JP2024024280A - Actuator control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator control device capable of improving responsiveness.

SOLUTION: A control device 60 includes a drive control unit 78 and a controlled variable calculating unit 76. The drive control unit 78 controls driving of a motor 40 so that a detent roller 26 moves to a target trough. The controlled variable calculating unit 76 calculates a current-carrying time and a current-carrying amount of backlash elimination control for returning the motor 40 in a reverse direction within a range of a play between the motor 40 and an output shaft 15 after the detent roller 26 reaches the target trough. The controlled variable calculating unit 76 estimates an idle running amount of the motor 40 within the range of the play between the motor 40 and the output shaft 15 after the detent roller 26 reaches the target trough with the usage of an electric current value I after stopping power feeding to the motor 40. The controlled variable calculating unit 76 calculates a backlash elimination time Xg and a backlash elimination duty Dg in backlash elimination control as controlled variables on the basis of the estimated idle running amount.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an actuator control device.

2. Description of the Related Art Conventionally, shift range control devices that change shift ranges by controlling the drive of a motor are known. For example, in Patent Document 1, after stopping the motor at a target position, return control is performed to return the rotational position of the motor within the range of play.

Patent No. 6862906

In the return control disclosed in Patent Document 1, the motor is driven stepwise by the minimum driveable width according to the resolution. Performing such control requires a sensor with high precision and high noise resistance, and if the control is incorrect and the detent roller is driven beyond the play range, there is a risk that the detent roller will deviate from the valley position.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide an actuator control device that can improve responsiveness.

An actuator control device of the present invention includes a drive system (1) comprising an actuator (10) having a drive source (40), and a detent mechanism (20) having a detent member (21) and an engagement member (26). , the switching of the detent mechanism is controlled by driving the actuator and moving the engagement member. The detent member is formed with a plurality of valleys (211, 212) and a peak (215) separating the valleys. The engagement member is movable between the troughs by driving the output shaft (15) by an actuator.

The actuator control device includes a drive control section (78) and a control amount calculation section (76). The drive control unit controls the drive source so that the engagement member moves to the target valley. The control amount calculation unit calculates the energization time and amount of energization for return control to return the drive source in the opposite direction within the range of play between the drive source and the output shaft after the engagement member reaches the target trough. .

The control amount calculation unit calculates the idle running amount of the drive source within the range of play between the drive source and the output shaft after the engagement member reaches the target valley, and calculates the current value after the power supply to the drive source is stopped. Based on the estimated idle running amount, the energization time and amount of energization for return control are calculated. Thereby, responsiveness can be improved.

FIG. 1 is a schematic configuration diagram showing a park lock system according to a first embodiment. FIG. 1 is a block diagram showing a control device according to a first embodiment. (a) is an explanatory diagram explaining switching processing, and (b) is an explanatory diagram explaining return control. 7 is a flowchart illustrating switching processing according to the first embodiment. 7 is a flowchart illustrating switching processing according to the first embodiment. 6 is a time chart illustrating switching processing according to the first embodiment. It is a flow chart explaining switching processing by a 2nd embodiment. It is a time chart explaining switching processing by a 2nd embodiment.

(First embodiment)
Hereinafter, an actuator control device according to the present invention will be explained based on the drawings. Hereinafter, in a plurality of embodiments, substantially the same configurations are denoted by the same reference numerals, and description thereof will be omitted. A first embodiment is shown in FIGS. 1 to 6.

As shown in FIG. 1, an electric actuator 10 is applied to a park lock system 1. The park lock system 1 includes an electric actuator 10, a detent mechanism 20, and a parking lock mechanism 30. The electric actuator 10 is rotary and includes a motor 40 such as a brushed DC motor, a reduction gear mechanism, and the like. The electric actuator 10 drives the detent mechanism 20 by rotating the output shaft 15.

The detent mechanism 20 includes a detent plate 21, a detent spring 25, and the like, and transmits the rotational driving force output from the electric actuator 10 to the parking lock mechanism 30.

The detent plate 21 is fixed to the output shaft 15 and driven by the electric actuator 10. Two troughs 211 and 212 and a peak 215 separating the troughs 211 and 212 are provided on the detent spring 25 side of the detent plate 21.

The detent spring 25, which is a biasing member, is an elastically deformable plate-like member, and a detent roller 26 is provided at the tip. The detent spring 25 urges the detent roller 26 toward the center of rotation of the detent plate 21.

When a predetermined rotational force or more is applied to the detent plate 21, the detent spring 25 is elastically deformed, and the detent roller 26 moves between the troughs 211 and 212. When the detent roller 26 fits into either of the valleys 211 and 212, the swinging of the detent plate 21 is restricted, and the state of the parking lock mechanism 30 is fixed.

The parking lock mechanism 30 includes a parking rod 31, a cone 32, a parking lever 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 body 32 is provided on the other end 312 side of the parking rod 31 . The conical body 32 is formed so that its diameter decreases toward the other end 312 side. When the detent plate 21 rotates in the direction in which the detent roller 26 fits into the trough 211 corresponding to the P range, the cone 32 moves in the direction of arrow P.

The parking lever 33 is provided to be in contact with the conical surface of the conical body 32 and swingable about the shaft portion 34 . A convex portion 331 that can mesh with the parking gear 35 is provided on the parking gear 35 side of the parking lever 33. When the cone 32 moves in the direction of arrow P due to the rotation of the detent plate 21, the parking lever 33 is pushed up and the convex portion 331 and the parking gear 35 are engaged. On the other hand, when the cone 32 moves in the direction of the arrow notP, the engagement between the convex portion 331 and the parking gear 35 is released.

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

Hereinafter, the trough 211 into which the detent roller 26 fits when in the P range will be referred to as the "P trough", and the trough 212 into which the detent roller 26 will fit into the not P range will be referred to as the "not P trough", troughs 211, 212. Let the bottom of the valley be the "bottom".

As shown in FIG. 2, the control device 60 includes a drive circuit 61, a control section 70, and the like. The drive circuit 61 has a drive element (not shown). The control unit 70 is mainly composed of a microcomputer, and internally includes a CPU, ROM, RAM, I/O, and a bus line connecting these components, all of which are not shown. Each process in the control unit 50 may be a software process in which a CPU executes a program stored in a physical memory device such as a ROM (i.e., a readable non-temporary tangible recording medium), or It may also be a hardware process using a dedicated electronic circuit.

The control unit 70 acquires the requested shift range, sets a target range, and controls the drive of the electric actuator 10 so that the detent roller 26 is located in the valleys 211 and 212 according to the target range. The control unit 70 includes a signal acquisition unit 71, a rotation calculation unit 72, a temperature calculation unit 74, a position determination unit 75, a control amount calculation unit 76, a drive control unit 78, and the like as functional blocks. The signal acquisition unit 71 acquires sensor signals including a position detection signal from the output shaft sensor 55, a current signal from the current sensor 56, a temperature signal from the temperature sensor 57, and the like. Further, the signal acquisition unit 71 acquires a signal related to a requested shift range from a higher-level ECU (not shown) or the like.

The rotation calculation unit 72 calculates the output shaft angle θs and the output shaft angular velocity ω based on the detected value of the output shaft sensor 55. The output shaft sensor 55 is not limited to one that directly detects the rotation of the output shaft 15, and may be a shaft connected to the output shaft 15, a gear forming a speed reduction mechanism provided between the motor shaft and the output shaft, etc. The rotation may be detected and converted using a gear ratio or the like as appropriate.

The current calculation unit 73 calculates the current value I of the motor current, which is the current supplied to the motor 40, based on the detected value of the current sensor 56. The temperature calculation section 74 calculates the actuator temperature p based on the detected value of the temperature sensor 57. The position determination unit 75 determines the position of the detent roller 26 in the detent mechanism 20.

The control amount calculation unit 76 estimates the idle running amount of the motor 40 after the detent roller 26 reaches the target trough, and calculates the idle running amount using the looseness reduction time Xg and the looseness reduction duty Dg in the looseness reduction control as control variables. Calculate based on Details of the backlash reduction control will be described later. The drive control unit 78 controls the drive of the motor 40 by controlling the on/off operation of the drive element of the drive circuit 61 .

3(a) and 3(b) schematically show the play between the motor 40 and the output shaft 15, and the left and right direction on the page is considered as the rotation direction, and the detent roller 26 moves in the troughs 211 and 212. It shows how to do something. Note that, in reality, the detent roller 26 moves between the troughs 211 and 212 due to the rotation of the detent plate 21 that rotates together with the output shaft 15. In FIGS. 3(a) and 3(b), the operations of the motor and the like are indicated by dashed-dotted arrows.

In this embodiment, a speed reduction mechanism is provided between the motor 40 and the output shaft 15, and the total amount of play between the motor shaft and the output shaft is defined as the backlash width Gw. As shown in FIG. 3A, at time x10 before the motor 40 is driven, the motor shaft is located somewhere within the backlash width Gw. When the motor 40 is driven in the notP direction and the play in the drive direction becomes full at time x11, the output shaft 15 is driven and the detent roller 26 is driven toward the top of the peak 215. Hereinafter, filling up the play will be referred to as ``filling the play'' as appropriate.

When the detent roller 26 overcomes the peak 215, the load torque is reversed, and the spring force of the detent spring 25 causes the output shaft 15 to move in advance and the detent roller 26 to move toward the trough 212. The motor shaft rotates within the backlash width Gw until time x15 when the detent roller 26 reaches the bottom of the trough 212 at time x13 and the motor 40 stops. Hereinafter, the amount of movement within the backlash after the detent roller 26 reaches the bottom of the target valley portion will be referred to as the amount of movement within the backlash θg.

If you end the switching process with the state at time x15, the next time you switch from the not P range to the P range, there will be less movement within the backlash compared to when you start driving from a state where there is play in the P range direction. Switching takes time to restore the amount θg. Therefore, in this embodiment, from time x15 when the stop control ends, the detent roller 26 deviates from the valley by performing backlash reduction control in which the motor 40 is driven in the direction opposite to the direction at the time of switching according to the amount of movement within the play θg. The looseness should be reduced to a certain extent within the range that does not occur (see Fig. 3(b)). Note that in FIGS. 3(a) and 3(b), the times are shown in correspondence with the times in FIG. 6.

The switching process of this embodiment will be explained based on the flowcharts of FIGS. 4 and 5. The processes shown in FIG. 4 and the like are executed by the control unit 70 at predetermined intervals. Hereinafter, "steps" such as step S101 will be omitted and simply referred to as "S".

In S101, the control unit 70 determines whether the drive mode is standby mode. If it is determined that the drive mode is not standby mode (S101: NO), the process moves to S105. If it is determined that the drive mode is standby mode (S101: YES), the process moves to S102.

In S102, the control unit 70 determines whether the target range has been switched. If it is determined that the target range has not been switched (S102: NO), the standby mode is continued. If it is determined that the target range has changed (S102: YES), the process moves to S103. In S103, the control unit 70 sets the drive mode to the switching mode. In S104, the drive control unit 78 turns on the power to the motor 40 and drives the motor 40. At this time, the duty is controlled to be the drive duty Dd.

In S105, the control unit 70 determines whether the drive mode is the switching mode. If it is determined that the drive mode is not the switching mode (S105: NO), the process moves to S109. If it is determined that the drive mode is the switching mode (S105: YES), the process moves to S106.

In S106, the position determination unit 75 determines whether the valley position determination flag Fvj is on. The valley position determination flag Fvj is turned on when the detent roller 26 reaches the bottom of the target valley based on the detection value of the output shaft sensor 55 and the arrival determination time Xj has elapsed. The elapsed time after the detected value of the output shaft sensor 55 reaches the target value is measured by a valley position determination counter. If it is determined that the valley position determination flag Fvj is off (S106: NO), the motor 40 continues to be driven at the duty Dd. If it is determined that the valley position determination flag Fvj is on (S106: YES), the process moves to S107.

In S107, the control unit 70 sets the drive mode to the stop mode. In S108, the drive control unit 78 turns off the power to the motor 40. In stop mode, braking force is generated by circulating back electromotive force. Here, "power off" means stopping the power supply from the battery side (not shown) to the motor 40 side.

As shown in FIG. 5, in S109 when it is determined that the drive mode is not the switching mode (S105: NO), the control unit 70 determines whether the drive mode is the stop mode. If it is determined that the drive mode is not the stop mode (S109: NO), the process moves to S115. If it is determined that the drive mode is the stop mode (S109: YES), the process moves to S110.

In S110, the control unit 70 determines whether a stop determination time Xoff has elapsed since the transition to the stop mode. If it is determined that the stop determination time Xoff has elapsed (S110: YES), the process moves to S112. If it is determined that the stop determination time Xoff has not elapsed (S110: NO), a stop control counter that measures the time elapsed from transition to the stop mode is incremented, and the process moves to S111.

In S111, the control amount calculation unit 76 calculates the idle running amount θoff during stop control (formula (1-1)). In the formula, R is the circuit resistance, Ke is the torque constant, and Δx is the processing cycle. Also, the subscript _(i) means the current value, and _(i-1) means the previous value.

θoff _(i) = θoff _(i-1) + (I _(i) × R/Ke) × Δx ... (1-1)

In S112, which is proceeded to when it is determined that the stop determination time Xoff has elapsed (S110: YES), the control unit 70 sets the drive mode to the backlash reduction mode and resets the stop control counter.

In S113, the control amount calculation unit 76 calculates the backlash reduction time Xg (Equation (2-1)). In S114, the control amount calculation unit 76 calculates the backlash reduction duty Dg (Equation (3-1)). Here, the looseness reduction time Xg and the looseness reduction duty Dg are linear functions of the idle running amount θoff, but they may be calculated using a quadratic or higher order function or map. Further, a1, b1, etc. in the formula simply mean the slope and intercept of the linear function, and can be set to arbitrary values for each formula.

Xg=a1×θoff+b1...(2-1)
Dg=a2×θoff+b2 (3-1)

In addition, at least a part of the free running amount θoff, the backlash reduction duty Dg, and the backlash reduction time Xg may be calculated as a function of the actuator temperature p (Equations (1-2), (2-2), (3- 2)). Note that (p) in the formula means that the parameter is a function of the actuator temperature (p).

θoff _(i) = θoff _(i-1)
+ (I _(i) × R (p) / Ke (p)) × Δx ... (1-2)
Xg=a1(p)×θoff+b1(p)...(2-2)
Dg=a2(p)×θoff+b2(p)...(3-2)

In the present embodiment, by temperature-correcting the circuit resistance R and the torque constant Ke, it is possible to calculate the output shaft angular velocity ω with high accuracy, and therefore it is possible to appropriately calculate the idle running amount θj. Furthermore, when the actuator temperature p is high, the torque required to start the motor 40 is small, and when the actuator temperature p is low, the torque required to start the motor 40 is large. Therefore, the backlash reduction time Xg and backlash reduction duty Dg are made variable according to the actuator temperature p, and when the actuator temperature p is low, the backlash reduction time Xg and backlash reduction duty Dg are made larger than when the temperature is high. It is possible to reduce variations in backlash reduction performance due to Note that it is also possible to calculate either the backlash reduction time Xg or the backlash reduction duty Dg so as to be variable depending on the temperature, and the actuator temperature p may not be used as a parameter in the other calculation.

In S115, which is proceeded to when it is determined that the drive mode is not the stop mode (S109: NO), the control unit 70 determines whether the drive mode is the backlash reduction mode. If it is determined that the drive mode is not the backlash reduction mode (S115: NO), the process from S116 onward is skipped. If it is determined that the drive mode is the backlash reduction mode (S115: YES), the process moves to S116.

In S116, the control unit 70 determines whether or not the backlash reduction time Xg has elapsed since the start of backlash reduction control. If it is determined that the backlash reduction time Xg has not elapsed (S116: NO), the process moves to S117. If it is determined that the backlash reduction time Xg has elapsed (S115: YES), the process moves to S118.

In S117, the drive control unit 78 turns on the power to the motor 40, and drives the motor 40 in the opposite direction to the direction at the time of switching. At this time, the duty is controlled to be the backlash reduction duty Dg. Additionally, a backlash reduction control counter that measures the elapsed time from the start of backlash reduction control is incremented.

In S118, the control unit 70 sets the drive mode to standby mode and resets the backlash reduction control counter. In S119, the drive control unit 78 turns off the power to the motor 40.

The switching process of this embodiment will be explained based on the time chart of FIG. 6. In FIG. 6, the common time axis is set as the horizontal axis, and from the top, the required shift range, rotation angle, valley position determination flag Fvj, valley position determination counter, output shaft angular velocity, current value I of motor current, duty, and drive mode are shown. .

Regarding the rotation angle, the output shaft angle θs based on the detected value of the output shaft sensor 55 is shown by a solid line, and the motor angle θm according to the behavior of the motor 40 is shown by a chain double-dashed line, and the scales are aligned by gear ratio conversion. Further, the motor angle when the detent roller 26 is at the bottom of the trough 211 is defined as "P trough", and the motor angle when the detent roller 26 is at the bottom of trough 212 is defined as "not P trough". The same applies to FIG. Further, the duty is a ratio of voltage application time in PWM control, and is defined as positive or negative depending on the current direction.

At time x10, when the target shift range is switched from P range to notP range, the drive mode is changed from standby mode to switching mode, motor 40 is driven at drive duty Dd, and backlash is clogged in the traveling direction at time x11. At this point, driving of the output shaft 15 is started. At time x12, when the detent roller 26 passes over the peak 215, the torque is reversed and the backlash is suddenly jammed on the opposite side, causing the output shaft angle θs to change sharply.

At time x13, when the detent roller 26 reaches the bottom of the valley portion 212, the valley position determination counter is incremented. At time x14, when the valley position determination flag Fvj is turned on, power to the motor 40 is turned off and stop control is performed. During stop control, a current according to the back electromotive force flows through the motor 40.

In this embodiment, the idle running amount θoff during stop control is calculated using the current value I during stop control. Equation (4) shows the idle running amount θoff calculated at time x15, which is the stop control completion timing. Furthermore, the backlash reduction duty Dg and backlash reduction time Xg are calculated based on the idle running amount θoff.

When the stop control ends at time x15, backlash reduction control is performed to energize in the opposite direction to the range switching direction. The backlash reduction control is performed for a backlash reduction time Xg with a backlash reduction duty Dg. At time x16, when the play reduction time Xg has elapsed from time x15, the play reduction control is ended, the drive mode is set to standby mode, and the power to the motor 40 is turned off.

In this embodiment, the idle running amount θoff is estimated using the current value I during stop control, and the looseness reduction duty Dg and the looseness reduction time Xg are calculated based on the idle running amount θoff. In other words, in this embodiment, the detected value of the output shaft sensor 55 is not used to estimate the idle running amount θoff. Therefore, detection accuracy of the output shaft sensor 55 is not required. In addition, by estimating the idle running amount θoff and performing backlash reduction control according to the idle running amount θoff, the motor shaft can be moved to a certain extent toward the direction of movement at the next switching time within the range of the backlash width Gw. It is possible to improve responsiveness.

As described above, in the park lock system 1 including the electric actuator 10 having the motor 40, the detent mechanism 20 having the detent plate 21 and the detent roller 26, the control device 60 drives the electric actuator 10 and the detent roller 26. By moving the detent mechanism 20, switching of the detent mechanism 20 is controlled. The detent plate 21 has a plurality of troughs 211 and 212 and a peak separating the troughs 211 and 212. The detent roller 26 is movable between the troughs 211 and 212 by driving the output shaft 15 by the electric actuator 10 .

The control device 60 includes a drive control section 78 and a control amount calculation section 76. The drive control unit 78 controls the drive of the motor 40 so that the detent roller 26 moves to the target valley. The control amount calculation unit 76 calculates the energization time and amount of energization for backlash reduction control to return the motor 40 in the opposite direction within the range of play between the motor 40 and the output shaft 15 after the detent roller 26 reaches the target valley. Calculate.

The control amount calculation unit 76 calculates the amount of free running of the motor 40 within the range of play between the motor 40 and the output shaft 15 after the detent roller 26 reaches the target trough, and calculates the amount of free running of the motor 40 after the power supply to the motor 40 is stopped. Estimate using current value I. Furthermore, the control amount calculation unit 76 calculates the backlash reduction time Xg and backlash reduction duty Dg in backlash reduction control as control variables based on the estimated idle running amount.

Thereby, responsiveness can be improved by reducing the play in the direction opposite to the current driving direction, that is, in the next traveling direction. In addition, by calculating the control amount by estimating the idle running amount θoff from the current value I after the energization is turned off, the backlash reduction control can be performed appropriately without using the value of the rotation angle sensor that detects the rotation angle of the motor shaft. It can be carried out.

The control amount calculation unit 76 estimates the amount of free running using the temperature of the electric actuator 10. By temperature-correcting the resistance value and torque constant used to estimate the amount of free running, the amount of free running can be estimated with higher accuracy.

At least one of the backlash reduction time Xg and the backlash reduction duty Dg is variable depending on the actuator temperature p. Thereby, backlash reduction control can be performed appropriately according to the actuator temperature p.

(Second embodiment)
A second embodiment is shown in FIGS. 7 and 8. The switching process of this embodiment will be explained based on the flowchart of FIG. The processing from S201 to S206 is similar to the processing from S101 to S106 in FIG. In S206, if it is determined that the valley position determination flag Fvj is off (S206: NO), the process proceeds to S207, and if it is determined that the valley position determination flag Fvj is on (S206: YES), the process proceeds to S209. Transition.

In S207, it is determined whether the output shaft angular velocity ω is stable. Here, if the amount of change in the output shaft angular velocity ω continues to be less than or equal to a predetermined value for a predetermined period of time, it is determined that the output shaft angular velocity ω is stable. If it is determined that the output shaft angular velocity ω is not stable (S207: NO), the process of S208 is skipped. If it is determined that the output shaft angular velocity ω is stable (S207: YES), the process moves to S208.

In S208, the control unit 70 stores the output shaft angular velocity ω in a stable region where the output shaft angular velocity ω is stable as the driving angular velocity ωd. The angular velocity ωd during driving may be a value at any timing except in a region where the output shaft angle θs changes suddenly, such as when the detent roller 26 crosses a mountain, but it is preferably a value immediately before the motor stops as much as possible. . For example, the output shaft angle θs may be the value immediately before the inflection point before the detent roller 26 crosses a mountain, or the value immediately before the output shaft angle θs becomes stagnant due to the detent roller 26 reaching the bottom. Alternatively, a calculated value such as an average value using a plurality of detected values may be used as the angular velocity ωd during driving.

The processes in S209 and S210 are similar to the processes in S107 and S108 in FIG. In S211, the control amount calculation unit 76 calculates the idle running amount θj during valley position detection (Equation (5)). Xj in the formula is the arrival determination time.

θj=ωd×Xj...(5)

The latter half of the transition after a negative determination in S205 is the same as that in FIG. 5, except that the calculations of the backlash reduction time Xg and backlash reduction duty Dg are different, so the explanation will be omitted. In this embodiment, the looseness reduction time Xg and the looseness reduction duty Dg are calculated based on the free running amount θj during valley position detection and the free running amount θoff during stop control (Equations (6-1), (7) -1)). Furthermore, at least one of the backlash reduction duty Dg and the backlash reduction time Xg may be calculated as a function of the actuator temperature p (Equations (6-2) and (7-2)).

Xg=a1×(θj+θoff)+b1...(6-1)
Dg=a2×(θj+θoff)+b2...(7-1)

Xg=a1(p)×(θj+θoff)+b1(p)...(6-2)
Dg=a2(p)×(θj+θoff)+b2(p)...(7-2)

The switching process of this embodiment will be explained based on the time chart of FIG. 8. The processing from time x20 to time x22 is similar to the processing from x10 to x12 in FIG. Further, in this embodiment, the driving angular velocity ωd is stored in a region where the output shaft angular velocity ω is stable between time x21 and time x22.

When the detent roller 26 reaches the bottom of the valley portion 212 at time x23, the valley position determination counter is incremented, and at time x24, when the arrival determination time Xj has elapsed, the valley position determination flag Fvj is turned on. Power to the motor 40 is turned off and stop control is performed. Further, the output shaft angular velocity ω during valley position determination is regarded as the angular velocity ωd during driving, and the idle running amount θj during valley position detection is calculated based on the angular velocity ωd during driving and the arrival determination time Xj.

The processing during the stop control performed from time x24 to time x25 is the same as in the first embodiment. When the stop control ends at time x25, a backlash reduction time Xg and a backlash reduction duty Dg are calculated based on the idle running amounts θj and θoff. The processing after the backlash reduction control is the same as in the first embodiment.

In the present embodiment, the control amount calculation unit 76 calculates the idle running amount θoff estimated using the current value I during stop control to stop the motor 40, and the power supply after the detent roller 26 reaches the target valley. The idle running amount is estimated from the idle running amount θj at the arrival determination time Xj until stopping. In this embodiment, the idle running amount θj is estimated using the output shaft angular velocity ω and the arrival determination time Xj. Thereby, the amount of idle running can be estimated with higher accuracy. Further, the same effects as those of the above embodiment are achieved.

In the embodiment, the park lock system 1 is a "drive system", the electric actuator 10 is an "actuator", the motor 40 is a "drive source", the detent plate 21 is a "detent member", the detent roller 26 is an "engaging member", and the control The device 60 corresponds to an "actuator control device."

In addition, backlash reduction control is "return control", play reduction time Xg is "energization time in return control", play reduction duty Dg is "energization amount in return control", idle running amount θoff is "stop control hollow running amount", The idle running amount θj corresponds to the "reaching determination hollow running amount". Further, the target valley when switching from the P range to the notP range is the valley 212, and the target valley when switching from the notP range to the P range is the valley 211.

(Other embodiments)
In the above embodiments, the drive source is a brushed DC motor. In other embodiments, the drive source may be a motor other than a brushed DC motor, a solenoid, or the like. In the above embodiments, the electric actuator is of a rotary type, but in other embodiments, it may be of a direct type.

In the above embodiments, the electric actuator is applied to a park lock system. In other embodiments, the electric actuator may be applied to in-vehicle systems other than the park lock system or drive systems other than the in-vehicle system.

A feature of the present invention is, for example, the actuator control device according to any one of claims 1 to 3, wherein at least one of the energization time and the energization amount in the return control is variable depending on the temperature of the actuator. ”.

The control unit and the method described in the present disclosure are implemented 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 controller and techniques described in this disclosure may be implemented by a dedicated computer provided by a processor configured with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be implemented using 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 implemented by one or more dedicated computers configured. The computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. As described above, the present invention is not limited to the above-described embodiments, and can be implemented in various forms without departing from the spirit of the invention.

1...Park lock system (drive system)
10...Electric actuator (actuator)
15... Output shaft 20... Detent mechanism 21... Detent plate (detent member)
221, 222... Valley portion 215... Peak portion 26... Detent roller (engaging member)
40... Motor (drive source) 55... Output shaft sensor 60... Control device (actuator control device)
76... Controlled amount calculation section 78... Drive control section

Claims (4)

an actuator (10) having a drive source (40);
A detent member (21) in which a plurality of troughs (211, 212) and a peak (215) separating the troughs are formed, and the trough is driven by the actuator to drive the output shaft (15). a detent mechanism (20) having an engagement member (26) movable between;
An actuator control device that controls switching of the detent mechanism by driving the actuator and moving the engagement member, comprising:
a drive control unit (78) that controls driving of the drive source so that the engagement member moves to the target trough;
After the engagement member reaches the target trough, the control calculates the energization time and the amount of energization for a return control that returns the drive source in the opposite direction within the range of play between the drive source and the output shaft. a quantity calculation section (76);
Equipped with
The control amount calculation unit calculates, to the drive source, an idle running amount of the drive source within the range of play between the drive source and the output shaft after the engagement member reaches the target trough. An actuator control device that estimates using a current value after power supply is stopped and calculates an energization time and an energization amount for the return control based on the estimated idle running amount. The actuator control device according to claim 1, wherein the control amount calculation section estimates the idle running amount using the temperature of the actuator. The control amount calculation unit calculates a stop control hollow travel distance estimated using a current value during stop control to stop the drive source, and a time from when the engagement member reaches the target valley until the power supply is stopped. 3. The actuator control device according to claim 1, wherein the amount of empty travel is estimated from the amount of empty travel determined at the arrival determination time. The actuator control device according to claim 1 or 2, wherein at least one of the energization time and the energization amount in the return control is variable depending on the temperature of the actuator.

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