by the shift lever 42. Therefore, it is necessary to learn the reference position (rotation angle) of the detent plate 54 that serves as a reference for the relative angle between the engagement roller 72 and the uneven surface 56. The reference position of the detent plate 54 is the origin of the rotation angle control of the step motor 50, and the rotation angle of the step motor 50 is controlled by the target rotation angle from the reference position of the detent plate 54 to rotate the detent plate 54. The position is controlled so as to surely become the shift position corresponding to the operation position of the shift lever 42. For example, the reference position of the detent plate 54 is learned every time the power of the vehicle 10 is turned on by operating the ignition switch or the like, so that the rotation angle of the detent plate 54 can be changed even when the shift position is other than the reference position of the detent plate 54. Precisely controlled by. In this embodiment, the reference position of the detent plate 54 is the P shift position (the contact position between the engagement roller 72 and the uneven surface 56 is the P valley position).

FIG. 6 is an explanatory diagram of changes in the rotation angles of the step motor 50 and the manual shaft 52 in the control method for learning the P shift position as the reference position of the detent plate 54 shown in FIG. In FIG. 6, the horizontal axis represents time T[s] and the vertical axis represents rotation angle θ[rad]. In FIG. 6, a change in the motor rotation angle θmt representing the rotation angle of the step motor 50 is indicated by a thick solid line, and the engagement roller 72 is in contact with the P valley position of the uneven surface 56 at the control start time (time t0). The change in the MS rotation angle θms[rad] representing the rotation angle of the manual shaft 52 in the case where it is presumed that is indicated by a thick broken line. For example, when the engine 12 in which the shift lever 42 is operated to the operation position “P” is stopped and then the engine 12 is restarted, it is presumed that the engagement roller 72 is in contact with the P valley position of the uneven surface 56. To be done. Since the detent plate 54 is fixed to the manual shaft 52 and integrally rotates so as not to rotate relative to each other, the rotation angle of the detent plate 54 is the same as the MS rotation angle θms representing the rotation angle of the manual shaft 52. The MS rotation angle θms corresponds to the “rotation angle of the detent plate” in the present invention.

In FIG. 6, in order to facilitate understanding, a gear ratio γ (=number of teeth on the manual shaft 52 side/step motor 50 side of a speed reducer or the like intentionally disposed between the step motor 50 and the manual shaft 52 There is a time region in which the motor rotation angle θmt and the MS rotation angle θms increase at the same angular velocity. However, in actuality, when the gear ratio γ of the reduction gear or the like is larger than “1”, in the time region in which both the motor rotation angle θmt and the MS rotation angle θms increase, the MS rotation angle θms is the motor. The angular velocity is smaller than the rotation angle θmt.

Time t0 is a control start time for learning the P shift position of the detent plate 54. Both the motor rotation angle θmt and the MS rotation angle θms at time t0 are set to initial values θa0 [rad] (control start position). During the period from time t0 to time t7, the step motor 50 is rotated at a constant positive angular velocity ω. As a result, the motor rotation angle θmt increases according to the constant angular velocity ω during the period from time t0 to time t7. The manual shaft 52 (and the detent plate 54) is rotated according to the rotation of the step motor 50, and the contact position of the engagement roller 72 with the uneven surface 56 moves in the direction from the P valley position to the M1 crest position. That is, the detent plate 54 is moved in the direction from the P shift position to the D shift position.

When the state is the non-rattle state at the time t0, the MS rotation angle θms does not change while maintaining the initial value θa0 from the time t0 to the time t1 when the rattle state is achieved. From the time t1 to the time t2 after the play is reduced, the manual shaft 52 is rotated according to the rotation of the step motor 50. As a result, the MS rotation angle θms increases at a constant angular velocity ω during the period from time t1 to time t2. During the period from the time t1 to the time t2, the engagement roller 72 described in FIG. 4A is in a state of moving up the slope of the uneven surface 56. In the period from time t1 to time t2, the change of the motor rotation angle θmt precedes the change of the MS rotation angle θms.

At time t2, the engagement roller 72 starts to go down the slope of the detent plate 54 beyond the top of the M1 mountain of the detent plate 54, and the direction of looseness in the backlash G between the step motor 50 and the manual shaft 52 is from one side. The change to the other side begins. Due to this change in the loosening direction, the MS rotation angle θms increases at an angular velocity larger than the constant angular velocity ω during the period from time t2 to time t3, and the MS rotation angle θms exceeds the motor rotation angle θmt. At time t3, the change in the direction of looseness is completed, and the direction of looseness in the looseness G between the step motor 50 and the manual shaft 52 becomes the other side. In the period from time t2 to time t3, the MS rotation angle θms increases by the angle α of the backlash G. The motor rotation angle θmt at time t3 is a measured value θa1 [rad], and this measured value θa1 is the value when the engagement roller 72 has crossed the top of the M1 mountain and the change in the rattling direction has been completed. Further, since the direction of backlash is changed from one side to the other side, the change in the motor rotation angle θmt precedes the change in the MS rotation angle θms during the period from time t1 to time t2. At t3, the change of the MS rotation angle θms comes before the change of the motor rotation angle θmt.

From the time t3 to the time t4 after the play is reduced, the manual shaft 52 is rotated according to the rotation of the step motor 50. As a result, during the period from time t3 to time t4, the MS rotation angle θms increases at a constant angular velocity ω. During the period from the time t3 to the time t4, the engagement roller 72 described in FIG. 4B is in a state of moving down the slope of the uneven surface 56. In the period from time t3 to time t4, the change in the MS rotation angle θms precedes the change in the motor rotation angle θmt.

At time t4, the engaging roller 72 comes into contact with the R valley position of the detent plate 54, and the rattling direction in the rattling G between the step motor 50 and the manual shaft 52 starts to change from the other side to the one side. .. At time t6, the change of the play direction is completed, and the play direction in the play G between the step motor 50 and the manual shaft 52 becomes one side. While the direction of the backlash reduction is changing, the non-backlash reduction state is set, and therefore the MS rotation angle θms does not change during the period from time t4 to time t6. The actual measurement value θa2 [rad] of the motor rotation angle θmt at time t5 {=(t4+t6)/2)}, which is the average value of the time t4 and the time t6, indicates that the engagement roller 72 is in contact with the R valley position. According to. Further, since the direction of backlash is changed from the other side to the one side, the change in the MS rotation angle θms precedes the change in the motor rotation angle θmt during the period from time t3 to time t4. At t6, the change in the motor rotation angle θmt comes before the change in the MS rotation angle θms.

From the time t6 to the time t7 after the play is reduced, the manual shaft 52 is rotated according to the rotation of the step motor 50. As a result, during the period from time t6 to time t7, the MS rotation angle θms increases at a constant angular velocity ω. As described above, in the period from time t6 to time t7, the change in the motor rotation angle θmt precedes the change in the MS rotation angle θms.

When the engagement roller 72 crosses the top of the M1 crest of the detent plate 54 as in the period from the time t2 to the time t3, the change in the MS rotation angle θms with respect to the change in the motor rotation angle θmt changes from the trailing to the leading. .. When the engagement roller 72 crosses the R valley of the detent plate 54 as in the period from time t4 to time t6, the MS rotation angle θms does not change with respect to the change in the motor rotation angle θmt, and the motor rotation angle θmt The change of the MS rotation angle θms with respect to the change changes from the preceding to the following.

Returning to FIG. 1, the main part of the control function of the electronic control unit 100 in this embodiment will be described below. The electronic control device 100 functionally includes a drive control unit 100a, an angle detection unit 100b, a mountain position detection unit 100c, an angle calculation unit 100d, a reference position learning unit 100e, and a storage unit 100f.

The determination allowable range θjdg (=θc±θth) is stored in the storage unit 100f in advance. The judgment center value θc is a center value in the judgment allowable range θjdg, and the deviation allowable value θth is an allowable range value from the judgment central value θc in the judgment allowable range θjdg.

The drive control unit 100a rotationally drives the step motor 50 from the control start position to move the contact position of the engagement roller 72 with the detent plate 54 in the direction from the P valley position to the D valley position.

When learning the reference position, the angle detector 100b rotates the step motor 50 from the reference position so that the engagement roller 72 contacts the detent plate 54 at the valley position corresponding to the operation position selected by the shift lever 42. The pulse output from the rotary encoder 74 and the rotation angle sensor 76 is counted. Accordingly, the angle detection unit 100b detects the motor rotation angle θmt and the MS rotation angle θms when the step motor 50 is rotationally driven by the drive control unit 100a, and the detected motor rotation angle θmt and the MS rotation angle θms. Memorize As described above, the motor rotation angle θmt and the MS rotation angle θms at the learning control start time are both initial values θa0.

The crest position detection unit 100c detects the engagement roller 72 at the crest position on the uneven surface 56 provided on the detent plate 54 based on the changes in the motor rotation angle θmt and the MS rotation angle θms detected by the angle detection unit 100b. It is detected that the engagement roller 72 has reached the top, for example, the top of M1 mountain. Specifically, for example, at time t3 in FIG. 6 described above, the increase in the MS rotation angle θms is larger than the constant angular velocity ω because it decreases to the constant angular velocity ω, or the MS rotation angle θms is the motor. When the rotation angle θmt is exceeded (the change in the MS rotation angle θms with respect to the change in the motor rotation angle θmt is changed from the trailing to the leading), the arrival of the engagement roller 72 at the M1 crest position is detected. In the former case, the arrival of the engagement roller 72 at the M1 crest position can be detected based on the change of only the MS rotation angle θms by the rotation angle sensor 76. In the latter case, when the gear ratio γ of the reduction gear arranged between the step motor 50 and the manual shaft 52 is larger than “1”, the change obtained by multiplying the MS rotation angle θms by the gear ratio γ. When the amount exceeds the change amount of the motor rotation angle θmt, the arrival of the engagement roller 72 at the M1 crest position is detected.

The angle calculation unit 100d measures the motor rotation angle θmt when the arrival of the engagement roller 72 to the M1 crest position is detected by the crest position detection unit 100c, and measures the rotation angle of the detent plate 54 according to the M1 crest position. It is calculated as θa1. The angle calculator 100d subtracts the initial value θa0 from the measured value θa1 to calculate the measured value θact (=θa1-θa0) of the valley-to-valley rotation angle. The actual measurement value θact of the valley-to-mountain rotation angle is the “rotation angle of the motor from the rotation start position of the motor to the rotation detection position of the motor when the arrival is detected by the peak position detection unit” in the present invention. Equivalent to.

The reference position learning unit 100e compares the determination allowable range θjdg stored in the storage unit 100f with the measured value θact of the valley-to-valley rotation angle calculated by the angle calculation unit 100d, and the measured value θact is within the determination allowable range θjdg. If so, the initial value θa0 at the start of the learning control is learned as the reference position (P shift position) of the detent plate 54. Specifically, the reference position learning unit 100e determines that the deviation Δθ[rad] (=|θact−θc|) between the measured value θact of the valley-to-valley rotation angle and the judgment center value θc in the judgment allowable range θjdg is the deviation allowable value θth. It is determined whether or not [rad] or less. The judgment permissible range θjdg (judgment center value θc and deviation permissible value θth) is obtained in advance experimentally or by design.

For example, when the deviation Δθ is equal to or less than the deviation allowable value θth, it is determined that the initial value θa0 that is the control start position of the motor rotation angle θmt corresponds to the P shift position of the detent plate 54, and the motor rotation angle θmt. The initial value θa0 which is the control start position of is stored as the reference position. When the deviation Δθ exceeds the deviation allowable value θth, it is determined that the initial value θa0, which is the control start position of the motor rotation angle θmt, does not correspond to the P shift position of the detent plate 54. When the reference position learning unit 100e determines that the initial value θa0 which is the control start position of the motor rotation angle θmt does not correspond to the P shift position of the detent plate 54, the control start position of the motor rotation angle θmt is set. Is changed from the initial value θa0 by a predetermined angle. For example, the setting of the initial value θa0 that is the control start position is changed according to the rotation angle obtained by subtracting the determination center value θc from the measured value θa1.

When the setting of the initial value θa0, which is the control start position of the motor rotation angle θmt, is changed by the reference position learning unit 100e, the drive control unit 100a rotationally drives the step motor 50 from the current position to move the engagement roller 72. The contact position with the detent plate 54 is moved in the direction from the D valley position to the P valley position. In this movement, the motor rotation angle θmt is set to the newly set control start position.

FIG. 7 is an example of a flowchart for explaining the control operation of the electronic control unit 100 in the control method for learning the P shift position as the reference position of the detent plate 54 shown in FIG. The flowchart of FIG. 7 is started, for example, when the engine 12 is started, and at the time of start (control start time), it is estimated that the engagement roller 72 is in contact with the valley P of the uneven surface 56. As described above, basically, it is estimated that the engagement roller 72 is in contact with the detent plate 54 at the P valley of the uneven surface 56, but for example, the meshing portion 50a on the step motor 50 side and the manual shaft 52 side. If the twisting or foreign matter is caught in the meshing portion 52a, the engaging roller 72 may not be in contact with the detent plate 54 at the P valley position.

First, in step S10 corresponding to the angle detector 100b, the position where the step motor 50 is rotationally driven from the control start position and the engagement roller 72 contacts the detent plate 54 moves in the direction from the P valley position to the D valley position. Then, the motor rotation angle θmt and the MS rotation angle θms that change with the movement of the detent plate 54 are detected. The motor rotation angle θmt at the control start position has an initial value θa0. Then, step S20 is executed.

In step S20 corresponding to the crest position detection unit 100c, it is detected that the engagement roller 72 has crossed the top of the M1 crest because the change in the MS rotation angle θms with respect to the change in the motor rotation angle θmt has changed from trailing to preceding. To be done. Then, step S30 is executed.

In step S30 corresponding to the angle calculation unit 100d, the actual measurement value θa1 of the rotation angle corresponding to the M1 crest position of the detent plate 54 is calculated, and the initial value θa0 is subtracted from the actual measurement value θa1 to obtain the actual measurement value θact of the valley-to-valley rotation angle. Is calculated. Then, step S40 is executed.

In step S40 corresponding to the reference position learning unit 100e, the determination allowable range θjdg (determination center value θc and deviation allowable value θth) is read from the storage unit 100f. Then, step S50 is executed.

In step S50 corresponding to the reference position learning unit 100e, the deviation Δθ (=|θact−θc|) between the actual measurement value θact of the valley-ridge rotation angle and the judgment center value θc in the judgment allowable range θjdg is equal to or smaller than the deviation allowable value θth. It is determined whether or not. If the determination in step S50 is affirmative, step S60 is executed. If the determination in step S50 is negative, step S70 is executed.

In step S60 corresponding to the reference position learning unit 100e, it is determined that the initial value θa0 that is the control start position of the motor rotation angle θmt corresponds to the P shift position of the detent plate 54. And it ends.

In step S70 corresponding to the reference position learning unit 100e, it is determined that the initial value θa0 that is the control start position of the motor rotation angle θmt does not correspond to the P shift position of the detent plate 54. Then, step S80 is executed.

In step S80 corresponding to the reference position learning unit 100e, the setting of the initial value θa0 that is the control start position of the motor rotation angle θmt is changed. Then, step S90 is executed.

In step S90 corresponding to the drive controller 100a, the step motor 50 is rotationally driven to set the motor rotation angle θmt to the initial value θa0 which is the control start position whose setting has been changed in step S80. By this rotation drive, the position where the engagement roller 72 contacts the detent plate 54 is moved in the direction from the D valley position to the P valley position. Then, step S10 is executed again.

According to the present embodiment, (a) the crest position detection unit 100c that detects arrival of the engagement roller 72 at the M1 crest position of the uneven surface 56 during rotation of the detent plate 54, and (b) rotation of the step motor 50. The actual measurement value θact from the start position to the rotation detection position of the step motor 50 when the crest position detection unit 100c detects that the engagement roller 72 reaches the M1 crest position is within the determination allowable range θjdg stored in advance. If so, a reference position learning unit 100e that sets the rotation start position of the step motor 50 as a reference position is included. In this way, steps from the rotation start position of the step motor 50 to the rotation detection position of the step motor 50 when the engagement roller 72 is detected to reach the M1 crest position of the uneven surface 56 during the rotation of the detent plate 54 are detected. If the actual measurement value θact of the rotation angle of the motor 50 is within the pre-stored determination allowable range θjdg, the initial value θa0 that is the rotation start position of the step motor 50 is learned as the reference position of the detent plate 54. Therefore, since the reference position of the detent plate 54 is not learned by the wall contact, it is possible to suppress the load on the detent plate 54 and learn the reference position of the detent plate 54.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the present invention can be applied to other aspects.

In the above-described embodiment, the actual measurement value θa1 of the rotation angle according to the M1 crest position of the detent plate 54 is the value when the engagement roller 72 exceeds the top of the M1 crest and the change in the backlash reduction direction is completed. However, it is not limited to this. For example, the actual measurement value θa1 may be the value when the engagement roller 72 exceeds the top of the M1 mountain and the change in the direction of backlash reduction is started. That is, the increase in the MS rotation angle θms was a constant angular velocity ω at time t2 in FIG. 6 described above, but the motor rotation angle θmt at the time when the increase in the MS rotation angle θms starts to become larger than the constant angular velocity ω is set to the measured value θa1. May be. When the method of calculating the actual measurement value θa1 of the rotation angle according to the M1 crest position of the detent plate 54 is changed, the determination allowable range θjdg is also changed accordingly.

In the above-described embodiment, in the control method of learning the reference position of the detent plate 54, the position where the step motor 50 is rotated from the control start position and the engagement roller 72 contacts the detent plate 54 is from the P valley position to the D valley position. It was moved in the direction toward, but is not limited to this. For example, the step motor 50 may be rotated from the control start position and the position where the engagement roller 72 contacts the detent plate 54 may be moved in the direction from the D valley position to the P valley position. Also in the case of this movement, it is possible to learn the reference position of the detent plate 54 by determining whether or not the measured value θact of the rotation angle between valleys is within the determination allowable range θjdg.

In the above-described embodiment, the MS rotation angle θms, which is the rotation angle of the manual shaft 52, is used to represent the rotation angle of the detent plate 54, but the present invention is not limited to this. For example, a sensor that detects the rotation angle of the detent plate 54 itself may be provided, and the rotation angle that represents the rotation angle of the detent plate 54 may be detected by this. In short, the rotation angle of the detent plate 54 or a member that rotates integrally with the detent plate 54 such that the detent plate 54 cannot rotate relative to the detent plate 54 may be used.

In the above-described embodiment, the control start position of the motor rotation angle θmt is determined to correspond to the P shift position as the reference position of the detent plate 54 when the deviation Δθ is equal to or smaller than the deviation allowable value θth. Yes, but not limited to this. For example, the ratio (=θact/θc) of the measured value θact of the valley-to-valley rotation angle to the determination center value θc in the determination allowable range θjdg (=θact/θc) is a value that is slightly smaller than a predetermined threshold value (eg, “1” to slightly larger than “1”). Within the range up to, the control start position of the motor rotation angle θmt may be determined to correspond to the P shift position as the reference position of the detent plate 54. That is, no matter what the specific determination target is, such as the deviation Δθ or the ratio (=θact/θc), if the measured value θact of the valley-to-valley rotation angle is within the determination allowable range stored in advance. The rotation start position of the motor rotation angle θmt is learned as the reference position of the detent plate 54.

In the above-described embodiment, the reference position of the detent plate 54 is set to the P shift position, and whether or not the measured value θact of the valley-ridge rotation angle between the P valley position and the M1 peak position is within the determination allowable range θjdg. Although it is determined that the P shift position is learned as the reference position of the detent plate 54, the present invention is not limited to this. For example, the reference position of the detent plate 54 is set to the R shift position, and it is determined whether or not the actually measured value of the valley-ridge rotation angle between the R valley position and the M2 peak position is within the corresponding determination allowable range. As a result, the R shift position may be learned as the reference position of the detent plate 54. As described above, the reference position of the detent plate 54 is not limited to the P shift position.

In the above-described embodiment, the step motor 50 rotates the detent plate 54 (and the manual shaft 52), but the invention is not limited to this. Other types of motors (electric motors) may be used as long as the detent plate 54 (and the manual shaft 52) can be rotated to control the rotation angle.

In the above embodiment, the motor rotation angle θmt is detected by the rotary encoder 74, but the present invention is not limited to this. For example, if a motor of another type is used in place of the step motor 50 and the motor rotation angle θmt can be calculated based on a control signal for rotationally controlling the motor, an angle sensor such as the rotary encoder 74 is used. It is not always necessary to provide it separately.

In the above-described embodiment, the case where the uneven surface 56 provided on the detent plate 54 has four shift positions (four valleys) has been described, but the present invention is not limited to this. For example, as shown in FIG. 8, the present invention can be applied to the case where there are two shift positions (two valleys) on the uneven surface 56 of the detent plate 54 when viewed from the direction of the axis C1 of the manual shaft 52. When there are two shift positions of the uneven surface 56 shown in FIG. 8, the uneven surface 56 is provided with two valleys, P valley and non-P valley, and M peaks are provided between the P valley and the non-P valley. It has been configured. When the non-P position is selected, switching among the R shift position, the N shift position, and the D shift position is performed by separate electronic control.

In the above-described embodiment, the transmission is the automatic transmission 16, but the transmission is not limited to this. For example, the present invention is applicable even when the transmission is a manual transmission.

It should be noted that what has been described above is merely an embodiment of the present invention, and the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art without departing from the spirit of the present invention.

32: Shift position switching device for vehicle 40: Shift operation device 50: Step motor (motor)
52: Manual shaft 54: Detent plate 56: Uneven surface 72: Engaging roller 76: Rotation angle sensor (rotation angle detection device)
100: Electronic control device (control device)
100c: Crest position detection unit 100e: Reference position learning unit F: Predetermined pressing force θact: Actual measurement value of valley rotation angle θjdg: Allowable judgment range θms: MS rotation angle (rotation angle of detent plate)

Claims (1)

The detent plate rotationally driven by a motor and the concave and convex surface formed on the detent plate are engaged with each other by a predetermined pressing force so that the engaging position of the concave and convex surface is directed to the valley position of the concave and convex surface. A shift position switching device for a vehicle, comprising: an engagement roller for urging a plate; and a rotation angle detection device for detecting a rotation angle of the detent plate, wherein the motor is operated in accordance with a shift operation position from a preset reference position. A control device for a vehicle shift position switching device, wherein the engagement roller is positioned at the valley position corresponding to the shift operation position by rotating at a different rotation angle,
A crest position detection unit that detects arrival of the engagement roller to a crest position of the uneven surface during rotation of the detent plate,
If the rotation angle of the motor from the rotation start position of the motor to the rotation detection position of the motor when the arrival is detected by the crest position detection unit is within a determination allowable range stored in advance, the motor And a reference position learning unit that sets the rotation start position of the reference position as the reference position.

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