JP2022100924A - Motor control device - Google Patents

Abstract

To provide a motor control device capable of suppressing wear of a power transmission unit and generation of abnormal noise.SOLUTION: A shift range control device 70 controls drive of a motor 50 in a shift-by-wire system 1 in which a play exists between a rotation shaft of the motor 50 and an output shaft 15. The shift range control device 70 includes an energization control unit 81 for controlling energization of the motor 50. When a switching request for moving a detent roller 26 to different trough portions 211, 212 is not inputted, the energization control unit 81 energizes the motor 50 while the output shaft 15 is stopped, to perform play shoving control for putting the play to one side. As a result, it is possible to suppress wear of a power transmission unit 510 and generation of abnormal noise.SELECTED DRAWING: Figure 2

Description

The present invention relates to a motor control device.

Conventionally, a drive device that transmits the power of a motor is known. For example, in Patent Document 1, by applying a spring load to the gear portion, noise generated by backlash due to vibration or the like is reduced.

US Patent Application Publication 2018/0340705A1 Specification

As in Patent Document 1, if a spring for packing the gear backlash is provided, the physique and weight increase. The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a motor control device capable of suppressing wear of a power transmission unit and generation of abnormal noise.

The motor control device of the present invention controls the drive of the motor (50) in the power transmission system (1). The power transmission system includes a motor, an output shaft (15), a power transmission unit (510), and a detent mechanism (20), and is between the motor shaft (505) and the output shaft, which are the rotation shafts of the motor. There is play in. The drive of the motor is transmitted to the output shaft. The power transmission unit is provided between the motor and the output shaft.

The detent mechanism has a driven member (21), an engaging member (26), and an urging member (25). The driven member has a plurality of valleys (211 and 212) and mountain portions (215) separating the valleys, and rotates together with the output shaft. The engaging member can move between the valleys by the rotation of the driven member. The urging member urges the engaging member in the direction of fitting into the valley portion.

The motor control device includes an energization control unit (81) that controls energization of the motor. The energization control unit energizes the motor while the output shaft is stopped when a switching request to move the engaging member to a different valley is not input, and the play is packed to one side. Take control. As a result, it is possible to suppress wear of the power transmission unit and generation of abnormal noise.

It is a perspective view which shows the shift-by-wire system by 1st Embodiment. It is a schematic block diagram which shows the shift-by-wire system by 1st Embodiment. It is sectional drawing which shows the rotary actuator by 1st Embodiment. FIG. 3 is a view taken in the direction of an arrow in the VI direction of FIG. It is a V-direction arrow view of FIG. It is a perspective view which shows the power transmission part by 1st Embodiment. It is a circuit diagram which shows the drive circuit by 1st Embodiment. It is a schematic diagram explaining the backlash packing control by 1st Embodiment. It is a flowchart explaining the motor control processing by 1st Embodiment. It is a time chart explaining the motor control processing by 1st Embodiment. It is a schematic diagram explaining the backlash packing control by 2nd Embodiment. It is a flowchart explaining the motor control processing by 2nd Embodiment. It is a time chart explaining the motor control process by 2nd Embodiment. It is a schematic diagram explaining the backlash packing control by the 3rd Embodiment. It is a flowchart explaining the motor control process by 3rd Embodiment. It is a time chart explaining the motor control process by 3rd Embodiment. It is a schematic diagram explaining the backlash packing control by 4th Embodiment. It is a flowchart explaining the motor control processing by 4th Embodiment. It is a time chart explaining the motor control processing by 4th Embodiment. It is a schematic diagram explaining the backlash packing control by 5th Embodiment. It is a flowchart explaining the motor control process by 5th Embodiment. It is a time chart explaining the motor control process by 5th Embodiment. It is a time chart explaining the motor control processing by 6th Embodiment. It is a time chart explaining the motor control processing by 7th Embodiment. It is a time chart explaining the motor control process by 8th Embodiment. It is a time chart explaining the motor control process by 9th Embodiment.

Hereinafter, the power transmission device according to the present invention will be described with reference to the drawings. Hereinafter, in a plurality of embodiments, substantially the same configuration will be designated by the same reference numerals and description thereof will be omitted.

(First Embodiment)
The first embodiment is shown in FIGS. 1 to 10. As shown in FIGS. 1 and 2, the shift range control device 70 as a motor control device is applied to the shift-by-wire system 1. The shift-by-wire system 1 includes a rotary actuator 40, a shift range switching mechanism 20, a parking lock mechanism 30, and the like. The rotary actuator 40 includes a motor 50 and a power transmission unit 510.

The motor 50 rotates by being supplied with electric power from a battery mounted on a vehicle (not shown), and functions as a drive source for the shift range switching mechanism 20. The vehicle of the present embodiment is an electric vehicle such as an electric vehicle or a hybrid vehicle, but may be a gasoline vehicle. The shift range switching mechanism 20 has a detent plate 21, a detent spring 25, and the like, and transmits the rotational driving force output from the motor 50 to the parking lock mechanism 30.

The detent plate 21 is fixed to the output shaft 15 and driven by the motor 50. On the detent spring 25 side of the detent plate 21, two valley portions 211 and 212 and a mountain portion 215 separating the valley portions 211 and 212 are provided. Wall portions 217 and 218 that regulate the movement of the detent roller 26 are formed on both sides of the valley portions 211 and 212 (see FIG. 8 and the like). Hereinafter, the wall portion 217 on the P range side is referred to as a “P wall”, the valley portion 211 is referred to as a “P valley”, the valley portion 212 on the not P range side is referred to as a “notP valley”, and the wall portion 218 is referred to as a “notP wall”.

The detent spring 25 is a plate-shaped member that can be elastically deformed, and a detent roller 26 is provided at the tip thereof. The detent spring 25 urges the detent roller 26 toward the center of rotation of the detent plate 21. The position where the detent roller 26 is dropped by the spring force of the detent spring 25 in the no-load state is defined as the bottom of the valley portions 211 and 212.

When a predetermined or greater rotational force is applied to the detent plate 21, the detent spring 25 is elastically deformed, and the detent roller 26 moves between the valleys 211 and 212. By fitting the detent roller 26 into any of the valley portions 211 and 212, the swing of the detent plate 21 is restricted, the state of the parking lock mechanism 30 is determined, and the shift range is fixed.

The parking lock mechanism 30 includes a parking rod 31, a cone 32, a parking lock pole 33, a shaft portion 34, and a parking gear 35. The parking rod 31 is formed in a substantially L shape, and one end 311 side is fixed to the detent plate 21. A cone 32 is provided on the other end 312 side of the parking rod 31. The conical body 32 is formed so that the diameter is reduced toward the other end 312 side. When the detent plate 21 rotates in the direction in which the detent roller 26 fits into the valley portion 211 corresponding to the P range, the conical body 32 moves in the direction of the arrow P.

The parking lock pole 33 comes into contact with the conical surface of the conical body 32 and is provided so as to be swingable around the shaft portion 34. On the parking gear 35 side of the parking lock pole 33, a convex portion 331 that can mesh with the parking gear 35 is provided. When the cone 32 moves in the direction of the arrow P due to the rotation of the detent plate 21, the parking lock pole 33 is pushed up and the convex portion 331 and the parking gear 35 mesh with each other. On the other hand, when the conical body 32 moves in the direction of the arrow notP, the meshing between the convex portion 331 and the parking gear 35 is released.

The parking gear 35 is provided on an axle (not shown) so as to be able to mesh with the convex portion 331 of the parking lock pole 33. When the parking gear 35 and the convex portion 331 mesh with each other, the rotation of the axle is restricted. When the shift range is the notP range, which is a range other than P, the parking gear 35 is not locked by the parking lock pole 33, and the rotation of the axle is not hindered by the parking lock mechanism 30. Further, when the shift range is the P range, the parking gear 35 is locked by the parking lock pole 33, and the rotation of the axle is restricted.

The rotary actuator 40 is shown in FIGS. 3 to 6. FIG. 3 is a sectional view taken along line III-III of FIG. 5, and FIG. 6 shows a state in which the sensor cover 43 is removed. In FIG. 3, the axial direction of the motor 50 is the vertical direction of the paper surface, the upper side of the paper surface is “one side”, and the lower side of the paper surface is “the other side”.

The housing 41 is made of a metal such as aluminum, and is composed of a motor housing portion 411 and a gear housing portion 412. The motor housing portion 411 is formed in a substantially bottomed cylinder shape that opens on one side in the axial direction. The gear housing portion 412 is formed so as to project outward in the radial direction of the motor housing portion 411. The end face on one side of the gear housing portion 412 is formed substantially on the same plane as the end face on one side of the motor housing portion 411. The other end face of the gear housing portion 412 is located in the middle of the motor housing portion 411 in the axial direction. In other words, the motor housing portion 411 projects to the other side. Further, in the gear housing portion 412, an output shaft gear accommodating portion 413 accommodating the output shaft gear 60 is formed so as to project on the side opposite to the motor housing portion 411.

The sensor cover 43 and the gear cover 45 are provided on both sides of the housing 41. The sensor cover 43 is provided on one side of the motor housing portion 411 and the gear housing portion 412, and is fixed to the housing 41 with screws 439. The sensor cover 43 is provided with a connector 435, and power is supplied to the rotary actuator 40 via the connector 435. In addition, signals are transmitted and received to and from the outside via the connector 435. The gear cover 45 is provided on the other side of the gear housing portion 412 and is fixed to the housing 41 with screws 459.

The motor 50 is a DC motor with a brush and includes a magnet 501, a core 502, a coil 504, a motor shaft 505, a commutator 508, a brush (not shown), and the like. The magnet 501 is fixed to the inner peripheral side of the motor housing portion 411. The core 502 is provided inside the magnet 501 in the radial direction, and generates a rotational force when a current flows through the coil 504 that is wound. The motor shaft 505 is rotatably supported by bearings 506 and 507, and rotates integrally with the core 502. The commutator 508 passes the current supplied from the brush through the coil 504.

The power transmission unit 510 is provided between the motor shaft 505 and the output shaft 15, and transmits the driving force of the motor 50 to the output shaft 15. The power transmission unit 510 has gears 51 to 54, 60. The gears 51 to 54 and 60 are all spur tooth gears.

The motor gear 51 and gears 52 and 53 are arranged in a first gear chamber 415 that opens to one side of the housing 41. The gear 54 and the output shaft gear 60 are arranged in a second gear chamber 416 that opens on the other side of the housing 41. The first gear chamber 415 and the second gear chamber 416 communicate with each other through a shaft hole 417 through which the gear connecting shaft 55 is inserted. In this embodiment, the motor gear 51, the gear 54, and the output shaft gear 60 are made of metal, and the gears 52 and 53 are made of resin.

The motor gear 51 is fixed to one side of the motor shaft 505 and rotates integrally with the motor shaft 505. The gear 52 has a large diameter portion 521 and a small diameter portion 522, and rotates integrally with the shaft 525. Flat teeth are formed on the radial outer side of the large diameter portion 521 and mesh with the motor gear 51. Flat teeth are formed on the radial outer side of the small diameter portion 522 and mesh with the gear 53. The shaft 525 is inserted into a shaft hole 414 formed in the housing 41 and is rotatably supported.

The gear 53 has a tubular portion 531 and a gear portion 532. The gear portion 532 is formed so as to project outward in the radial direction of the tubular portion 531. The gear portion 532 is formed with flat teeth that mesh with the small diameter portion 522 of the gear 52. The gear portion 532 is formed in a range (for example, less than 180 °) in which the absolute angle can be detected by the rotation angle sensor 68. A shaft fixing member 535 is provided inside the tubular portion 531 in the radial direction. The shaft fixing member 535 is made of, for example, metal.

The gear connection shaft 55 is rotatably supported by the housing 41 by bearings 56 and 57. In the present embodiment, the bearings 56 and 57 are ball bearings and are press-fitted into the shaft holes 417. By using a plurality of bearings, it is possible to prevent the gear connection shaft 55 from collapsing. Further, since it is possible to suppress the radial rattling of the gear connecting shaft 55, it is possible to reduce the occurrence of wear due to the tapping of the shaft or the like.

One side of the gear connection shaft 55 is press-fitted into a shaft fixing member 535 provided radially inside the tubular portion 531 of the gear 53, and is fixed by, for example, rolling caulking. As a result, the gear 53 is fixed to one side of the gear connection shaft 55. A gear 54 is fixed to the other side of the gear connection shaft 55 by bolts 549. As a result, the tubular portion 351 of the gear 53 and the gear 54 are coaxially connected by the gear connecting shaft 55 and rotate integrally. In this embodiment, the gear 53 and the gear 54 constitute the connecting gear 530. The gear 54 is formed to have substantially the same diameter as the tubular portion 531 and has flat teeth that mesh with the output shaft gear 60 on the entire circumference outside in the radial direction.

The output shaft gear 60 has an output shaft connecting portion 601 formed in a substantially cylindrical shape and a gear portion 602. The output shaft connecting portion 601 is rotatably supported by the gear cover 45 by a bush 61 provided on the outer side in the radial direction. The output shaft 15 (see FIG. 1) is press-fitted and fixed inside the output shaft connection portion 601 in the radial direction, and rotates integrally. The bush 61 is press-fitted into the output shaft holding portion 455 of the gear cover 45.

The gear portion 602 is formed so as to project radially outward of the output shaft connecting portion 601 and meshes with the gear 54. In the present embodiment, the meshing point between the motor gear 51 and the large diameter portion 521 of the gear 52 is the first-stage deceleration stage, and the meshing point between the small-diameter portion 522 of the gear 52 and the gear portion 532 of the gear 53 is the second-stage deceleration. It is a step, and the meshing point between the gear 54 and the gear portion 602 of the output shaft gear 60 is the third step reduction step. That is, in the present embodiment, the number of reduction stages is 3, and the third reduction stage is the final reduction stage.

The gears 52, 53, the gear connection shaft 55, etc. are assembled from one side of the housing 41, and the gear 54, the output shaft gear 60, etc. are assembled from the other side of the housing 41. By changing the length of the gear connection shaft 55 that connects the gear 53 and the gear 54, the protrusion of the motor housing portion 411 is adjusted according to the parts on the other side assembled via the rotary actuator 40 and the output shaft 15. can do. This makes it possible to improve the degree of freedom of mounting.

A sensor magnet 65 is provided on the inside of the cylinder portion 531 of the gear 53 in the radial direction and on the sensor cover 43 side of the shaft fixing member 535. The sensor magnet 65 is formed, for example, in the shape of a narrow plate, and is provided on the opposite side of the rotation shaft of the gear 53. In other words, the sensor magnets 65 are provided at a distance of 180 °. The sensor magnet 65 is held by a magnet holding member 66 formed in an annular shape. The magnet holding member 66 is fixed to the tubular portion 531 by press fitting or the like.

The rotation angle sensor 68 is held by a sensor holding portion 438 formed so as to project from the sensor cover 43. The rotation angle sensor 68 has a Hall IC that detects a change in the magnetic field due to the rotation of the sensor magnet 65, and the sensor element is provided so as to be located at the center of the two sensor magnets 65. In the present embodiment, since the reduction ratio of the final reduction stage is 6 or less and the rotation range of the gear 53 is less than 180 °, the rotation angle sensor 68 can detect the rotation position of the gear 53 as an absolute angle. .. Further, the absolute angle of the output shaft 15 can be calculated by the gear ratio conversion.

The gear 53 provided with the sensor magnet 65 constitutes a deceleration stage one step before the final deceleration stage. Therefore, the transmission torque is smaller than that of the output shaft gear 60, and the eccentric force generated by variations in the shape of the gear tooth surface and vibration is small. Therefore, the sensor is compared with the case where the angle of the output shaft gear 60 is detected. Deterioration of accuracy can be suppressed.

As shown in FIG. 2, the shift range control device 70 includes a drive circuit 71, a control unit 80, and the like. As shown in FIG. 7, the drive circuit 71 includes switching elements 711 to 714 and constitutes an H-bridge circuit. The switching elements 711 to 714 of this embodiment are MOSFETs, but may be IGBTs or the like.

When the motor 50 is rotated forward, the switching elements 711 and 714 are turned on, and when the motor 50 is rotated in the reverse direction, the switching elements 712 and 713 are turned on. Since the motor 50 of the present embodiment is a motor with a brush, the rotation angle sensor for detecting the rotation of the motor 50 is omitted, and the motor 50 can be driven by on / off control of the switching elements 711 to 714. In the present embodiment, the rotation direction when the detent roller 26 is moved from the P valley to the notP valley is the forward direction, and the rotation direction when the detent roller 26 is moved from the notP valley to the P valley is the reverse direction. Further, the energization direction when the rotation direction is the positive direction is positive, and the energization direction when the rotation direction is the opposite direction is negative.

Returning to FIG. 2, a motor relay 76 is provided between the drive circuit 71 and the battery 75. The motor relay 76 is turned on when a vehicle start switch such as an ignition switch is turned on, and electric power is supplied to the motor 50 side. Further, by turning off the motor relay 76, the supply of electric power to the motor 50 side is cut off. In FIG. 7, the description of the motor relay 76 is omitted.

The control unit 80 is mainly composed of a microcomputer or the like, and internally includes a CPU, ROM, RAM, I / O, and a bus line connecting these configurations, which are not shown. Each process in the control unit 80 may be a software process by executing a program stored in advance in a substantive memory device such as a ROM (that is, a readable non-temporary tangible recording medium) on the CPU. It may be hardware processing by a dedicated electronic circuit.

The control unit 80 has an energization control unit 81 that controls energization to the coil 504 as a functional block, and controls the drive of the motor 50 based on the driver required shift range, the signal from the brake switch, the vehicle speed, and the like. , Controls the switching of the shift range. Further, for the energization control of the coil 504, the oil temperature coil of the transmission 7 connected to the shift range switching mechanism 20, the engine rotation speed E_EN, the rotation speed N_MG of the main engine motor, the vehicle speed V, and the like may be used. Hereinafter, the rotation speed of the main engine motor will be referred to as “MG rotation speed”, and the oil temperature of the transmission 7 will be referred to as “TM oil temperature”. Further, the transmission 7 may be a transaxle or the like.

As schematically shown in FIG. 8 and the like, a play including a gear backlash is formed between the motor shaft 505 and the output shaft 15. In FIG. 8, the power transmission unit 510 is collectively described as one gear. The same applies to the schematic diagram according to the embodiment described later. Here, the "play" can be regarded as the total amount of play and play existing between the motor shaft 505 and the output shaft 15, and the total of play is simply referred to as "play" below. Further, the state in which the power transmission unit 510 is moved to one side of the backlash is referred to as a “playback packed state”.

As shown by the arrow Ad in FIG. 6, the gears 51 to 54 and 56 are rotationally driven by the driving force of the motor 50. Further, the arrow Ar is the rotation direction, and the arrow As is the thrust direction. Here, when vibration is applied to the device, noise may be generated due to rattling in the rotation direction, or wear may be generated due to rattling in the thrust direction.

For example, noise and wear can be reduced by applying a spring load to the gear mechanism to bring it into a loose state. However, if a member such as a spring for applying a spring load is separately provided to the gear mechanism, the physique and weight increase, and the driven torque also increases. Therefore, in the present embodiment, gear wear and abnormal noise due to vibration are reduced by energization control of the motor 50 without providing a separate member such as a spring for packing backlash.

FIG. 8 schematically shows a state in which the rotation direction of the motor 50 is the left-right direction on the paper surface and the detent roller 26 moves between the valley portions 211 and 212. In FIG. 8, the state held in the P range is described as <ST1>, the switching from the P range to the notP range is described as <ST2>, and the switching to the notP range is described as <ST3>. The same applies to the schematic diagram according to the embodiment described later, and the backlash-packed holding state <ST4> is added as appropriate.

Further, the area on the left side of the paper surface from the "P range" is the permissible stop range as the position of the detent roller 26 when the P range is in the P range, and the detent roller 26 when the area on the right side of the paper surface from the "not P range" is in the not P range. It is an allowable stop range as the position of.

As shown in FIG. 8, when the shift range is the P range, the detent roller 26 is in contact with the wall portion 217 as shown in the state ST1. When a request for switching from the P range to the notP range is input, the motor 50 is rotated in the forward direction by energizing the motor 50 with the maximum current Imax in the positive direction. The switching current at the time of range switching does not have to be the maximum current Imax. The same applies to reverse rotation. When the motor 50 rotates in the forward direction, the detent roller 26 passes over the mountain portion 215, moves to the notP valley side via the state ST2, and comes into contact with the wall portion 218 to stop.

In the present embodiment, energization at the maximum current Imax is continued even after the range switching is completed. As a result, as shown in the state ST3, the detent roller 26 comes into contact with the notP wall and is held in a state where the play is clogged on the forward rotation direction side.

Further, when a request for switching from the notP range to the P range is input, the motor 50 is rotated in the reverse direction by energizing the motor 50 with the maximum current −Imax in the negative direction. When the motor 50 rotates in the reverse direction, the detent roller 26 moves from the state ST3 to the P valley side, abuts on the wall portion 217, and stops. Further, as in the case of switching to the notP range, energization at the maximum current −Imax is continued even after the range switching is completed. As a result, as shown in the state ST1, the detent roller 26 comes into contact with the P wall and is held in a state where the backlash is clogged in the reverse rotation direction.

The control on the P range side is almost the same as the control on the notP range side except that the drive direction is opposite to that on the notP range side. Therefore, in the following embodiments, the control on the notP range side will be mainly described. However, the description of the control on the P range side will be omitted as appropriate. Hereinafter, when it is not necessary to distinguish the current direction for the current value such as the maximum current for the sake of explanation, the description relating to the positive and negative will be omitted as appropriate. Further, the current value may be the same or different between the P range side and the not P range side, depending on, for example, the shape of the detent plate 21.

The motor control process of this embodiment will be described with reference to the flowchart of FIG. 9 and the time chart of FIG. This process is executed by the control unit 80 at a predetermined cycle. Hereinafter, the “step” in step S101 is omitted and simply referred to as the symbol “S”. The same applies to the other steps.

In S101, the control unit 80 determines whether or not there is a request for switching from the notP range to the P range. When it is determined that there is a request to switch to the P range (S101: YES), the process shifts to S102, and energization is performed with the maximum current in the negative direction −Imax. When it is determined that there is no request for switching to the P range (S101: NO), the process proceeds to S103.

In S103, it is determined whether or not there is a request for switching from the P range to the notP range. When it is determined that there is a request to switch to the notP range (S103: YES), the process proceeds to S104, and energization is performed with the maximum current Imax in the positive direction. When it is determined that there is no request to switch to the notP range (S103: NO), that is, when the current range is maintained, energization at the maximum current is continued. That is, if the shift range is the notP range, energization is continued at the maximum current Imax in the positive direction, and if the shift range is the P range, energization is continued at the maximum current −Imax in the negative direction.

In FIG. 10, the target value of the rotation angle sensor 68, the detection value of the rotation angle sensor 68, and the motor current are shown from the upper stage. For the sake of explanation, the target value and the detected value of the rotation angle sensor 68 correspond to the position of the detent roller 26, for example, the value when the detent roller 26 is in contact with the notP wall is "notP wall". Described. The same applies to the time chart according to the embodiment described later.

Before the time x10, the shift range is the P range, and the state in which the detent roller 26 is in contact with the P wall is maintained by energization at the maximum current −Imax in the negative direction. When a request for switching from the P range to the notP range is input at time x10, the target value of the rotation angle sensor 68 is set on the notP wall. In addition, in order to ensure that the detent roller 26 is in contact with the notP wall, the target value may be set to a value behind the notP wall. The same applies to the P range side.

When the target value of the rotation angle sensor 68 is set on the notP wall, the maximum current Imax in the positive direction is applied to the motor 50, and when the motor 50 is rotated in the positive direction, the detent roller 26 is on the notP wall at time x11. After reaching it, energization at the maximum current Imax is continued.

When a request to switch from the notP range to the P range is input at time x12, the target value of the rotation angle sensor 68 is set on the P wall, and the motor 50 is energized by energizing the maximum current -Imax in the negative direction. Rotate in the opposite direction. When the detent roller 26 reaches the P wall at time x13, energization at the maximum current −Imax is continued thereafter.

In the present embodiment, even after the shift range switching is completed, the motor 50 is continuously energized to maintain the state in which the backlash in the power transmission unit is moved to one side. As a result, it is possible to reduce gear wear and abnormal noise due to vibration.

Further, when the shift range is the notP range, vibration is more likely to occur than in the P range because it is directly connected to a drive source such as an engine. Therefore, in the notP range, the rattling state is maintained by continuing the energization, and in the P range, the rattling control may not be performed by turning off the energization. Similarly, in the embodiment described later, the backlash filling control may be performed in the notP range, and the backlash filling control may not be performed in the P range.

As described above, the shift range control device 70 controls the drive of the motor 50 in the shift-by-wire system 1 in which there is a play between the motor shaft 505, which is the rotation shaft of the motor 50, and the output shaft 15.

The shift-by-wire system 1 includes a motor 50, an output shaft 15, a power transmission unit 510, and a shift range switching mechanism 20. The drive of the motor 50 is transmitted to the output shaft 15. The power transmission unit 510 is provided between the motor 50 and the output shaft 15.

The shift range switching mechanism 20 has a detent plate 21, a detent roller 26, and a detent spring 25. The detent plate 21 is formed with a plurality of valley portions 211 and 212 and a mountain portion 215 separating the valley portions 211 and 212, and rotates together with the output shaft 15. The detent roller 26 can move the valley portions 211 and 212 cans by rotating the detent plate 21. The detent spring 25 urges the detent roller 26 in the direction of fitting into the valley portions 211 and 212.

The control unit 80 of the shift range control device 70 includes an energization control unit 81 that controls energization of the motor 50. The energization control unit 81 energizes the motor 50 while the output shaft 15 is stopped when the switching request for moving the detent roller 26 to the different valley portions 211 and 212 is not input, and plays. Controls the backlash to one side. In the present embodiment, the backlash filling control is performed in a state where the detent roller 26 is stopped within the stop allowable range of the valley portions 211 and 212.

By controlling the backlash by energizing while the output shaft 15 is stopped, noise and wear generated by gear backlash and rattling in the thrust direction are suppressed without increasing the number of parts. can do. In addition, the physique and weight can be suppressed as compared with the case where a separate member such as a spring for packing backlash is provided.

The energization control unit continues the energization state when the movement of the detent roller 26 in response to the switching request is completed in the play control. In the present embodiment, when the notP range is switched, the time when the detent roller 26 comes into contact with the notP wall is regarded as the time when the movement is completed, and the energized state at this time is continued. Further, when the P range is switched, the time when the detent roller 26 comes into contact with the P wall is regarded as the time when the movement is completed, and the energized state at the maximum current Imax is continued. As a result, it is possible to carry out backlash filling control with simple control.

The shift-by-wire system 1 is mounted on a vehicle and switches the shift range. Two valley portions 211 and 212 are formed on the detent plate 21, one of which is in the P range and the other of which is in a range other than the P range. It corresponds to a certain notP range. The energization control unit 81 performs backlash filling control when the detent roller 26 is in the valley portion 212 corresponding to the notP range. In other words, when the detent roller 26 is in the valley portion 211 corresponding to the P range, the backlash filling control is not performed.

Power consumption can be suppressed by performing rattling control in the notP range, which is directly connected to a vibration source with an engine or the like and is prone to vibration, and omitting rattling control in the P range.

The motor 50 of the present embodiment is a DC motor with a brush, and the power transmission unit 510 includes gears 51 to 54, 60 which are spur tooth gears. Specifically, the power transmission unit 510 includes a connecting gear 530 in which two gears 53 and 54 are connected by a gear connecting shaft 55. The gear connection shaft 55 is rotatably supported by the housing 41. In this embodiment, the gear connection shaft 55 is rotatably supported by the housing 41 by two bearings 56, 57. Since the generation of wear debris can be suppressed by the backlash packing control, it is possible to prevent the performance deterioration due to the wear debris adhering to the bearings 56 and 57.

The shift-by-wire system 1 includes a rotation angle sensor 68 that detects the rotation of the sensor magnet 65 that rotates integrally with the gear constituting the power transmission unit 510. In the present embodiment, the rotation angle sensor 68 detects the rotation of the gear 53 connected to the motor shaft 505 side of the gear connection shaft 55. The energization control unit 81 controls the energization of the motor 50 based on the detected value of the rotation angle sensor 68. Since the generation of wear debris can be suppressed by the backlash packing control, for example, when the rotation angle sensor 68 is a magnetic sensor, deterioration of the detection accuracy can be suppressed.

(Second Embodiment)
The second embodiment will be described with reference to FIGS. 11 to 13. In the first embodiment, the energization from the shift range switching is continued, and the detent roller 26 is in contact with the wall, so that the backlash-filled state is maintained. In the present embodiment, if the state in which the detection value of the rotation angle sensor 68 does not change continues after the range switching is started, it is considered that the detent roller 26 is in contact with the wall and the range switching is completed, and the maximum current is backlashed. Reduce the current to the extent that the packed state can be maintained. Hereinafter, the current that can maintain the backlash filling state is referred to as the backlash filling current Ig. The backlash filling current Ig may be a value that can close the gear backlash in the rotation direction, or may be a value that takes into consideration the rattling in the thrust direction.

As shown in FIG. 11, by energizing the motor 50 with the maximum positive current Imax in response to a request to switch from the state ST1 in which the shift range is the P range to the notP range, the motor 50 is passed through the state ST2 to the state ST3. As shown, the detent roller 26 abuts on the notP wall. Further, after the holding determination time Xth1 elapses after the detent roller 26 comes into contact with the notP wall, the energization amount is reduced from the maximum current Imax to the backlash filling current Ig.

When the amount of energization to the motor 50 is reduced, the detent roller 26 is separated from the notP wall by the detent load including the spring force of the detent spring 25, and moves to the notP valley side. Then, as shown in the state ST4, the detent roller 26 stops at a position where the torque of the motor 50 and the detent torque are balanced.

In the example of FIG. 11, since the current is reduced without changing the energization direction, the detent roller 26 stops on the notP wall side of the bottom of the notP valley in a state where the backlash is clogged on the forward rotation direction side. ing. The backlash filling current Ig can be energized in either direction. If it is in the positive direction, the backlash is clogged on the forward rotation direction side, and if it is in the negative direction, the backlash is clogged on the reverse rotation direction side. ..

The motor control process of this embodiment will be described with reference to the flowchart of FIG. 12 and the time chart of FIG. In S201, the control unit 80 determines whether or not there is a shift range switching request. When it is determined that there is no shift range switching request (S201: NO), that is, when the current range is maintained, the process proceeds to S204. When it is determined that there is a shift range switching request (S201: YES), the process shifts to S202, and energization is performed at the maximum current Imax according to the switching direction. That is, if it is a request to switch to the notP range, it is energized with the maximum current Imax in the positive direction, and if it is a request to switch to the P range, it is energized with the maximum current Imax in the negative direction.

In S203, which shifts following S202, the control unit 80 determines whether or not the stop time of the output shaft 15 is equal to or longer than the holding determination time Xth1 based on the detection value of the rotation angle sensor 68. When it is determined that the stop time of the output shaft 15 is smaller than the holding determination time Xth1 (S203: NO), the process returns to S202 and the energization at the maximum current Imax is continued. When it is determined that the stop time of the output shaft 15 is equal to or longer than the holding determination time Xth1 (S203: YES), the process proceeds to S204.

In S204, the control unit 80 energizes the motor 50 with a backlash-filling current Ig. As described above, the energization direction may be a positive direction or a negative direction. Further, the energization direction may be the same or different between the P range and the notP range.

As shown in the time chart of FIG. 13, the processing of time x20 to time x21 is the same as the processing of time x10 to time x11 in FIG. At time x21, when the detent roller 26 reaches the notP wall and the holding determination time Xth1 elapses after the output shaft 15 is stopped, the current energized in the motor 50 is changed from the maximum current Imax to the backlash current. Change to Ig. By reducing the current, the detent roller 26 moves from the notP wall side to the notP valley side due to the detent torque, and stops at a position where the motor torque and the detent torque are balanced.

The processing of time x23 to time x24 is the same as the processing of time x12 to time x13 in FIG. At time x13, when the detent roller 26 reaches the P wall and the holding determination time Xth1 elapses after the output shaft 15 stops, the current energized in the motor 50 is loosened from the maximum current -Imax. Change to current-Ig. By reducing the current, the detent roller 26 moves from the P wall side to the P wall side due to the detent torque, and stops at a position where the motor torque and the detent torque are balanced.

In the present embodiment, after the shift range switching is completed, the backlash filling state is maintained by energizing a current that is more than the backlash can be reduced and smaller than the current required for the range switching. As a result, the power consumption can be suppressed as compared with the case where the current required for range switching is continuously energized. Further, the heat generation of the motor 50 and the switching elements 711 to 714 can be reduced.

In the present embodiment, when the holding determination time Xth1 elapses after the output shaft is stopped, the energization control unit 81 can hold the state in which the play is moved to one side, and the holding current from the time of completion of switching is used. The current is reduced to a backlash-filling current Ig smaller than a certain maximum current Imax. As a result, it is possible to suppress the power consumption related to the backlash packing control. Moreover, the same effect as that of the above-described embodiment is obtained.

(Third Embodiment)
The third embodiment will be described with reference to FIGS. 14 to 16. In the present embodiment, when switching from the P range to the notP range, the target value is set at a position within the notP range range different from the bottom of the valley 212, that is, on the front side or the back side of the bottom of the valley 212. Set and stop the motor 50 at the target value. Further, when switching from the not P range to the P range, a target value is set at a position within the P range range different from the bottom of the valley 211, that is, on the front side or the back side of the bottom of the valley 211. The motor 50 is stopped at the target value. Hereinafter, the target value within the P range is defined as the P target value, and the target value within the notP range is defined as the notP target value.

As shown in the states ST1 and ST3 in FIG. 14, in the present embodiment, the target value is set on the front side of the bottom of the valley portions 211 and 212. By setting the target value on the front side (that is, the mountain part 215 side) of the bottom of the valley part, the detent roller 26 has the wall part 217 and 218 even if there are variations in the power transmission part and control. Can be prevented from colliding with.

The motor control process of this embodiment will be described with reference to the flowchart of FIG. 15 and the time chart of FIG. The processing of S301 in FIG. 15 is the same as that of S201 in FIG. 12, and when it is determined that there is a range switching request (S301: YES), the process proceeds to S302 and it is determined that there is no range switching request. If (S301: NO), the process proceeds to S304.

In S302, the control unit 80 controls the energization of the motor 50 so that the detected value of the rotation angle sensor 68 becomes a target value according to the required range. In the present embodiment, the motor 50 is started to be driven by the maximum current, and when the detected value of the rotation angle sensor 68 approaches the target value, the motor 50 is decelerated.

In S303, the control unit 80 determines whether or not the detected value of the rotation angle sensor 68 has reached the target value. When it is determined that the detected value of the rotation angle sensor 68 has not reached the target value (S303: NO), the process returns to S302 and the current control is continued. When it is determined that the detected value of the rotation angle sensor 68 has reached the target value (S303: YES), the process proceeds to S304.

In S304, the control unit 80 energizes the target holding current Ih so that the motor shaft 505 stops at the target position in a state where the motor shaft 505 is loosely packed on the side opposite to the bottom of the valley portions 211 and 212. If the target holding current Ih is energized, that state is continued.

As shown in the time chart of FIG. 16, before the time x30, the shift range is the P range, the target holding current Ih is energized, and the detent roller 26 is on the mountain portion 215 side of the bottom of the P valley. It is stopped at a position corresponding to the P target value, and the power transmission unit 510 is held in a state of being loosely packed in the forward rotation direction side.

When a request for switching from the P range to the notP range is input at time x30, the target value of the rotation angle sensor 68 is set to the notP target value, and the detection value of the rotation angle sensor 68 becomes the notP target value. , Controls the energization of the motor 50. At time x31, when the detected value of the rotation angle sensor 68 approaches the notP target value, energization is controlled so that the rotation of the motor 50 slows down. When the detected value reaches the notP target value at time x32, the target holding current −Ih that generates a motor torque commensurate with the detent torque is energized. As a result, the power transmission unit 510 is held in a state of being loosely packed in the reverse rotation direction side.

When a request for switching from the not P range to the P range is input at time x33, the energization of the motor 50 is controlled so that the detected value of the rotation angle sensor 68 becomes the P target value. At time x34, when the detected value approaches the P target value, energization is controlled so that the rotation of the motor 50 slows down. When the detected value reaches the P target value at time x35, the target holding current Ih, which generates a motor torque commensurate with the detent torque, is energized. As a result, the power transmission unit 510 is held in a state of being loosely packed in the forward rotation direction side.

In the present embodiment, since the target value is set on the front side of the bottom of the valley corresponding to each range, the energization direction of the target holding current Ih is opposite to that at the time of range switching. Further, the target holding current Ih may be different between the P range and the notP range depending on the shape of the detent plate 21 and the like.

In the present embodiment, the energization control unit 81 continues the energization state when the movement of the detent roller 26 in response to the switching request is completed in the backlash filling control. In the present embodiment, the target holding current Ih is continuously energized so that the detent roller 26 stops at the target position set on the front side of the bottom of the valley portions 211 and 212. By energizing the target holding current Ih that is balanced with the detent torque at the points deviated from the bottom of the valleys 211 and 212 where the spring force of the detent spring 25 is generated, the backlash is output in a state of being moved to one side. The stopped state of the shaft 15 can be maintained. As a result, it is possible to realize backlash reduction control with simple control. Further, the power consumption can be reduced as compared with the case where the detent roller 26 is held in contact with the wall portions 217 and 218. Moreover, the same effect as that of the above-described embodiment is obtained.

(Fourth Embodiment)
The fourth embodiment will be described with reference to FIGS. 17 to 19. As shown in FIG. 17, the detent roller 26 is moved to the target position shown in the state ST3 via the state ST2 by the request for switching from the state ST1 in which the shift range is the P range to the notP range, and the target holding current-. The target position is maintained by energizing Ih. In the present embodiment, when the state in which the detected value is held at the target value by energization of the target holding current −Ih exceeds the holding determination time Xth2, the backlash filling current Ig is set so that the backlash filling state can be maintained. , Reduce the amount of energization.

When the amount of energization to the motor 50 is reduced, the detent roller 26 moves to the bottommost side of the valley 212 due to the detent load including the spring force of the detent spring 25, and the detent roller is at a point where the motor torque and the detent torque are balanced. 26 stops (state ST4).

The motor control process of this embodiment will be described with reference to the flowchart of FIG. 18 and the time chart of FIG. The processing of S401 to S404 in FIG. 18 is the same as the processing of S301 to S304 in FIG. If a negative judgment is made in S401, the process proceeds to S406.

In S405 that shifts following S404, the control unit 80 determines whether or not the target holding time in which the detected value is held at the target value is the holding determination time Xth2 or more. The retention determination time Xth2 may be the same or different between the P range and the notP range. When it is determined that the target holding time is smaller than the holding determination time Xth2 (S405: NO), the process returns to S404 and the current of the target holding current Ih is continued. When it is determined that the target holding time is the holding determination time Xth2 or more (S408: YES), the process proceeds to S406. The processing of S406 is the same as the processing of S204 in FIG. 12, and the backlash filling current Ig is energized.

As shown in the time chart of FIG. 19, the processing of time x40 to time x42 is the same as the processing of time x30 to time x32 in FIG. At the time x43 when the holding determination time Xth2 has elapsed since the detected value reached the target value, the target holding current Ih is reduced to the backlash filling current Ig. As a result, the detent roller 26 moves to the notP valley side. In this example, since the backlash filling current Ig is negative, the detent roller 26 is stopped in front of the bottom of the notP valley, but if the backlash filling current Ig is positive, the bottom of the notP valley is stopped. Stop at the back side.

The processing of the time x44 to the time x46 is the same as the processing of the time x33 to the time x35 in FIG. At the time x47 when the holding determination time Xth2 has elapsed since the detected value reached the target value, the target holding current Ih is reduced to the backlash filling current Ig. As a result, the detent roller 26 moves to the P valley side. In this example, since the backlash filling current Ig is positive, the detent roller 26 is stopped in front of the bottom of the P valley, but if the backlash filling current Ig is negative, the bottom of the P valley is stopped. Stop at the back side.

In the present embodiment, the energization control unit 81 can hold the state in which the play is moved to one side when the holding determination time Xth2 elapses after the detent roller 26 is stopped, and the target holding current from the completion of switching is achieved. The backlash-filling current Ig, which is smaller than Ih, reduces the current. As a result, it is possible to suppress the power consumption related to the backlash packing control. Moreover, the same effect as that of the above-described embodiment is obtained.

(Fifth Embodiment)
A fifth embodiment is shown in FIGS. 20 to 22. In the present embodiment, as shown in the state ST3 in FIG. 20, when the range switching is completed, the energization is turned off. At this time, it is undefined where the motor shaft 505 is located in the backlash. Further, as shown by the arrow A, when the backlash filling control implementation condition is satisfied, the backlash filling is performed by energizing the backlash filling current Ig.

The backlash filling control implementation conditions include vibration factor conditions and strength factor conditions. The vibration factor condition is a condition in which the vibration becomes large and the gear is easily touched. In the present embodiment, it is determined that the vibration factor condition is satisfied when the vehicle speed V is the vehicle speed determination value Vth or more and when the engine rotation speed N_EN is the rotation speed determination value N_ENth or more.

Further, when the vehicle is equipped with a main motor such as a hybrid vehicle or an electric vehicle, it may be determined that the vibration factor condition is satisfied when the MG rotation speed N_MG is the rotation speed determination value N_MGth or more.

The strength factor condition is a condition in which gear slippage due to a decrease in friction at the meshing portion of the gear and a decrease in the strength of the gear are likely to occur. In particular, in the present embodiment, the gears 52 and 53 are made of resin, and the strength tends to decrease due to high temperature. Therefore, when the TM oil temperature Tool is equal to or higher than the oil temperature determination value Tth, the strength factor condition is satisfied. Is determined.

The motor control process of this embodiment will be described with reference to the flowchart of FIG. The processing of S501 and S502 is the same as the processing of S301 and S302 in FIG. If a negative judgment is made in S501, the process proceeds to S507.

In S503, the control unit 80 determines whether or not the stop count start position has been passed based on the detected value of the rotation angle sensor 68. The stop count start position is set so as to reach a target value when the energization holding determination time Xth3 has elapsed. If it is determined that the stop count position has not been passed (S503: NO), the process returns to S502 and the current control is continued. When it is determined that the stop count position has been passed (S503: YES), counting of the energization holding time is started, and the process proceeds to S504. In S504, the control unit 80 holds the current current value.

In S505, the control unit 80 determines whether or not the energization holding time, which is the time after passing the stop count start position, is the energization holding determination time Xth3 or more. When it is determined that the energization holding time is smaller than the energization holding determination time Xth3 (S505: NO), the process returns to S504 and the energization holding is continued. When it is determined that the energization holding time is equal to or longer than the energization holding determination time Xth3 (S505: YES), the process proceeds to S506 and the energization is turned off.

In S507, the control unit 80 determines whether or not the TM oil temperature tool is equal to or higher than the oil temperature determination value Tth. When it is determined that the TM oil temperature Tool is smaller than the oil temperature determination value Tth (S507: NO), the process proceeds to S510. When it is determined that the TM oil temperature Tool is equal to or higher than the oil temperature determination value Tth (S507: YES), the process proceeds to S508.

In S508, the control unit 80 determines whether or not the vehicle speed V is equal to or higher than the vehicle speed determination value Vth and the engine rotation speed N_EN is equal to or higher than the rotation speed determination value N_ENth. When it is determined that the vehicle speed V is equal to or higher than the vehicle speed determination value Vth and the engine rotation speed N_EN is equal to or higher than the rotation speed determination value N_ENth (S508: YES), the process proceeds to S509. When it is determined that the vehicle speed V is smaller than the vehicle speed determination value Vth or the engine rotation speed N_EN is smaller than the rotation speed determination value N_ENth (S508: NO), the process proceeds to S510.

S509 is the same as the processing of S204 in FIG. 12, and the control unit 80 energizes the backlash filling current Ig. In S510, the control unit 80 turns off the energization of the motor 50. If the motor 50 is not energized, that state is continued.

The motor control process of this embodiment will be described with reference to the time chart of FIG. As shown in FIG. 22, when a request for switching from the P range to the notP range is input at time x50, the target value of the rotation angle sensor 68 is set to the notP target value, and the detection value of the rotation angle sensor 68 is set. The energization of the motor 50 is controlled so as to reach the notP target value.

When the stop count start position is passed at time x51, the current at that time is maintained. If the backlash filling control execution condition is not satisfied at the time x52 when the energization holding determination time Xth3 has elapsed after passing the stop count start position, the energization to the motor 50 is turned off. When the energization to the motor 50 is turned off, the detent roller 26 moves to the bottom of the notP valley by the spring force of the detent spring 25. At this time, the position of the motor shaft 505 becomes indefinite in the backlash.

When the backlash filling control execution signal is input at time x53, the backlash filling control is performed by energizing the backlash filling current Ig. In the present embodiment, if affirmative judgment is made in S506 and S507 in FIG. 21, a backlash filling control execution signal is input and a backlash filling current Ig is energized. When the backlash filling control execution signal is turned off at time x54, the energization of the backlash filling current Ig is terminated.

When a request for switching from the notP range to the P range is input at time x55, the target value of the rotation angle sensor 68 is set to the P target value, and the detection value of the rotation angle sensor 68 becomes the P target value. , Controls the energization of the motor 50.

When the stop count position is passed at time x56, the energization state at that time is maintained, and at time x57 when the energization retention determination time Xth3 has elapsed, the energization is turned off unless the backlash filling control execution condition is specified. .. When the energization to the motor 50 is turned off, the detent roller 26 moves to the bottom of the P valley by the spring force of the detent spring 25. At this time, the position of the motor shaft 505 becomes indefinite within the play.

The processing of time x57 to time x58 is the same as the processing of time x53 to time x54, and when the backlash filling control execution signal is input, the backlash filling current Ig is energized and the backlash filling control execution signal is turned off. And turn off the power.

In the present embodiment, when the energization control unit 81 completes the movement of the detent roller 26 to the valley portions 211 and 212 in response to the switching request, the energization to the motor 50 is turned off, and the backlash filling control implementation condition is satisfied. If this is the case, as a backlash filling control, a backlash filling current Ig that can maintain a state in which the play is moved to one side is energized.

In the present embodiment, when the TM oil temperature Tool is the oil temperature determination value Tth or more, the vehicle speed V is the vehicle speed determination value Vth or more, and the engine rotation speed N_EN is the rotation speed determination value N_ENth or more, the backlash filling control implementation condition is satisfied. It is determined that it is.

After the range switching is completed, the energization is turned off, and when the backlash filling control implementation condition, which is a condition where vibration becomes large or there is a risk of gear strength decrease, is satisfied, the backlash filling current Ig is energized to reduce the backlash. I try to do it. In other words, when the need for backlash filling is low, the backlash filling current Ig is not energized and the energization is continued off. As a result, it is possible to suppress power consumption while suppressing gear wear and abnormal noise. Moreover, the same effect as that of the above-described embodiment is obtained.

(Sixth Embodiment)
The sixth embodiment is shown in FIG. In FIG. 23, the vehicle speed V, the engine rotation speed N_EN and MG rotation speed N_MG, the detected value of the rotation angle sensor 68, and the motor current are shown from the upper stage, and the vehicle speed V, engine rotation speed N_EN and MG rotation are shown in the uppermost stage. The numbers N_MG are listed together. If the vehicle is an engine vehicle, the determination may be made based on the engine rotation speed N_EN, and if the vehicle is an electric vehicle, the determination may be made based on the MG rotation speed N_MG. If the vehicle is a hybrid vehicle, the determination may be made using at least one of the engine speed N_EN and the MG speed N_MG.

In the present embodiment, the backlash filling control implementation determination is different from that in the fifth embodiment, and this point will be mainly described. In the sixth embodiment shown in FIG. 23, when the vehicle speed V is equal to or higher than the vehicle speed determination value Vth, the backlash filling current Ig is energized and the backlash filling control is performed. Further, when the engine rotation speed N_EN is equal to or greater than the rotation speed determination value N_ENth, backlash reduction control may be performed. Furthermore, when the MG rotation speed N_MG is equal to or higher than the rotation speed determination value N_MGth, backlash reduction control may be performed. It should be noted that the backlash filling control may be performed when one of the vehicle speed V, the engine speed N_EN and the MG rotation speed N_MG is equal to or higher than the determination value, or the backlash filling control may be performed when a plurality of them are equal to or higher than the judgment value. You may.

In the sixth embodiment, when the vehicle speed V is equal to or higher than the vehicle speed determination value Vth, the energization control unit 81 determines that the backlash reduction control implementation condition is satisfied. Further, when at least one of the engine rotation speed N_EN and the MG rotation speed N_MG which is the rotation speed of the main engine is equal to or higher than the rotation speed determination threshold corresponding to each, it is determined that the backlash reduction control execution condition is satisfied. When the vehicle speed V is high, or when the engine speed N_EN or MG speed N_MG is high, the vibration becomes large and the gear tends to swing. Under such conditions, the gear is protected by performing the backlash packing control. In addition, the power consumption can be suppressed as compared with the case where the backlash filling control is always performed. Moreover, the same effect as that of the above-described embodiment is obtained.

(7th Embodiment)
A seventh embodiment is shown in FIG. In FIG. 24, the engine rotation speed N_EN and MG rotation speed N_MG, the detection value of the rotation angle sensor 68, and the motor current are shown from the upper stage, and the engine rotation speed N_EN and MG rotation speed N_MG are collectively described in the uppermost stage. did.

In the present embodiment, when the engine speed N_EN is in the resonance frequency band of the shift-by-wire system 1, backlash reduction control is performed. That is, when the engine speed N_EN is equal to or greater than the lower determination value TH_L and equal to or less than the upper determination value TH_H in the resonance frequency band, the backlash reduction control is performed. Further, when the MG rotation speed N_MG is in the resonance frequency band of the shift-by-wire system 1, the backlash reduction control may be performed.

In the present embodiment, when at least one of the engine rotation speed N_EN and the MG rotation speed N_MG is a resonance region that resonates with the shift-by-wire system 1, it is determined that the backlash reduction control implementation condition is satisfied. As a result, it is possible to suppress the generation of vibration and abnormal noise generated by resonance. In addition, the power consumption can be suppressed as compared with the case where the backlash filling control is always performed. Moreover, the same effect as that of the above-described embodiment is obtained.

(8th Embodiment)
An eighth embodiment is shown in FIG. In FIG. 25, the TM oil temperature Tool, the detected value of the rotation angle sensor 68, and the motor current are shown from the upper part. In the present embodiment, when the TM oil temperature Toil is equal to or higher than the oil temperature determination value Tth, the energization control unit 81 determines that the backlash filling control implementation condition is satisfied. The gear can be protected by controlling the backlash in a high temperature region where gear slippage and a decrease in gear strength are likely to occur due to a decrease in friction at the gear meshing portion. In addition, the power consumption can be suppressed as compared with the case where the backlash filling control is always performed. Moreover, the same effect as that of the above-described embodiment is obtained.

(9th Embodiment)
A ninth embodiment is shown in FIG. In the backlash control, when a constant current is continuously energized, a bias in heat generation occurs between the elements. For example, when the backlash-filling current −Ig in the negative direction is continuously energized, the switching elements 712 and 713 are turned on and the switching elements 711 and 714 are turned off, so that heat is generated in the switching elements 712 and 713.

Therefore, in the present embodiment, a minute current vibration is applied so that the average current becomes the backlash-filling current Ig. By vibrating the current, the difference in on-time between the switching elements 711 and 714 becomes smaller as compared with the case where a constant current is applied, and the bias of heat generation can be reduced. The vibration width of the current is set according to the configuration of the shift range switching mechanism 20 and the like so that the backlash filling state is not released.

The motor control process of this embodiment will be described with reference to the time chart of FIG. FIG. 26 describes switching from the P range to the notP range. The processing up to the time x63 is the same as the processing up to the time x53 in FIG. When the backlash filling control signal is input at the time x63, the backlash filling control is performed. Here, the current is vibrated so that the average current becomes the backlash-filling current Ig. Although the description in FIG. 26 is omitted, the energization is turned off when the backlash filling control implementation condition is released. Although the control in the fifth embodiment has been described here as an example, in another embodiment, the current vibration may be applied in the backlash packing control.

In the present embodiment, the current applied to the motor 50 is oscillated in the backlash control. As a result, the bias of the on-time of the switching elements 711 to 714 is reduced, and the heat generation is dispersed, so that overheating of a specific element can be prevented. Moreover, the same effect as that of the above-described embodiment is obtained.

In the embodiment, the shift-by-wire system 1 corresponds to the "power transmission system", the shift range control device 70 corresponds to the "motor control device", the shift range switching mechanism 20 corresponds to the "detent mechanism", and the detent plate 21 corresponds to the "covered". The drive member, the detent spring 25 correspond to the urging member, and the detent roller 26 corresponds to the engaging member. Further, the gear 53 corresponds to the "motor side gear", and the rotation angle sensor 68 corresponds to the "position detection sensor".

(Other embodiments)
In the fifth embodiment, when the shift range switching request is input, the motor is driven, and the energization is turned off when the energization holding determination time elapses after passing through the stop count start position. In another embodiment, the process from the input of the shift range switching request to the completion of the range switching and the turning off of the energization may be different.

In the above embodiment, the number of deceleration stages is three. In other embodiments, the number of reduction stages may be two or four or more. Further, it is sufficient that the drive of the motor can be transmitted to the output shaft, and the configuration of the mechanism for transmitting the power from the motor to the output shaft may be different.

In the above embodiment, the motor is a brushed DC motor. In other embodiments, the motor may be something other than a brushed DC motor. In the above embodiment, the detent plate is provided with two valleys. In other embodiments, the number of valleys is not limited to two and may be three or more. Further, the shift range switching mechanism, the parking lock mechanism, and the like may be different from those in the above embodiment.

In the above embodiment, the motor control device is applied to a shift-by-wire system which is a shift range switching system. In another embodiment, the motor control device is not limited to the shift range, and may be applied to a power transmission switching system that switches a power transmission state including switching of a drive source in a hybrid vehicle, for example. Further, it may be applied to a power transmission switching system other than the vehicle-mounted system.

The controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done. Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the controls and methods described herein are by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. As described above, the present invention is not limited to the above-described embodiment, and can be implemented in various forms without departing from the spirit of the invention.

1 ... Shift-by-wire system (power transmission system)
15 ... Output shaft 20 ... Shift range switching mechanism (detent mechanism)
21 ... Detent plate (driven member)
25 ... Detent spring (biasing member)
26 ... Detent roller (engagement member)
50 ... Motor 505 ... Motor shaft 510 ... Power transmission unit 70 ... Shift range control device (motor control device)
80 ... Control unit 81 ... Energization control unit

Claims (11)

Motor (50) and
The output shaft (15) to which the drive of the motor is transmitted and
A power transmission unit (510) provided between the motor and the output shaft,
A plurality of valleys (211 and 212), a mountain portion (215) separating the valleys, and a driven member (21) that rotates together with the output shaft, and the driven member can be rotated to move between the valleys. A detent mechanism (20) having an engaging member (26), and an urging member (25) for urging the engaging member in a direction of fitting into the valley portion.
A motor control device that controls the drive of the motor in a power transmission system (1) in which a play exists between the motor shaft (505), which is the rotation shaft of the motor, and the output shaft.
An energization control unit (81) for controlling energization of the motor is provided.
The energization control unit energizes the motor while the output shaft is stopped when a switching request for moving the engaging member to a different valley portion is not input, and the play is performed. A motor control device that controls backlash to one side. The motor control device according to claim 1, wherein the energization control unit continues the energization state when the movement of the engaging member is completed in response to the switching request in the backlash control. When the holding determination time elapses after the output shaft is stopped, the energization control unit can hold the state in which the play is moved to one side, and the backlash-filling current is smaller than the holding current from the completion of switching. The motor control device according to claim 2, wherein the current is reduced. The energization control unit
When the movement of the engaging member to the valley portion in response to the switching request is completed, the energization of the motor is turned off.
The motor control device according to claim 1, wherein the backlash filling control implementation condition is satisfied. The power transmission system is a shift range switching system that is mounted on a vehicle and switches the shift range.
The motor control device according to claim 4, wherein the energization control unit determines that the backlash reduction control execution condition is satisfied when the vehicle speed is equal to or higher than the vehicle speed determination value. The power transmission system is a shift range switching system that is mounted on a vehicle and switches the shift range.
The fourth or claim 4 or the energization control unit determines that the backlash reduction control execution condition is satisfied when at least one of the engine rotation speed and the rotation speed of the main engine motor is equal to or higher than the rotation speed determination value corresponding to each. 5. The motor control device according to 5. The power transmission system is a shift range switching system that is mounted on a vehicle and switches the shift range.
4. The energization control unit determines that the backlash reduction control implementation condition is satisfied when at least one of the engine rotation speed and the main engine rotation speed is in a resonance region that resonates with the power transmission system. Or the motor control device according to 5. The power transmission system is a shift range switching system that is mounted on a vehicle and switches the shift range.
Claims 4 to 7 determine that the backlash filling control implementation condition is satisfied when the oil temperature of the transmission (7) connected to the detent mechanism is equal to or higher than the oil temperature determination value. The motor control device according to any one of the above. The power transmission system is a shift range switching system that is mounted on a vehicle and switches the shift range.
Two of the valleys are formed in the driven member, one of which corresponds to the P range and the other of which corresponds to the notP range which is a range other than the P range.
The motor control device according to any one of claims 1 to 8, wherein the energization control unit performs the backlash filling control when the engaging member is in the valley portion corresponding to the notP range. The motor control device according to any one of claims 1 to 9, wherein the energization control unit vibrates a current energized in the motor in the backlash control. The motor is a brushed DC motor.
The power transmission unit includes spur tooth gears (51 to 54, 60).
The motor control device according to any one of claims 1 to 10, wherein a position detection sensor (68) for detecting the rotation of a sensor magnet (65) that rotates integrally with any of the gears constituting the power transmission unit is provided. ..

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