JP2023032980A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device capable of correcting an error in detecting a phase of a rotary member.SOLUTION: A vehicle control device comprises: a stepped transmission; a resolver which detects a first phase which is a phase of one of either an input side rotary member or an output side rotary member of the transmission; a rotation speed sensor which detects a rotation speed of the other rotary member out of the input side rotary member and the output side rotary member of the transmission; and conversion means which converts a detection value of the rotation sensor into a second phase which is a phase of the other rotary member. In a state where the one rotary member and the other rotary member are respectively rotated in accordance with transmission ratios of transmission stages formed in the transmission, the vehicle control device corrects a detection error of the first phase on the basis of a difference between one of the first and second phases and the other phase of the first and second phases converted into the phase of the rotary member for which one phase is detected in accordance with the transmission ratio.SELECTED DRAWING: Figure 1

Description

The present invention relates to correction of detection error of a resolver that detects the phase (rotational angle) of an input-side rotating member and an output-side rotating member of a stepped transmission provided in a vehicle.

The detection error characteristics of the phase of the rotating member detected by the resolver are measured under the condition that it rotates at a constant rotational speed (constant speed), and the detection error characteristics are stored in advance as a correction map for each phase value. A vehicle control device is known that uses the correction map to correct the phase of a rotating member detected by a resolver during acceleration or deceleration. For example, a vehicle control device described in Patent Document 1 is one of them.

JP 2013-238431 A

In the vehicle control device described in Patent Document 1, the measurement of the detection error characteristics in the phase of the rotating member detected by the resolver requires that the rotating member rotates at a constant rotational speed. That is, when the rotating member does not rotate at a constant rotational speed, the detection error characteristics cannot be measured, and it is difficult to increase the correction frequency. Therefore, it is desired to increase the frequency of correction by making it possible to measure detection error characteristics even when the rotating member does not rotate at a constant rotational speed.

The present invention has been made against the background of the above circumstances, and its object is to detect the phase of a rotating member detected by a resolver even when the rotating member is not rotating at a constant rotational speed. To provide a vehicle control device capable of correcting an error.

The gist of the first invention is a stepped transmission, a resolver for detecting a first phase that is the phase of one of the input-side rotating member and the output-side rotating member in the transmission, and the transmission. and a rotation speed sensor for detecting the rotation speed of the other rotation member of the input side rotation member and the output side rotation member in It further comprises converting means for converting to a certain second phase, and in a state in which the one rotating member and the other rotating member respectively rotate according to the gear ratio of the shift stage formed in the transmission, the first phase and the second phase. Based on the difference between one of the two phases and the other of the first phase and the second phase converted to the phase of the rotating member from which one of the phases is detected according to the gear ratio, The object is to correct the detection error of the first phase.

According to the vehicle control device of the first invention,
one of the first phase and the second phase in a state in which the one rotating member and the other rotating member respectively rotate according to the gear ratio of the gear stage formed in the transmission; and the other one of the first phase and the second phase converted to the phase of the rotating member from which the one phase is detected according to the gear ratio, the first phase detection error is corrected. As long as one rotating member and the other rotating member rotate according to the gear ratio of the gear stage formed in the transmission, the resolver can operate even if the rotating members do not rotate at a constant rotational speed. Correction of the detection error of the detected first phase is possible, and the frequency of correction can be increased. For example, if one rotating member and the other rotating member rotate according to the gear ratio of the gear stage formed in the transmission, frequent correction can be performed even if the temperature condition changes. Therefore, it is possible to correct the detection error of the first phase of one of the rotating members detected by the resolver with good followability to the temperature change.

1 is a schematic configuration diagram of a vehicle equipped with an electronic control device according to an embodiment of the present invention, and a functional block diagram showing main parts of control functions for various controls in the vehicle; FIG. It is a figure which shows the example of schematic structure of a resolver. It is a figure which shows the example of a schematic structure of a rotation speed sensor. The detection error included in the phase of the input shaft detected by the resolver provided on the input shaft, the detection error included in the phase of the output shaft detected by the resolver provided on the output shaft, and the phases of these input shafts FIG. 10 is a diagram showing waveforms of differences based on included detection errors and detection errors included in the phase of the output shaft; FIG. 5 is a diagram for explaining a result of overwriting a detection error included in the phase of the input shaft and a detection error included in the converted phase for each phase value in the phase of the input shaft for a predetermined number of engagement ratios; 3 is a diagram showing waveforms of a phase θin of an input shaft, an estimated phase θest and a phase θout of an output shaft, and a detection signal Vout of a rotational speed sensor; FIG. FIG. 2 is an example of a flow chart for explaining the control operation of the electronic control unit shown in FIG. 1; FIG. 7 is an example of a table used to store calculation results in steps S40 and S60 in the flowchart of FIG. 6;

Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings. In each of the following examples, the drawings are appropriately simplified or modified, and the dimensional ratios, shapes, etc. of each part are not necessarily drawn accurately.

1 is a schematic configuration diagram of a vehicle 10 equipped with an electronic control unit 90 according to an embodiment of the present invention, and a functional block diagram showing main parts of control functions for various controls in the vehicle 10. FIG.

The vehicle 10 includes an engine 12 as a driving force source for running, and a power transmission device 16 provided in a power transmission path between the engine 12 and a pair of drive wheels 14 .

Engine 12 is a well-known internal combustion engine. The operating state (operating state, stopped state) of the engine 12 is controlled by an electronic control unit 90, which will be described later. The engine torque Te [Nm], which is the output torque of the engine 12, is controlled by controlling the throttle actuator, fuel injection device, ignition device, etc. provided in the engine 12. FIG.

The power transmission device 16 includes, in order from the engine 12 side, a torque converter 22, an automatic transmission 24, and the like in a case 18, which is a non-rotating member. The power transmission device 16 includes a differential gear 26 connected to an output shaft 34 that is an output-side rotating member of the automatic transmission 24, a pair of axle shafts 36 connected to the differential gear 26, and the like.

The power transmission device 16 includes an engine connection shaft 30 that connects the engine 12 and the torque converter 22 .

Torque converter 22 is a known torque converter. The torque converter 22 includes a pump impeller connected to an engine connecting shaft 30, a turbine impeller connected to an input shaft 32 which is an input-side rotating member of the automatic transmission 24, and the pump impeller and the turbine impeller. and a lockup clutch LU which is directly connected. The torque converter 22 is a hydrodynamic transmission device that transmits driving force for running from the engine 12 from the engine connecting shaft 30 to the input shaft 32 via fluid. The oil pump 42 is connected to the pump impeller and driven to rotate by the engine 12 . The rotationally driven oil pump 42 discharges hydraulic oil used in the power transmission device 16 .

The automatic transmission 24 is disposed between the engine 12 and the pair of drive wheels 14, and includes, for example, a plurality of sets of planetary gears (not shown) and rotating elements that constitute the plurality of sets of planetary gears. and a plurality of shift engaging devices for selectively engaging between the element and the non-rotating element, and one of the plurality of shift speeds is selected by a combination of engagements of the shift engaging devices. 1 is a well-known planetary gear type automatic transmission, formed in FIG. The gear shift engagement device is, for example, a wet multi-plate hydraulic friction engagement device such as a brake or a clutch.

In the automatic transmission 24, for example, the gear ratio (also called mesh gear ratio) γat (=input shaft rotation speed Nin [rpm]/output shaft rotation) is changed by engagement of any one of the gearshift engagement devices. It is a stepped transmission in which one of a plurality of gear stages (also referred to as gear stages) having different speeds Nout [rpm] is formed. The automatic transmission 24 is controlled by an electronic control unit 90, which will be described later, according to the driver's accelerator operation, the vehicle speed V [km/h], etc. By switching the operating state of a predetermined engagement device, which is a coupling device, the gear stage to be formed is switched. The input shaft rotation speed Nin is the rotation speed of the input shaft 32 and the input rotation speed of the automatic transmission 24 . The input shaft rotation speed Nin has the same value as the turbine rotation speed Nt [rpm], which is the output rotation speed of the torque converter 22 . The output shaft rotation speed Nout is the rotation speed of the output shaft 34 and the output rotation speed of the automatic transmission 24 . Note that the automatic transmission 24 corresponds to the "transmission" in the present invention. The input shaft 32 corresponds to the "input side rotating member" and "one rotating member" in the present invention, and the output shaft 34 corresponds to the "output side rotating member" and "the other rotating member" in the present invention. equivalent to "member".

A resolver 72 is provided on the input shaft 32 of the automatic transmission 24 , and a rotation speed sensor 74 is provided on the output shaft 34 of the automatic transmission 24 . The resolver 72 is a known resolver capable of detecting the phase (rotational angle) of the input shaft 32 . For example, the resolver 72 outputs a detection signal Vin which is a signal corresponding to the phase of a disk-shaped rotor 32a made of electromagnetic steel plate fixed to the input shaft 32 so as not to rotate relative to it (=the phase θin [degrees] of the input shaft 32). [V] is output to the electronic control unit 90 . The rotation speed sensor 74 is a known sensor that can detect the rotation speed of the output shaft 34 . For example, the rotational speed sensor 74 outputs to the electronic control unit 90 a detection signal Vout [V], which is a pulse signal corresponding to a pulse gear fixed to the output shaft 34 so as not to rotate relative to it. Note that the detection signal Vin and the detection signal Vout include errors corresponding to the detection error ERin and the detection error ERout, which are included in the phase θin and the phase θout, and which will be described later.

Here, the configuration of the resolver 72 will be described. FIG. 2A is a diagram showing an example of a schematic configuration of the resolver 72. As shown in FIG. A magnetic field is formed by applying a sinusoidal AC voltage to an excitation coil connected to an excitation power supply. As the rotor 32a rotates in the magnetic field, the two detection coils, which are electrically out of phase with each other by 90 degrees, output sine wave voltages Vsin [V] corresponding to the phase θa of the rotor 32a. ] and the cosine wave output voltage V cos [V] are detected as the detection signal Vin. Since the sine wave output voltage Vsin and the cosine wave output voltage Vcos are induced voltages with amplitude changes corresponding to the phase θa, the phase θa (=θin) is calculated by signal processing in the electronic control unit 90, which will be described later.

Also, the configuration of the rotational speed sensor 74 will be described. FIG. 2B is a diagram showing an example of a schematic configuration of the rotational speed sensor 74. As shown in FIG. The rotation speed sensor 74 has a pulse gear 74g and a magnetic detector 74d. The pulse gear 74g is a disk-shaped member made of a soft magnetic material. Teeth are formed at a predetermined pitch P on the outer circumference of the pulse gear 74g. The magnetic detector 74d outputs a pulse signal (detection signal Vout) having one period of rotation by an angle corresponding to the pitch P. FIG. By counting the number of pulses, the rotation speed of the pulse gear 74g can be detected.

Returning to FIG. 1, the differential gear 26 is a well-known differential gear that transmits driving force for running while appropriately providing differential rotation to a pair of axle shafts 36 that are respectively connected to the pair of drive wheels 14 .

The hydraulic control circuit 40 uses the hydraulic pressure of hydraulic oil OIL pressure-fed from the oil pump 42 as a source pressure to supply necessary hydraulic oil OIL to each part in the case 18 . For example, the hydraulic control circuit 40 regulates control hydraulic pressures for controlling the connected/disconnected states of the engagement devices for gear shift, and supplies them to the respective hydraulic actuators for controlling the connected/disconnected states of the engagement devices for gear shift. As a result, the automatic transmission 24 is provided with a desired gear ratio γat.

The power output from the engine 12 is transmitted to the pair of driving wheels 14 sequentially via the engine connecting shaft 30, the torque converter 22, the automatic transmission 24, the differential gear 26, the pair of axles 36, and the like.

The vehicle 10 has an electronic control unit 90 . The electronic control unit 90 includes, for example, a so-called microcomputer having a CPU, a RAM, a ROM, and an input/output interface. Various controls of the vehicle 10 are executed by performing signal processing. The electronic control unit 90 includes computers for engine control, hydraulic control, detection error correction of the phase of rotating members, etc., as required. The electronic control device 90 corresponds to the "control device" in the present invention.

The electronic control unit 90 includes various signals (for example, engine engine rotation speed Ne [rpm] which is a rotation speed of 12, detection signal Vin representing the phase θin of the input shaft 32, detection signal Vout representing the rotation speed of the output shaft 34, and the driver representing the magnitude of the driver's acceleration operation. accelerator opening θacc [%], etc., which is the accelerator operation amount of .

From the electronic control unit 90, various command signals (e.g., engine control signal Se for controlling the engine 12, gear shifting engagement device Hydraulic control signal Sp for connection/disconnection control and connection/disconnection control of the lockup clutch LU, etc.) are respectively output.

The electronic control unit 90 functionally includes a travel control unit 92 and a phase correction unit 94 .

The traveling control unit 92 functionally includes an engine control unit 92a, a transmission control unit 92b, and a lockup control unit 92c.

The travel control unit 92 calculates the amount of driving demand for the vehicle 10 by the driver, for example, by applying the accelerator opening θacc and the vehicle speed V to the driving demand amount map. The required drive amount map is a map in which the relationship between the accelerator opening θacc and the vehicle speed V and the required drive amount is obtained in advance experimentally or by design and stored. The required drive amount is, for example, the required drive torque Trdem [Nm] for the pair of drive wheels 14 . In other words, the required drive torque Trdem is the required drive power Prdem [W] at the vehicle speed V at that time. As the required driving amount, the required driving force Frdem [N] at the pair of driving wheels 14, the required AT output torque at the output shaft 34, and the like can be used. In the calculation of the drive demand amount, instead of the vehicle speed V, the output shaft rotational speed Nout may be used.

The engine control unit 92a controls the engine 12 so as to realize the required drive power Prdem, taking into account the transmission loss, the auxiliary load, the gear ratio γat of the gear stage formed by the automatic transmission 24, and the like. It outputs the control signal Se. The engine control signal Se is, for example, a command value of the engine power Pe [W], which is the power of the engine 12 that outputs the engine torque Te at the engine rotation speed Ne at that time.

The transmission control unit 92b determines the shift of the automatic transmission 24 using, for example, a shift map having a predetermined relationship, and outputs a hydraulic control signal Sp for executing shift control of the automatic transmission 24 as necessary. is output to the hydraulic control circuit 40 . The shift map is a predetermined relationship having a shift line for judging the shift of the automatic transmission 24 on two-dimensional coordinates having, for example, the vehicle speed V and the required drive torque Trdem as variables. In the shift map, the vehicle speed V may be replaced by the output shaft rotation speed Nout, or the required driving torque Trdem may be replaced by the required driving force Frdem, the accelerator opening θacc, or the like.

The lockup control section 92c controls connection and disconnection of the lockup clutch LU. For example, in the case of reducing the shift shock associated with switching gears in the automatic transmission 24 or reducing the transmission of the pulsation of the low-rotation engine 12 to the pair of drive wheels 14, a lockup clutch is used. LU is disconnected. Otherwise, the lockup clutch LU is engaged to improve fuel efficiency.

(Method for correcting detection error ERin)
Correction of the detection error ERin in the phase θin of the input shaft 32 detected by the resolver 72 will now be described.

The electronic control unit 90 includes, for example, a detection circuit that detects the detection signal Vin of the resolver 72, a signal processing circuit that executes signal processing to generate a signal representing the phase θin based on the signal detected by the detection circuit unit, including. The electronic control unit 90 also includes a detection circuit that detects the detection signal Vout of the rotation speed sensor 74, and a signal processing circuit that performs signal processing to convert the pulse signal detected by the detection circuit section into a signal representing the phase θout. ,including. A specific method for converting the detection signal Vout into the phase θout will be described later. Due to variations in characteristics such as resistance values of the specifications of the detection circuit and signal processing circuit and changes in temperature characteristics, there is a difference between the phase θin of the input shaft 32 detected by the resolver 72 and the actual phase θin_t of the input shaft 32 generates a detection error ERin [degrees], and a detection error ERout [degrees] occurs between the phase θout of the output shaft 34 detected by the rotational speed sensor 74 and the actual phase θout_t of the output shaft 34 . That is, equations (1) and (2) hold.

The phase θin of the input shaft 32 detected by the resolver 72 becomes the same phase value θx each time the input shaft 32 rotates once, and the phase θout of the output shaft 34 detected by the rotational speed sensor 74 is 1 The phase value θy is the same each time it rotates. The phase value θx is a phase represented by 0 [degrees] to 360 [degrees], which is returned to 0 [degrees] when the phase θin of the input shaft 32 reaches 360 [degrees], and the phase value θy is , and is returned to 0 [degrees] when the phase θout of the output shaft 34 reaches 360 [degrees]. The phase θin of the input shaft 32 detected by the resolver 72 includes a detection error ERin corresponding to its phase value θx, and the phase θout of the output shaft 34 detected by the rotational speed sensor 74 includes its phase value θy contains the detection error ERout depending on . The detection error ERin and the detection error ERout are functions whose independent variables are the phase value θx of the phase θin and the phase value θy of the phase θout, respectively. The phase θin of the input shaft 32 and the phase θout of the output shaft 34 are synonymous with the rotational position of the input shaft 32 and the rotational position of the output shaft 34, respectively. The phase θin and the phase θout respectively correspond to the "first phase" and the "second phase" in the present invention.

Here, the phase θout of the output shaft 34 is converted into the phase of the input shaft 32 in accordance with the gear ratio γat of the gear stage formed in the automatic transmission 24, that is, the phase θout of the output shaft 34 is converted to the corresponding input The converted phase on the axis 32 is called a converted phase θconv. When the gear stage formed by the automatic transmission 24 is fixed, the input shaft 32 and the output shaft 34 rotate according to the gear ratio γat of the gear stage formed by the automatic transmission 24. state. Assuming that the amount of change in the phase θin and the amount of change in the phase θout per unit time are Δθin and Δθout, respectively, the relationship γat = Δθin/Δθout is established according to the gear ratio γat of the gear stage formed in the automatic transmission 24. Therefore, the converted phase θconv obtained by converting the phase θout of the output shaft 34 into the phase of the input shaft 32 is θout×γat. Also, the difference between the phase θin of the input shaft 32 and the converted phase θconv is defined as the difference DF [degrees] (=θin−θout×γat). Equation (3) is thus established. In calculating the difference DF in equation (3), the phase θin of the input shaft 32 and the phase θout of the output shaft 34 are not returned to 0 [degrees] even after reaching 360 [degrees]. It is the integrated phase that increases by 360 [degrees]. Further, the phase θin of the input shaft 32 and the phase θout of the output shaft 34 respectively correspond to "one phase" and "the other phase" in the present invention. The input shaft 32 corresponds to "a rotating member whose one phase is detected" in the present invention.

Regarding the difference DF calculated for each phase value θx in the phase θin of the input shaft 32, “component of actual phase θin_t (=θin−ERin) of detected phase θin” and “component of actual phase θin_t (=θin−ERin) of detected phase θin” The phase θout_t converted component {=(θout−ERout)×γat}” means that these AC components cancel each other out, and compared with the detection error ERin and the detection error ERconv (=ERout×γat), It becomes smaller and becomes only the DC component (=DC component, steady state deviation, constant) C1. As a result, Equation (4) holds for the difference DF for each phase value θx.

FIG. 3 shows the detection error ERin included in the phase θin of the input shaft 32 detected by the resolver 72 provided on the input shaft 32, and the phase of the output shaft 34 detected by the rotation speed sensor 74 provided on the output shaft 34. FIG. 4 is a diagram showing waveforms of a detection error ERout included in θout and a difference DF (=ERin−ERout×γat+C1) based on the detection error ERin and the detection error ERout; The horizontal axis in FIG. 3 is time t [ms]. In FIG. 3, the phase θin of the input shaft 32 and the phase θout of the output shaft 34 are displayed to return to 0 [degrees] when they reach 360 [degrees]. It is an integrated phase that is not returned to 0 [degrees] and increases by 360 [degrees] each time it rotates. Also, with respect to the detection error ERin, the detection error ERout, and the difference DF, the waveforms for the number of rotations n of the input shaft 32 of "27" (27th rotation) and "28" (28th rotation) are omitted in FIG. ing. FIG. 3 shows that, for example, while the vehicle is running at a constant vehicle speed V, the gear stage of the automatic transmission 24 is fixed, that is, the automatic transmission 24 is not performing gear shift control, and preferably the lockup clutch LU is engaged. It is each waveform in the state where In order to facilitate understanding of the invention, in this embodiment, the detection error ERin is calculated while the vehicle is traveling at a constant vehicle speed V. However, the detection error ERin is calculated while the vehicle is traveling at a vehicle speed V that is not constant. It can be done.

For example, if the phase θin and the phase θout at time t0 are respectively 0 [degrees], the phase θin increases by 360 [degrees] for each rotation period Tin [ms] in which the input shaft 32 rotates once, and the output shaft 34 increases by 1 The phase .theta.out increases by 360 [degrees] for each rotation cycle Tout [ms]. The rotation period Tout is a period obtained by multiplying the rotation period Tin by the gear ratio γat.

Further, in a state in which the input shaft 32 and the output shaft 34 respectively rotate according to the gear ratio γat of the gear stage formed by the automatic transmission 24, the number of revolutions n of the input shaft 32 becomes a natural number and the number of rotations of the output shaft 34 becomes The number of rotations n of the input shaft 32 when the number of rotations m is a natural number is referred to as the predetermined meshing ratio number Nr. Preferably, the number of rotations n of the input shaft 32 and the number of rotations m of the output shaft 34 at the predetermined meshing ratio number Nr are different natural numbers. The predetermined number of mesh ratio times Nr is a predetermined number of times that the difference DF is integrated for each phase value θx at the phase θin of the input shaft 32, and is the predetermined number of times of integration. For example, when the gear ratio γat (=Ni/No) of the gear stage formed by the automatic transmission 24 is "28/29 (≈0.9655)", when the input shaft 32 rotates 28 times, the output shaft 34 rotates 29 times and the input shaft 32 rotates 56 times, the output shaft 34 rotates 58 times. In this manner, the predetermined number of meshing ratios Nr is determined based on the gear ratio (meshing gear ratio) γat of the gear stage formed in the automatic transmission 24 . In this embodiment, the predetermined meshing ratio number of times Nr is assumed to be "28".

The detection error ERin repeats the same waveform every rotation period Tin. The detection error ERconv (=ERout×γat) repeats the same waveform every rotation period Tout. Therefore, the difference DF (=ERin−ERout×γat+C1) repeats the same waveform for each period of “rotation period Tin×predetermined engagement ratio frequency Nr”.

FIG. 4 shows the detection error ERin included in the phase θin of the input shaft 32 and the detection error ERconv included in the converted phase θconv of the phase θout of the output shaft 34, for each phase value θx in the phase θin of the input shaft 32, by a predetermined It is a figure explaining the result of having overwritten only 28 times which is the frequency|count Nr of engagement ratios.

As described above, the detection error ERin repeats the same waveform every rotation period Tin. As shown in FIG. 4, when the detection error ERin is overwritten 28 times, which is the predetermined meshing ratio number of times Nr, for each phase value θx at the phase θin of the input shaft 32, the same waveform is repeatedly written. becomes. Therefore, when the detection error ERin is accumulated 28 times for each phase value θx at the phase θin of the input shaft 32, the detection error ERin becomes 28 times larger.

As described above, the detection error ERconv repeats the same waveform every rotation period Tout. As shown in FIG. 4, when the detection error ERconv (=ERout×γat) is overwritten 28 times, which is the predetermined meshing ratio number Nr, for each phase value θx at the phase θin of the input shaft 32, the phase A waveform shifted by 1/28 with respect to one cycle of the value θx (=cycle corresponding to the rotation cycle Tin) is written. Therefore, when the detection error ERconv is accumulated for 28 times, which is the predetermined mesh ratio number Nr, for each phase value θx at the phase θin of the input shaft 32, the detection error ERconv is the AC component of the waveform for 28 times ( = AC components) tend to cancel each other out and tend to be reduced, leaving only the DC component C2.

As described with reference to FIG. 4, the detection error ERin is represented by a function with the phase value θx at the phase θin of the input shaft 32 as an independent variable, and the detection error ERout is the phase value θx and the number of rotations of the input shaft 32. It is represented by a function with n (see FIG. 3) as an independent variable. Also, the phase θin of the input shaft 32 and the phase θout of the output shaft 34, which include the detection error ERin and the detection error ERout, respectively, are functions with the phase value θx and the number of rotations n of the input shaft 32 as independent variables. Therefore, the difference DF is represented by a function having the phase value θx at the phase θin of the input shaft 32 and the number of rotations n of the input shaft 32 as independent variables. Clarified that the difference DF, the phase θin of the input shaft 32, the detection error ERin, the phase θout of the output shaft 34, and the detection error ERout are functions with the phase value θx and the number of rotations n of the input shaft 32 as independent variables. Then, equations (3) and (4) are expressed by equations (5) and (6), respectively.

The difference DF (θx, n) accumulated by a predetermined mesh ratio number of times Nr (28 times in this embodiment) for each phase value θx at the phase θin of the input shaft 32 is expressed by equations (7) and (8). holds. "Const" in equation (8) is a DC component obtained by subtracting "DC component C2" from "DC component C1 integrated 28 times". Formula (9) is established from formulas (7) and (8), and when the DC component is removed in formula (9), the detection error ERin(θx) {more precisely, the AC component of the detection error ERin(θx)} is calculated.

(Calculation method of phase θout using rotation speed sensor 74)
The content of processing for calculating the phase θout of the output shaft 34 using the detection signal Vout of the rotation speed sensor 74 will be described. This process is performed by a signal processing circuit included in the phase calculator 94b. FIG. 5 is a waveform diagram showing the phase θin of the input shaft 32, the estimated phase θest and phase θout of the output shaft 34, and the detection signal Vout of the rotational speed sensor 74. As shown in FIG.

The phase θin of the input shaft 32 is acquired by the resolver 72 at each sampling time ts. The sampling time ts is the time that arrives at a predetermined sampling period Pin. The sampling period Pin may be a period based on the calculation period of the electronic control unit 90, for example.

The estimated phase θest is obtained by converting the detection signal Vout into a phase. Specifically, it is the phase in which the pulse-to-pulse angle θpulse is integrated each time the pulse edge time te arrives. It is a phase represented by 0 [degrees] to 360 [degrees], which returns to 0 [degrees] when it reaches 360 [degrees]. The pulse edge time te(k) is the time when the rising edge of the pulse of the detection signal Vout is detected. For example, when the number of teeth of the pulse gear is 60, the inter-pulse angle θpulse is 6 degrees. Therefore, each time the pulse edge time te arrives, the estimated phase θest increases by 6 [degrees].

A pulse period Pout, which is the period at which the pulse edge time te arrives, is a period that varies according to the rotation speed of the output shaft 34 . Therefore, the pulse period Pout and the sampling period Pin almost never coincide.

The phase θout of the output shaft 34 is a phase calculated by extrapolation based on the estimated phase θest. The phase θout is the phase at the same sampling time ts as the phase θin. In this embodiment, a case will be described in which the phase θout is extrapolated based on the immediately preceding and previous estimated phases θest. A specific description will be given with reference to FIG. FIG. 5 illustrates a case where the phase θout(k) at the sampling time ts(k) is calculated based on the estimated phase θest(k-1) and the estimated phase θest(k-2). Let the phase difference between the phase θout(k) and the estimated phase θest(k−1) be the phase difference Δθ(k). Then, the phase θout(k) is obtained by the following equation (10).
θout(k)=θest(k-1)+Δθ(k) (10)
Also, let the elapsed time from the pulse edge time te(k-1) to the sampling time ts(k) be ET1{=ts(k)-te(k-1)}. Let ET2 {=ts(k)-te(k-2)} be the elapsed time from the pulse edge time te(k-2) to the sampling time ts(k). Then, the phase difference Δθ(k) is obtained by the following formula (11).
Δθ(k)=θpulse×ET1/(ET2−ET1) (11)
Therefore, the phase θout(k) is obtained by the following equation (12).
θout(k)=θest(k-1)+θpulse×ET1/(ET2-ET1) (12)

(Operation of Phase Corrector 94)
Returning to FIG. 1, the phase correction section 94 functionally includes an accumulation count setting section 94a, a phase calculation section 94b, a difference accumulation section 94c, an error calculation section 94d, an error correction section 94e, and a storage section 94f. Hereinafter, the difference DF, the phase θin of the input shaft 32, the detection error ERin, the phase θout of the output shaft 34, and the detection error ERout are functions with the phase value θx and the number of rotations n of the input shaft 32 as independent variables. If the present invention can be understood without the display, the display will be omitted as appropriate.

For example, in a state where the gear stage of the automatic transmission 24 is fixed, the integration number setting unit 94a sets a predetermined mesh ratio number Nr. The predetermined meshing ratio number Nr is calculated based on the gear ratio γat of the gear stage formed in the automatic transmission 24 .

The phase calculator 94b includes a detection circuit and a signal processing circuit. The detection circuit detects the detection signal Vin of the resolver 72 and the detection signal Vout of the rotational speed sensor 74 described above. The signal processing circuit calculates the phase θin of the input shaft 32 from the detection signal Vin, and calculates the phase θout of the output shaft 34 from the detection signal Vout using the method described above.

Based on the phase θin of the input shaft 32 and the phase θout of the output shaft 34 calculated by the phase calculator 94b, and the gear ratio γat of the gear stage formed in the automatic transmission 24, the difference accumulator 94c A difference DF is calculated, and the difference DF is integrated for a predetermined mesh ratio number of times Nr for each phase value θx at the phase θin of the input shaft 32, and stored in the storage section 94f. The integrated difference DF stored in the storage unit 94f is a discrete value. For example, in this embodiment, the integrated difference DF is remembered. The intervals of the discrete values (intervals of the phase values θx) are set to intervals at which the original waveform can be reproduced (intervals corresponding to the so-called sampling frequency).

The error calculation unit 94d divides the difference DF accumulated for each phase value θx stored in the storage unit 94f by a predetermined mesh ratio number of times Nr, and calculates the difference DF divided by the predetermined mesh ratio number of times Nr. By removing the DC component from the corresponding waveform, the detection error ERin for each phase value θx at the phase θin of the input shaft 32 is calculated. The "waveform corresponding to the difference DF divided by the predetermined mesh ratio number Nr" is reproduced from each value (discrete value) of the difference DF divided by the predetermined mesh ratio number Nr for each phase value θx. Waveform. For example, removing the DC component is high-pass filtering.

The error correction section 94e corrects the detection error ERin of the phase θin of the input shaft 32 detected by the resolver 72 based on the detection error ERin calculated by the error calculation section 94d. "Correcting the detection error ERin of the phase θin of the input shaft 32" means subtracting the calculated detection error ERin from the phase θin (= θin_t + ERin) of the input shaft 32 detected by the resolver 72. It is to obtain a near-true value from the detected phase .theta.in of the input shaft 32 by removing the error. Note that the detection error ERin of the phase .theta.in of the input shaft 32 is corrected for the phase value .theta.x not prepared in Table 5, for example, by linear interpolation or the like.

The storage unit 94f stores data obtained by accumulating the difference DF for each phase value θx of the phase θin of the input shaft 32 by the difference accumulating unit 94c for a predetermined mesh ratio number of times Nr. It stores the data during the arithmetic processing in the calculation of or the data of the arithmetic result.

(Control operation of electronic control unit 90)
FIG. 6 is an example of a flow chart for explaining the control operation of the electronic control unit 90 shown in FIG. FIG. 7 is an example of a table used to store the calculation results in steps S40 and S60 in the flowchart of FIG. The flowchart of FIG. 6 is executed, for example, every predetermined travel distance or predetermined travel time, while the vehicle is traveling in a state where the gear stage of the automatic transmission 24 is fixed.

First, in step S10 corresponding to the function of the cumulative number setting section 94a, a predetermined meshing ratio number Nr is set. Then step S20 is executed.

At step S20 corresponding to the function of the phase calculator 94b, the phase θin of the input shaft 32 is calculated and the phase θout of the output shaft 34 is calculated. Then step S30 is executed.

In step S30 corresponding to the function of the difference accumulator 94c, the difference DF is calculated. Next, in step S40 corresponding to the function of the difference integrator 94c, the difference DF is integrated for each phase value θx of the phase θin of the input shaft 32 (in this embodiment, for each phase value θx at intervals of 10 [degrees]). is stored in the storage unit 94f. For example, in the table shown in FIG. 7, the differences DF(0,1) to DF(350,Nr) are calculated and stored, and the integrated values DFsum(0) to DFsum(350) are integrated and stored. be done. The integrated value DFsum(θx) is obtained by integrating the difference DF(θx, n) in the phase value θx from n=1 to Nr.

In step S50 corresponding to the function of the difference accumulator 94c, it is determined whether or not the number of times the difference DF has been accumulated has reached the predetermined meshing ratio number of times Nr set in step S10. If the determination in step S50 is affirmative, step S60 is executed, and if the determination in step S50 is negative, step S20 is executed again.

In step S60 corresponding to the function of the error calculator 94d, the difference DF accumulated for each phase value .theta.x stored in the memory 94f is divided by a predetermined mesh ratio number of times Nr. For example, in the table shown in FIG. 7, {DFsum(0)/Nr} to {DFsum(350)/Nr}, which are averages of Nr rotations, are calculated and stored. Then, in step S70 corresponding to the function of the error calculating section 94d, the DC component is removed from the waveform corresponding to the difference DF accumulated for each phase value θx divided by the predetermined number of meshing ratios Nr. A detection error ERin is calculated for each phase value θx at the phase θin of .

Although not shown in the flowchart of FIG. 6, the phase θin of the input shaft 32 detected by the resolver 72 is corrected based on the detection error ERin calculated in step S70.

(effect)
According to this embodiment, when the input shaft 32 and the output shaft 34 rotate according to the speed ratio γat of the gear stage formed by the automatic transmission 24, the input shaft 32 is detected by the resolver 72. A difference DF ( =θin−θout×γat), the detection error ERin of the phase θin of the input shaft 32 is corrected. As long as the input shaft 32 and the output shaft 34 rotate according to the gear ratio γat of the gear stage formed by the automatic transmission 24, the resolver can operate even if they do not rotate at a constant rotation speed. The detection error ERin of the phase θin of the input shaft 32 detected at 72 can be corrected, and the frequency of correction can be increased. For example, if the input shaft 32 and the output shaft 34 are each rotated according to the gear ratio γat of the gear stage formed by the automatic transmission 24, frequent corrections should be made even if the temperature conditions change. Therefore, the detection error ERin of the phase θin of the input shaft 32 detected by the resolver 72 can be corrected with good followability to temperature changes.

Angle sensors such as resolvers are more expensive than rotation speed sensors. According to this embodiment, even in a configuration in which one of the input shaft 32 and the output shaft 34 is provided with a resolver and the other is provided with a rotational speed sensor, it is possible to correct the phase error detected by the resolver. The cost can be reduced compared to the case where both the input shaft 32 and the output shaft 34 are provided with a total of two resolvers. Moreover, since the configuration in which one of the input shaft 32 and the output shaft 34 is provided with a resolver and the other is provided with a rotation speed sensor is a general-purpose configuration, the application range of the technology of the present embodiment can be expanded.

According to this embodiment, the detection error ERin is obtained by integrating the difference DF for each phase value θx in the phase θin of the input shaft 32 by the predetermined mesh ratio number of times Nr. Calculated by dividing by The input shaft 32 detected by the resolver 72 is reduced in sporadic noise components by averaging after the difference DF is accumulated for a predetermined mesh ratio number of times Nr compared to the case where the difference DF is not accumulated. Since the detection error ERin of the phase .theta.in of the input shaft 32 is corrected, the correction accuracy of the phase .theta.in of the input shaft 32 is improved.

According to the present embodiment, the detection error ERin is calculated by removing the DC component from the waveform corresponding to the difference DF calculated by dividing by the predetermined meshing ratio number of times Nr. Compared to when the DC component is not removed, the removal of the DC component reduces the addition of the offset amount corresponding to the DC component to the detection error ERin, and the phase θin of the input shaft 32 detected by the resolver 72 is reduced. Since the correction is performed, the correction accuracy of the phase θin of the input shaft 32 is improved.

According to this embodiment, the predetermined number of meshing ratios Nr is the number of rotations n of the input shaft 32 when the number of rotations n of the input shaft 32 is a natural number and the number of rotations m of the output shaft 34 is a natural number. As a result, of the integrated difference DF, the component of the detection error ERin of the phase θin of the input shaft 32 to be corrected detected by the resolver 72 is an integral multiple of the predetermined meshing ratio number of times Nr. Regarding the detection error ERconv (=ERout×γat) component of the converted phase θconv (=θout×γat) in which the phase θout of the output shaft 34 to be corrected and detected by the rotational speed sensor 74 is converted to the phase of the input shaft 32 , the accumulated AC components tend to cancel each other out and tend to be reduced, resulting in only the DC component C2. Therefore, the calculation for calculating the detection error ERin of the phase θin of the input shaft 32 detected by the resolver 72 is simplified, and the accuracy of calculating the detection error ERin of the phase θin of the input shaft 32 is likely to be improved. Become.

Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is also applicable to other aspects.

(Modification)
Various methods may be used to convert the detection signal Vout into the estimated phase θest. For example, in the present embodiment, a case has been described in which the current phase θout is extrapolated based on the previous and second-previous estimated phases θest, but the present invention is not limited to this form. As shown in FIG. 5, the current phase θout(k) existing between the current estimated phase θest(k) and the previous estimated phase θest(k−1) is calculated by interpolation. good too.

Various methods of generating the sampling time ts may be used. For example, the sampling time ts may be matched with the pulse edge time te. Thereby, the phase θin can be acquired in accordance with interrupt processing when the rising edge of the pulse of the detection signal Vout is detected. It is possible to match the acquisition timings of the phase θin and the estimated phase θest.

In the above embodiment, the difference DF (=θin−θout×γat) between the phase θin of the input shaft 32 and the phase θout of the output shaft 34 converted into the phase of the input shaft 32 according to the gear ratio γat Although the detection error ERin is corrected, for example, the phase θout of the output shaft 34 and the conversion phase (=θin/γat) obtained by converting the phase θin of the input shaft 32 into the phase of the output shaft 34 according to the gear ratio γat. , the detection error ERin may be corrected based on the difference DF (=.theta.out-.theta.in/.gamma.at). Also in this mode, the detection error ERin is calculated by the above equation (7).

In the above embodiment, the "input side rotating member" in the present invention was the input shaft 32 of the automatic transmission 24, and the "output side rotating member" in the present invention was the output shaft 34 of the automatic transmission 24. The present invention is not limited to this aspect. For example, the input-side rotating member is a rotating member whose rotational speed is a predetermined ratio to the rotational speed of the input shaft 32 of the automatic transmission 24 (for example, the engine connecting shaft 30 when the lockup clutch LU is engaged). ), and the output-side rotating member may be a rotating member whose rotational speed is a predetermined ratio to the rotational speed of the output shaft 34 of the automatic transmission 24 . In this aspect, the predetermined number of meshing ratios Nr is determined based on the rotational speed ratio (gear ratio) between the input-side rotating member and the output-side rotating member.

In the above-described embodiment, "one rotating member" in the present invention was the input shaft 32 of the automatic transmission 24, and "the other rotating member" in the present invention was the output shaft 34 of the automatic transmission 24. The present invention is not limited to this aspect. For example, the output shaft 34 may be the “one rotating member” and the input shaft 32 may be the “other rotating member”. In this embodiment, the phase θout of the output shaft 34 detected by the rotational speed sensor 74 and the phase θin of the input shaft 32 detected by the resolver 72 are converted into the phase of the output shaft 34 (=θin /γat) and the difference DF (=θout−θin/γat), the detection error ERout of the phase θout of the output shaft 34 is corrected. Specifically, when the gear ratio γat of the gear stage formed in the automatic transmission 24 is "28/29 (≈0.9655)", the predetermined number of meshing ratios Nr is set to "29". , the difference DF (=θout−θin/γat) is accumulated 29 times for each phase value θy of the phase θout of the output shaft 34, the accumulated difference DF is divided by 29, and the DC component is removed. Thus, the detection error ERout for each phase value θy of the phase θout of the output shaft 34 is calculated. Thereby, the detection error ERout of the phase θout of the output shaft 34 is corrected. When the phase value θy of the phase θout of the output shaft 34 is overwritten 29 times for each phase value θy, the detection error ERout is the same waveform written repeatedly, while the phase θin of the input shaft 32 is converted to the phase of the output shaft 34. The detected error (=ERin/γat) of the converted phase (=θin/γat) is written as a waveform shifted by 1/29 with respect to one cycle of the phase value θy (=cycle corresponding to the rotation cycle Tout). It is from.

In the above-described embodiment, the detection error ERin was calculated by removing the DC component from the waveform corresponding to the difference DF calculated by dividing by the predetermined number of engagement ratios Nr. can be If the DC component is not removed, only an offset amount corresponding to the DC component is added to the detection error ERin, so the corrected phase θin of the input shaft 32 only moves relatively, resulting in phase change (rotational position change). amount) can be detected.

In the above-described embodiment, the predetermined number of times of accumulation, which is the number of times the difference DF is accumulated, is the number of rotations of the input shaft 32 when the number of rotations n of the input shaft 32 is a natural number and the number of rotations m of the output shaft 34 is a natural number. Although the predetermined meshing ratio number Nr is n, it is not limited to this. For example, when the gear ratio γat of the gear stage formed by the automatic transmission 24 is "28/29 (≈0.9655)", the number of rotations n of the input shaft 32 becomes a natural number. may be "27", which is the number of rotations n of the input shaft 32 when the number of rotations m of the output shaft 34 is not a natural number. In this embodiment, the detection error ERin has the same waveform repeated 27 times for each rotation period Tin of the input shaft 32, so the detection error ERin is 27 times larger. On the other hand, the detection error ERconv (=ERout×γat) of the converted phase θconv in which the phase θout of the output shaft 34 is converted into the phase of the input shaft 32 in accordance with the gear ratio γat of the gear stage formed by the automatic transmission 24 is , 27 waveforms shifted by 1/28 with respect to one cycle of the phase value θx (=cycle corresponding to the rotation cycle Tin) are written. ), in the detection error ERout, the AC components of the 27 waveforms cancel each other out and the AC components are reduced. Therefore, by dividing the difference DF accumulated 27 times for each phase value θx by "27" and removing the DC component, compared with the case where no accumulation is performed, the difference DF for each phase value θx at the phase θin of the input shaft 32 is reduced. detection error ERin can be calculated with high accuracy.

In the above-described embodiment, the phase θin of the input shaft 32 and the phase θout of the output shaft 34 are calculated by the phase calculator 94b of the electronic control unit 90. A microcomputer separate from the electronic control unit 90 calculates the phase θin of the input shaft 32 and the phase θout of the output shaft 34, respectively, and the calculated phase θin and phase θout are input to the electronic control unit 90. can be

In the above-described embodiments, the "transmission" in the present invention was a planetary gear type automatic transmission, but it is not limited to this aspect. The "transmission" in the present invention may be a stepped transmission, regardless of whether it is an automatic transmission or not, and may have any configuration. Further, the configuration of the vehicle 10 is not limited to the vehicle 10 having only the engine 12 as the driving force source for running, and may be an electric vehicle or a hybrid vehicle.

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 a mode with various modifications and improvements based on the knowledge of those skilled in the art without departing from the scope of the invention.

10: Vehicle 24: Automatic transmission (transmission) 32: Input shaft (input side rotating member, one rotating member, one phase detected rotating member) 34: Output shaft (output side rotating member, other rotating member 72: Resolver 74: Rotation speed sensor 90: Electronic control device (control device) DF: Difference ERin: Detection error m: Number of rotations (number of rotations of the other rotating member) n: Number of rotations (number of rotations of one rotating member) θin: Phase (first phase, one phase) θout: Phase (second phase, other phase) θx: Phase value (phase value) γat: gear ratio

Claims (1)

a stepped transmission; and
a resolver that detects a first phase that is the phase of one of the input-side rotating member and the output-side rotating member in the transmission;
a rotation speed sensor for detecting the rotation speed of the other one of the input-side rotating member and the output-side rotating member in the transmission;
In a vehicle control device comprising
further comprising conversion means for converting the detection value of the rotation speed sensor into a second phase, which is the phase of the other rotating member;
In a state in which the one rotating member and the other rotating member respectively rotate according to the gear ratio of the gear stage formed in the transmission,
one of the first phase and the second phase, and one of the first phase and the second phase converted to the phase of the rotating member in which the one phase is detected in accordance with the gear ratio A control device for a vehicle, wherein a detection error of the first phase is corrected based on a difference between the other phase and the other phase.

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