JP2829950B2 - Hydraulic control method for automatic transmission - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial applications)   The present invention relates to a hydraulic control method for an automatic transmission for a vehicle.
Related. (Conventional technology and its problems)   Shift clutch during shifting of electronically controlled automatic transmission
(Friction engagement element)
Detects the valve opening and vehicle speed of the valve, and determines
Adjustment by adding electric quantity to the solenoid valve for operating hydraulic pressure control
Things are known. In such a conventional automatic transmission,
The detected value of the throttle valve opening and vehicle speed is
Parameter that accurately represents the transmission torque input to the
Assures smooth and quick shifting without shifting shock
Can not be done.   Also, the change in the input shaft rotation speed of the transmission during shifting.
Rate and detect it to match the target rate of change.
Feeds the supply pressure to the on-coming clutch or disengaging clutch
What controls back is known. However, this
Feedback control of the throttle valve
If the followability is poor when the valve opening changes suddenly, the input shaft
Hunting the rotation change rate of
The gear also hunts, making it impossible to shift smoothly.
Also, the supply pressure (initial value) to the clutch at the start of shifting is appropriate
Otherwise, hunting is likely to occur in this case as well.   The present invention has been made to solve such a problem.
In order to solve the above-mentioned disadvantage, the input shaft of the transmission is required.
Detects the instantaneous value of the torque and uses it to detect the hydraulic pressure of the shifting clutch.
It is based on the recognition that it can be used for control.
To provide a stable and stable hydraulic pressure control method for automatic transmissions
The purpose is to: (Means to solve the problem)   According to the present invention to achieve the above object, the transmission
The engine is driven through a drive transmission that can detect
Power is transmitted to the transmission, and the transmission
Appropriate gear stage by switching gear stage by frictional engagement element
The transmission system of the transmission, which is shifted and transmitted to the wheels,
In the hydraulic control method, during the shift to the friction engagement element,
Supply pressure according to the transmission torque value of the driving force transmission device
Adjustment and rotation change of the output shaft of the driving force transmission device.
Feedback system so that the conversion rate matches the predetermined target value.
The transmission torque of the driving force transmission device is
The rotation speed of the input shaft and output shaft of the
Automatic transmission characterized by being detected by calculation
Is provided. (Action)   During gear shifting, the transmission torque value of the driving force transmission device,
Friction of the transmission clutch, etc., according to the input shaft torque value of the transmission.
Control the torque capacity by adjusting the supply pressure to the frictional engagement element
As a result, deterioration of engine performance and engine temperature (energy
Jin water temperature) is not affected by changes in
It is possible to control the torque capacity of the speed change friction engagement element.   Also, the supply pressure to the friction engagement element is output from the driving force transmission device.
Adjust so that the rate of change of rotation of the force axis matches the predetermined target value.
Feedback control allows the output shaft to be driven at the required speed.
Reduce or increase the speed to avoid shifting shocks
Improve shift response. (Example)   Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
You.   FIG. 1 shows a torque converter for a vehicle implementing the method of the present invention.
1 shows a schematic configuration of an electronically controlled automatic transmission having an inverter.
The internal combustion engine 10 is, for example, a six-cylinder engine,
A flywheel 11 is attached to the crankshaft 10a.
Through the flywheel 11 as a driving force transmission device.
One end of the drive shaft 21 of the torque converter 20 is a crankshaft.
Directly connected to 10a. Torque converter 20 is casein
20a, pump 23, stator 24, and turbine 25.
The pump 23 is an input casing for the torque converter 20.
22 and connected to the other end of the drive shaft 21 via a stator 24.
Is connected to casing 20a via one-way clutch 24a
Have been. The turbine 25 is an input shaft of the gear transmission 30.
Connected to 30a.   The torque converter 20 of this embodiment is a slip type
A latch, for example, a damper clutch 28 is provided.
The damper clutch 28 is located between the input casing 22 and the turbine 25.
Interposed, appropriate slip even at the time of engagement (at the time of direct connection)
Allow the torque converter 20 of the pump 23 and the turbine 25
And mechanically directly connect the damper clutch 28
Lip amount, that is, transmitted via the damper clutch 28
The torque is externally controlled by the damper clutch hydraulic control circuit 50.
Controlled. The damper clutch hydraulic control circuit 50
Clutch control valve 52 and damper clutch control
It consists of a solenoid valve 54
The valve 54 is a normally closed on / off valve, and its solenoid 54a
Is the transmission control unit (hereafter
(Referred to as “TCU”) 16. group
Pack clutch control valve 52 is connected to damper clutch 28
Switching the oil passage of the supplied hydraulic oil,
The hydraulic pressure acting on the latch 28 is controlled. That is, dampakura
The switch control valve 52 has a spool 52a and this
The left end chamber 52b facing the illustrated left end face of the
And a spring 52c for pressing the roller 52a rightward in the figure.
The left end chamber 52b communicates with a pilot hydraulic power source (not shown).
The pilot oil passage 55 is connected. Pilot oil
The branch 55 is connected to the branch 55 that passes to the drain side.
The solenoid valve 54 is provided in the middle of the branch path 55a.
Supply to the left end chamber 52b by opening and closing the solenoid valve 54
The magnitude of the pilot oil pressure is controlled. spool
The pilot hydraulic power source is also provided in the right end chamber 52d facing the right end chamber of 52a.
From the pilot hydraulic pressure.   Pilot hydraulic pressure acts on the left end chamber 52b, causing damper cracking.
Spool control valve 52 spool 52a is at the extreme right
The torque supplied to the torque converter 20
Converter (T / C) lubrication oil pressure
The input casing 22 and the damper via the lube 52 and the oil passage 57
The oil is supplied to the hydraulic chamber formed between the clutches 28,
The engagement of the latch 28 is released. On the other hand, the pie
Lot hydraulic pressure is not supplied and spool 52a is at the extreme left position in the figure.
The line pressure from a hydraulic pump (not shown).
Through the oil passage 58, the control valve 52, and the oil passage 59.
To the hydraulic chamber formed between the clutch 28 and the turbine 25.
Supplied, and the damper clutch 28 rubs against the input casing 22.
Engage.   The TCU 16 controls the damper clutch solenoid valve 54
When the duty ratio Dc is controlled, the spool 52a moves to the left end chamber 52b.
The combined force of the pilot hydraulic pressure used and the spring force of the spring 52c is
Position to balance with pilot hydraulic pressure acting on end chamber 52d
The hydraulic pressure corresponding to this movement position
And transmitted to the damper clutch 28.
Tc is controlled to a required value.   The gear transmission 30 includes, for example, four forward gears and one reverse gear.
Has atrain. FIG. 2 shows a partial structure of the gear transmission 30.
The first drive gear 31 and the second drive gear 31 are connected to the input shaft 30a.
Drive gear 32 is rotatably loosely fitted to the first drive gear 32.
The input shaft 30a between the gear 31 and the second drive gear 32 is used for shifting.
Hydraulic clutches 33 and 34 as friction engagement elements are fixed.
The respective drive gears 31 and 32 are associated with clutches 33 and 34, respectively.
When they are combined, they rotate integrally with the input shaft 30a. Input shaft 3
0a, an intermediate transmission shaft 35 is provided.
35 is connected to the drive axle via a final reduction gear unit (not shown).
Has been continued. The intermediate drive shaft 35 meshes with the first drive gear 31.
Meshes with the first driven gear 36 and the second driving gear 32
A second driven gear 37 is fixed to
When the first drive gear 31 is engaged with 33, the input shaft 30a rotates.
Is a clutch 33, a first drive gear 31, a first driven gear
36, transmitted to the intermediate transmission shaft 35, and transmitted to the first gear (for example,
First speed) is achieved. The engagement of the clutch 33 is released,
When the clutch 34 and the second drive gear 32 are engaged, the input shaft 30a
Rotation of the clutch 34, the second drive gear 32, the second driven
The driving gear 37 is transmitted to the intermediate transmission shaft 35 and is transmitted to the second gear (eg,
For example, the second speed) is achieved.   FIG. 3 shows the hydraulic clutches 33 and 34 shown in FIG.
And a first hydraulic control valve 44,
Second hydraulic control valve 46, solenoid valve 47 and solenoid valve 48
Consists of For the first and second hydraulic control valves 44, 46
Have spools 45 and 49 slidable in their respective bores 44a and 46a
And the right end chamber 44 facing the right end faces of the spools 45 and 49.
g and 46g are formed respectively. Spring for each right end room 44g, 46g
The springs 44b and 46b accommodate spools 45 and 49, respectively.
Is pressed to the right. And the first and second hydraulic control systems.
The left end chamber where the left end face of each of the spools 44, 46 faces the orifices 44, 46
44h and 46h are formed respectively. These leftmost chambers 44h, 46h
Communicates with the drain through orifices 44i and 46i.
You.   The solenoid valve 47 is a normally open three-way switching valve,
It has ports 47c, 47d and 47e. And the solenoid valve 47
Presses the valve body 47a to the port 47e side to
Spring 47b for closing block 47e, and the spring force of spring 47b when energized
The valve 47a is moved to the port 47c side against the
It comprises a solenoid 47f that closes c. On the other hand,
The solenoid valve 48 is a normally closed three-way switching valve, and has three ports.
G, 48c, 48d and 48e. And the solenoid valve 48 is a valve
The body 48a and the valve body 48a are pressed toward the port 48c to close 48c.
Spring 48b, and a valve body against the spring force of the spring 48b when energized.
Move 48a to the port 48e side to close the port 48e
It is composed of a solenoid 48f. Each solenoid valve 47 and 48
Solenoids 47f and 48f are connected to the output side of TCU16, respectively.
ing.   Oil path 41 first oil extending from the hydraulic pump (not shown)
Each port 44c, 46c of the pressure control valve 44 and the second hydraulic control valve 46
To the port 44d of the first hydraulic control valve 44.
Is connected to one end of an oil passage 41a, and the other end of the oil passage 41a is
Switch 33 is connected. Port of the second hydraulic control valve 46
One end of an oil passage 41b is connected to 46d, and the other end of the oil passage 41b is connected to an oil passage.
The pressure clutch 34 is connected. Pyro not shown
The pilot oil passage 42 extending from the oil pressure source
Ports communicating with the left end chambers 44h, 46h of the hydraulic control valves 44, 46
44e, 46e, and the solenoid valves 47 and 48
It is connected to each port 47c, 48c. Solenoid valve 47 and
And 48d are connected via pilot oil passages 42a and 42b.
To the right end chambers 44g and 46g of the first and second hydraulic control valves 44 and 46, respectively.
They are connected to communicating ports 44f and 46f, respectively. Soleno
The ports 47e and 48e of the id valves 47 and 48 communicate with the drain side
doing.   The oil passage 41 was pressurized to a predetermined pressure by a pressure regulating valve (not shown) or the like.
The operating oil pressure (line pressure) is applied to the first and second hydraulic control valves 44,4
6 and the pilot oil passage 42 is connected to a pressure regulator
The pilot oil pressure adjusted to a predetermined pressure is applied to the first and second pilot pressures.
To the hydraulic control valves 44, 46 and the solenoid valves 47, 48.   When the spool 45 of the first hydraulic control valve 44 moves left,
Land 45a of spool 45 that blocked 44c is port 44c
And the operating oil pressure is oil passage 41, port 44c, port 44d, oil
Is supplied to the clutch 33 via the road 41a, and the spool 45
When moved, the port 44c is closed by the land 45a,
Port 44d communicates with the drain port 44j to
Oil pressure is drained to the drain side. Of the second hydraulic control valve 46
When the spool 49 moves to the left, the spool that has blocked the port 46c
Lands 49a of port 49 open port 46c and hydraulic pressure
41, port 46c, port 46d, clutch 3 via oil passage 41b
4 and the spool 49 moves to the right.
Port 46c is closed while port 46d is
The oil pressure of the clutch 34 is discharged to the drain side by communicating with the
Is done.   A pinion of a starter 12 is provided on the outer periphery of the flywheel 11.
A ring gear 11a that meshes with the
The ring gear 11a has a predetermined number of teeth (for example, 110),
An electromagnetic pickup 14 is attached to face the ring gear 11a.
Have been. Electromagnetic pickup (hereafter called "Ne sensor")
14), as will be described in detail later, the engine 10
It detects the engine rotation speed Ne, and supplies power to the input side of TCU16.
It is pneumatically connected.   On the input side of TCU16, turbine 2 of torque converter 20
Turbine speed sensor (Nt sensor)
15) Rotation speed of transfer drive gear (not shown)
N₀Drive gear speed sensor for detecting
(N₀Sensor) 17, in the middle of the intake passage (not shown) of the engine 10
To detect the opening θt of the throttle valve
A throttle valve opening sensor (θt sensor) 18, hydraulic pressure not shown
Oil temperature for detecting the oil temperature Toil of the hydraulic oil discharged from the pump
Sensor 19 etc. are connected, and the detection signal from each sensor is
Supplied to 6.   Hereinafter, the operation of the gear transmission configured as described above will be described.
explain.   The TCU 16 is a storage device such as a ROM and a RAM (not shown), a central processing unit.
Device, I / O interface, counter, etc.
TCU16 follows the program stored in the storage device
The shift hydraulic pressure control is performed as follows.   The TCU 16 executes the main program routine shown in FIG.
It is repeatedly executed at a predetermined cycle, for example, a cycle of 35 Hz. This
First, in the main program routine of step S10,
Then, reading setting of various initial values described later is executed.
Next, the TCU 16 controls various sensors, that is, the Ne sensor 14 and the Nt sensor.
Sensor 15, N₀Sensor 17, θt sensor 18, oil temperature sensor 19, etc.
These detection signals are read and stored (step S11). So
Then, the TCU 16 uses these detection signals to perform necessary shifting control.
The parameter values are calculated and stored as follows.   First, the TCU 16 uses the detection signal of the Ne sensor 14 to
Calculate the change rate ωe of the number of revolutions Ne and the engine speed Ne
(Step S12). In the Ne sensor 14, the ring gear 11a is operated once.
Each time the number of teeth on the ring gear 11a is detected during rotation
Generates one pulse signal and supplies it to TCU16
You. The TCU 16 has one duty cycle as shown in FIG.
, That is, Ne sensor supplied during 28.6msec (35Hz)
Detect the last 9 pulses of the pulse signal from 14
Time tp (sec), and
Calculate the engine rotation speed Ne (rpm)
This is stored in the storage device as the engine speed (Ne) n of the vehicle.
To be stored.   Ne = (9 × 4) ÷ 110 ÷ tp × 60     = 216 ÷ (11 × tp) …… (1)   And remembered in the previous duty cycle
Engine speed (Ne)_n-1And this duty cycle
Engine speed (Ne)_nFrom engine
Rotation speed change rate ωe (rad / sec^Two) By the following equation (2)
Calculate and store.   ωe = ΔNe × 2π ÷ 60 ÷ T       = (Π / 30T) × ΔNe (2)   Where ΔNe = (Ne) n− (Ne)_n-1, T = (T₁+
T_Two) / 2 and T₁, T_TwoAs shown in Fig. 5,
At the end of counting the tp time of the current duty cycle
The time between points and the time (sec)
You. Calculation of turbine shaft torque Tt   Next, the TCU 16 proceeds to step S13 where the output of the engine
Torque Te and torque converter output shaft torque (hereinafter referred to as
This is called “turbine shaft torque.” Tt (kg · m) is calculated.
I do.   Here, the friction of the disengagement-side or engagement-side clutch during shifting
Torque Tb, turbine shaft torque Tt, and turbine rotation during shifting
The relationship with the rotation change rate ωt is represented by the following equation (A1).   Tb = a · Tt + b · ωt (A1)   Where a and b are upshifts from 1st to 2nd, 4th
Shift patterns such as downshifting from 3rd to 3rd gear
Type), determined by the moment of inertia of each rotating part, etc.
Is a constant. As can be seen from the above equation (A1),
The friction torque Tb, that is, the operating oil pressure of the clutches 33 and 34 is
Determined by the shaft torque Tt and the turbine rotation change rate ωt during shifting.
If it is set, the effects of engine performance deterioration, engine water temperature, etc.
Can be set without receiving
Empirical formulas and data can be easily applied to heterogeneous engines
Becomes Also, regardless of the change in the turbine shaft torque Tt, the torque
-Feedback control of bin rotation change rate ωt as target value
From the target value of the turbine rotation change rate ωt
Instead of correcting the displacement
The friction torque Tb by the amount of change of Tt, that is, the clutch 33, 34
If the operating oil pressure is increased or decreased, the feedback
Good tracking even without setting a large positive gain
Stable shift control is possible. In addition, when shifting
At the time when the friction torque of the coupling clutch
-Set the bin shaft torque Tt to an appropriate value, and use the formula (A1)
To obtain the target turbine rotation change rate ωt
Set the hydraulic pressure supplied to the clutch so that
For example, the friction torque of the coupling
A turbine rotation change rate ωt close to the standard value will be obtained.
As a result, the shift feeling can be improved.   Therefore, the turbine shaft torque Tt is calculated by the following equation (3).
(4) using the engine output torque Te
The calculated values are stored in the storage device.   Te = C ・ Ne^Two+ Tc …… (3)   Tt = t (Te-Tc) + Tc     ＝ t ・ C ・ Ne^Two+ Tc …… (4)   Where Te is the average torque from the explosion of engine 10.
Subtract friction loss and oil pump drive torque
And C is the torque capacity coefficient.
From the torque converter characteristic table stored in advance in the
-Speed ratio e (= Nt) between the bin rotation speed Nt and the engine rotation speed Ne
/ Ne). Therefore, the speed ratio e is Nt
The turbine speed Nt detected by the sensor 15 and the Ne sensor
14, the engine speed Ne detected as described above.
First, the speed ratio e is calculated, and then the calculated speed ratio e is calculated.
Accordingly, the torque capacity coefficient C is read from the storage device.
t is a torque ratio, which is also stored in the storage device in advance.
Turbine speed Nt and energy
Read according to the speed ratio e to the engine speed Ne (= Nt / Ne)
Will be issued.   Tc is the transmission torque of the damper clutch 28, and this type of
For a slip-type direct-coupled clutch, the torque Tc is given by the following equation (5).
Given.   Tc = Pc ・ A ・ r ・ μ     = A1 · Dc-b1 (5)   Here, Pc is the supply hydraulic pressure of the damper clutch 28,
Is the piston pressure receiving area of the damper clutch 28, and r is the damping force.
The friction radius of the latch 28, μ is the friction coefficient of the damper clutch 28
It is. The supply hydraulic pressure Pc of the damper clutch 28 is
Proportional to the duty ratio Dc of the clutch clutch solenoid valve 54
Equation (5) is obtained. A1 and b1 are shifted
It is a constant set according to the mode.
Is valid only when the Tc value calculated by
In this case, Tc = 0 is set.   The thus calculated and stored engine torque Te and Turbi
The shaft torque Tt is the engine speed detected by the Ne sensor 14.
Ne, the turbine speed Nt detected by the Nt sensor 15 and the
According to the duty ratio Dc of the clutch clutch solenoid valve 54
Each of these instantaneous values can be calculated and determined almost uniquely.   Next, in step S14, the TCU 16
Valve opening θt and transfer drive gear rotation speed N₀And
Then, the gear position to be established in the gear transmission 30 is determined.
You. FIG. 6 shows the gears of FIG. 1 (hereinafter referred to as “first speed”).
And the second higher speed stage
Change in gear (hereinafter referred to as “second speed”)
The solid line in the figure shows the shift from the first speed to the second speed.
Line that separates the 1st speed region and the 2nd speed region
The broken line in the figure indicates that the gear is downshifted from the second speed to the first speed.
Is the boundary line that separates the first speed region and the second speed region
You. The TCU 16 determines the gear to be established from FIG.
This is stored in the storage device. Power on / off judgment   Next, the TCU 16 proceeds to step S15 to turn on / off the power.
Execute the determination routine. Fig. 7 shows power on / off determination
The flowchart of the routine is shown. First, in step S151
Sets the discrimination value Tto. This discrimination value Tto is given by
It is calculated by (6).   Tto = a2 · ωto = 2π · a2 · Ni ... (6)   Here, a2 and Ni are preset according to the shift pattern.
Is a predetermined value, and a negative value in the case of upshift.
In the case of a downshift, they are set to positive values, respectively.
You. Next, the TCU 16 operates the turbine calculated in step S13.
It is determined whether or not the shaft torque Tt is greater than the determination value Tto
(Step S152). Then, if the determination result is affirmative (Yes),
In this case, the power-on shift is determined (step S153),
If not (No), it is determined that the power-on shift has been performed.
Step S154). TCU16 stores the power on / off judgment result
The data is stored in the apparatus and the process returns to the main routine shown in FIG.   The above power on / off determination method is based on the following idea.
Things. That is, generally, the clutch friction torque Tb is
Turbine shaft torque Tt and turbine rotation change rate ω during shifting
In the above equation (A1) that gives a relationship with t, the turbine shaft
The torque Tt is set to 0, and the turbine rotation change rate ωt is set to the target value ωto
Equation (6) can be obtained by setting
The target value ωto
Whether or not the turbine shaft torque Tt sufficient to obtain
Is used to make a power on / off determination. This allows
Conventionally, power on / off discrimination is simply determined by the engine output
It is a disadvantage of the conventional method compared to
The following disadvantages are eliminated.   That is, a different row differs between the power-on state and the power-off state.
With gear shifting control with magic, (1) In the case of an upshift, the engine output is slightly negative
If the value is taken, it will be judged as power off state,
The friction element (clutch) remains released,
The shift is not completed, (2) Conversely, in the case of a downshift, the engine output is
If a positive value is taken, it is determined that the power is on,
Check that the input shaft rotation of the transmission automatically rises
Wait, the coupling side friction element (clutch)
The inconvenience that shifting is not completed without coupling is eliminated.
You.   Returning to FIG. 4, next, the TCU 16 returns to step S14.
The determined shift range to be established is
Determine whether the result has changed from the result determined in the
You. If it has not changed, the process returns to step 11 and
Step S11 and subsequent steps are repeatedly executed. Meanwhile, changed
In the case, the shift determined in steps S14 and S15
Output a shift signal according to the pattern (step S1
7), and return to step S11. Hydraulic control during power-on upshift   FIGS. 8 to 12 show changes in the case of a power-on upshift.
It is a flowchart which shows a speed hydraulic control procedure, and is 1st speed
Shift Hydraulic Pressure Control Procedure When Shifting Up to Second Speed
An example will be described with reference to FIG.   The TCU 16 has a power-on upshift from 1st speed to 2nd speed.
First, the solenoid shift valves 47 and 48
Initial duty ratio D_U1And D_U2To the following equations (8) and (9)
(Step S20).   D_U1＝ a4 ・ | Tt | ＋ c4 …… (8)   D_U2= A5 · | Tt | + c5 (9)   Where Tt is the duty cycle of FIG.
Turbine shaft torque calculated and stored in step S13
Values, a4, c4 and a5, c5 shift up from 1st gear to 2nd gear
Is a constant that is applied when   Next, the TCU 16 sets the duty ratio D of the normally-open solenoid valve 47.
_LRIs the initial duty ratio D set in step S20._U1Set in
And the duty ratio D_LROpens and closes solenoid valve 47
Signal for the first-speed clutch, which is the disengagement side frictional engagement element.
Initial duty ratio D in latch 33_d1Initial hydraulic pressure corresponding to
Supply is started, and a piston (not shown) of the first speed clutch 33
Back toward the position just before clutch slippage occurs.
(Step S21, time t1 in FIG. 13 (b)). one
, The duty ratio D of the normally closed solenoid valve 48_{twenty four}To 100%
Set the duty ratio D_{twenty four}Opens and closes solenoid valve 48 with
Output signal to output the second speed
The piston of the clutch 34 is moved immediately after the engagement of the clutch is started.
Proceed to the front position (piston loosening position) (Fig. 13
(T1 at (c)), the timer supplies the initial pressure supply time T_S1
Is set (step S22). This timer is stored in TCU16.
It can be a hard timer stored in the
The above initial pressure supply time T_S1So-called soft tie
It may be Ma. Initial pressure supply time T_S1Is the initial pressure
Supply time T_S1Clutch at 100% duty ratio
When hydraulic pressure is supplied to 34, the piston of clutch 34 is engaged.
A predetermined value that can advance to the predetermined position just before the start.
You.   TCU16 is a predetermined time T_D, That is, one duty cycle
(28.6 msec in this embodiment)
S23), predetermined time t_DIs elapsed, the previous duty
Duty ratio D set in cycle_LRPrescribed Deute
Duty ratio DD1 to add a new duty ratio D_LRAnd this
Duty factor D_LRTo open and close solenoid valve 47
Is output (step S24). Predetermined duty to be added
The rate ΔD1 is the duty rate D of the solenoid valve 47._LRIs given
Value that increases with speed (eg, increases at a rate of 4% per second)
Value) (from time t1 to time t2 in FIG. 13 (b)).
Duty rate up to D_LRChange). And TCU16
Initial pressure supply time T set in step S22_S1
It is determined whether or not has elapsed (step S25).
If not, the process returns to step S23, and steps S23 to S23 are performed.
Step S25 is repeatedly executed.   If the decision result in the step S25 is affirmative, that is, the initial pressure
Supply time T_S1Has elapsed and the second speed clutch 34 is
When the TCU 16 advances to the predetermined position, the TCU 16
Proceed to 27 and duty ratio D of solenoid valve 48_{twenty four}Once
Fixed value D_{twenty four}min and the duty ratio D_{twenty four}In Solenoi
A drive signal for opening and closing the valve 48 is output (FIG. 13 (c)
At t2). Predetermined value D_{twenty four}min via the second hydraulic control valve 46
The hydraulic pressure supplied to the second speed clutch 34 increases and decreases
This is the duty ratio that gives no holding pressure. And
Predetermined time t_D, Ie, one duty cycle
(Step S28), and a predetermined time t_DHas passed,
Of solenoid valve 47 set at
Duty ratio D_LRAnd a predetermined duty ratio ΔD1
New duty ratio D_LRAnd the solenoid valve 48
Duty factor D_{twenty four}And a predetermined duty ratio ΔD2
New duty factor D_{twenty four}And these duty ratios D_LR
And D_{twenty four}Output signals to open and close each solenoid valve 47, 48.
(Step S30). Predetermined duty ratio ΔD to be added
2 is the duty ratio D of the solenoid valve 48_{twenty four}Increases at a predetermined speed.
Value (for example, a value that increases by 15% per second).
(The data from time t2 to time t3 in FIG.
Duty ratio D_{twenty four}Change).   Next, proceeding to step S32, the TCU 16 executes the actual slip rotation.
Number N_SRIs calculated by the following equation (10), and this is determined as a predetermined determination value.
ΔN_SR1(For example, 10 rpm).   N_SR= Nt-Ntc1 ... (10)   Here, Ntc1 is the first-speed operation turbine rotation speed,₀
Transfer drive gear rotation detected by sensor 17
Number of turns N₀Is multiplied by a predetermined number.   Actual slip speed N_SRIs the predetermined discrimination value ΔN_SR1Compared to
Actual slip speed N_SRIs the predetermined discrimination value ΔN_SR1Less than
(N_SR<ΔN_SR1), The TCU 16 returns to step S28,
Steps S28 to S32 are repeatedly executed. This
The disengaged first speed clutch 33 gradually disengages and disengages.
On the other hand, engagement of the second speed clutch 34 on the coupling side starts.
From the specified position immediately before
Engagement has not yet started. Under these conditions, the turbine
The rotation speed Nt is determined by the time when the first speed clutch 33 on the disengagement side is disengaged.
Therefore, the rotation speed is gradually increased (the control shown in FIG.
The latter half of section A). That is, control section A (shift signal output)
Actual slip rotation speed N from force point t1_SRIs the predetermined discrimination value ΔN_SR1
Control section up to time t3 when the above is detected)
Before the friction torque of the second speed clutch 34 is generated,
By gradually releasing the engagement of the speed clutch 33,
Slip speed N_SRIs a predetermined target slip rotation speed N to be described later.
_S0Raise once toward. And the actual slip speed
N_SRIs the predetermined discrimination value ΔN_SR1Will be detected
And (N_SR≧ ΔN_SR1), And proceed to step S34 shown in FIG.   In step S34, the duty of the connection side solenoid valve 48 is
Rate D_{twenty four}Is calculated in step S20.
Tee rate D_U2And the duty ratio D_{twenty four}With solenoid valve
Outputs a signal to drive the opening and closing of the 48
Of the solenoid valve 47 on the release side
Rate D_LRFrom a predetermined duty ratio ΔD4 (for example, 2 to 6
%) To subtract the new duty ratio D_LRAnd this du
Rate D_LRIs the initial value and the actual slip speed N_SRThe above
Predetermined target slip rotation speed N_S0Feedback control
The hydraulic control is started (Step S35). That is, TCU16 is
In the following step S36, wait for one duty cycle to elapse.
After that, the release side solenoid valve 47
Duty ratio D_LRIs set as follows, and the
Duty ratio D_LRTo open and close the open solenoid valve 47
A signal is output (step S38). (D_LR) N = (Di)_n+ K_P1・ E_n+ K_D1(E_n−e_n-1) ......
(11)   Where e_nIs the target duty cycle slip
Rotation speed N_S0And actual slip speed N_SRDeviation (e_n= N_S0−
N_SR), E_n-1Is the target slip of the previous duty cycle
Rotation speed N_S0And actual slip speed N_SRIs the deviation of K_P1, K
_D1Are the proportional gain and the derivative gain, each set to a predetermined value.
Is defined. (Di)_nIs the integral term, and the following equation (11a)
Is calculated by   (Di)_n= (Di)_n-1+ K_I1・ E_n+ D_H1    …… (11a)   (Di)_n-1Was set in the previous duty cycle
K is the integral term_I1Is the integral gain, which is
Is set.   D_H1Of the engine due to accelerator work during shifting, etc.
Turbine shaft torque change ΔTt when Luc changes
It is a correction value of the turbine shaft torque set according to
First, the amount of change ΔTt in turbine shaft torque is calculated, and this change is calculated.
Duty ratio correction amount D according to the amount of change ΔTt_H1Is given by the following equation (12)
Is calculated by   D_H1＝ a6 ・ ΔTt …… (12)   Here, ΔTt is:   ΔTt = (Tt)_n− (Tt)_n-1             ……(13) In the power-off range described later,   ΔTt =-(Tt)_n+ (Tt)_n-1           ……(14) Is calculated by (Tt)_nAnd (Tt)_n-1Fig. 4
This time and the previous time set in step S13
This is the turbine shaft torque in the duty cycle. or,
a6 is a constant preset according to the shift pattern.
is there. Thus, the integral term (Di)_nEquation (11a) and
And (12), the amount of change in turbine shaft torque
Duty ratio correction amount D obtained by ΔTt_H1Is included
And the duty ratio D_LRWith respect to changes in turbine shaft torque
Can be corrected without delay.
Set the minute gain, proportional gain, and derivative gain to large values.
No need to set it, and it has good followability and is stable
Control becomes possible.   Next, the TCU 16 calculates the actual slip speed N_SRIs negative
Rotation speed ΔN_S1(For example, -3 to -7 rpm)
It is determined whether or not it is (step S40). This judgment result is negative
If so, the TCU 16 returns to the step S36, and
Number of turns N_SRIs negative predetermined slip rotation speed ΔN_S1Until
Steps S36 to S40 are repeatedly executed. this
The duty ratio D of the solenoid valve 47 on the release side
_LRIs the actual slip speed N as described above._SRAnd goal slip
Speed N_S0So that the difference between
Rotation speed N_SRIs the target slip speed N_S0So that
While the feedback control is performed, the solenoid on the coupling side
Duty ratio D of valve 48_{twenty four}Is the initial duty ratio D_U2Constant
Will be kept. As a result, the initial duty of the solenoid valve 48 is reduced.
Rate D_U2The operating oil pressure corresponding to
To the second speed clutch 34, and the clutch 34 is not shown.
The piston gradually moves to the engagement side, and the clutch 34 is engaged.
To start. Turbine rotation by starting engagement of clutch 34
Number Nt tries to drop, but engine 10 is powered on
The duty ratio of the solenoid valve 47 on the release side
D_LRTurbine rotation by setting
A fall of several Nt is prevented. However, the engaging side
As the engagement of the switch 34 advances, the duty of the solenoid valve 47 on the release side
Tee rate D_LRDespite setting to a larger value,
If the engagement force of the mating clutch 34 exceeds this, the turbine rotates.
The number Nt starts decreasing and reaches the time point t4 shown in FIG. 13 (a).
Actual slip speed N_SRIs negative predetermined slip rotation speed ΔN_S1Less than
Below. Actual slip speed N_SRIs negative predetermined slip times
Number of turns ΔN_S1If the following is detected (step S40)
Is affirmative), the process proceeds to step S42 shown in FIG.
No. Thus, the control section B shown in FIG.
The hydraulic control in the control section between the time points) ends.   In the control section B, the actual slip rotation speed N_SRBut
Negative predetermined slip speed ΔN_S1It is detected that
Then, step S42 in FIG. 11 is executed,
During the period A, the actual slip rotation speed N
_SRIs negative predetermined slip rotation speed ΔN_S1What has become
Is detected twice, for example, in successive duty cycles.
In this case, the hydraulic control in the control section B is omitted and the
Proceeding to step S42 in FIG. 11, the hydraulic control in the control area C is opened.
May be started.   Hydraulic control in control section C and subsequent control sections D and E
Is the duty ratio D of the solenoid valve 48 on the coupling side._{twenty four},
-Bin rotation change rate ωt and predetermined target turbine rotation change rate
feedback control to a value that minimizes the difference from
-Bin rotation speed Nt toward the 2nd speed operation turbine rotation speed Ntc2
Thus, it is gradually reduced. TCU16 first releases the software on the release side.
Duty ratio D of solenoid valve 47_LRIs the predetermined duty ratio D_LR
set to max and set duty ratio D_LRWith solenoid valve
A drive signal for opening and closing 47 is output (step S42). This
Predetermined duty ratio D_LRmax through the first hydraulic control valve 44
To maintain the operating oil pressure supplied to the first speed clutch
Pressure), and the piston position of the first speed clutch 33
It can be held at the position at time t4 shown in FIG.
Set to a value. Note that the solenoid valve 47 on the release side
Rate D_LRIs changed until the gearshift is substantially completed (first
3 From the time point t4 to the time point t8 shown in FIG.
A predetermined duty ratio D for giving the holding pressure to the switch 33_LRkeep max
Be held.   Next, the TCU 16 performs the predetermined time t._DWait for progress (Step S4
3), and proceed to step S44. In step S44, the target
The bin rotation change rate ωto is set by the following equation (15).   ωto = a7 ・ N₀+ B7 …… (15)   Here, a7 and b7 are predetermined values (negative values) according to the control sections C to E.
A7, b7 values are set by equation (15).
The target turbine rotation change rate ωto
In the control section C just after the start of control, the turbine speed
In the control section D following the control section C, the value of Nt gradually decreases.
Set a value greater than the absolute value of the rate of change in
The lowering speed of the bin rotation speed Nt is increased, and the engagement of the second speed clutch 34 is increased.
In the control section E where the combination is completed, the absolute value of the change rate is reduced again.
To prevent gear shift shocks (No.
FIG. 13 (a) shows the time change of the turbine speed Nt).   Next, the TCU 16 sets the duty of the connection side solenoid valve 48.
Rate D_{twenty four}Is the actual slip speed N_SRIs negative predetermined slip rotation
Number ΔN_S1At time t4 when the following was detected
Using the duty ratio as the initial value, calculate and set using the following equation (16)
And the set duty ratio D_{twenty four}Opens and closes solenoid valve 48
A drive signal to be output is output (step S46). (D_{twenty four}) N = (Di) n + K_P2・ E_n+ K_D2(E_n−E_n-1)                                           … (16)   Where E_nIs the current due date set in step S44.
T-cycle target turbine rotation change rate ωto and actual turbine
Deviation from the rotation change rate ωt (E_n= Ωto-ωt),
The actual turbine rotation change rate ωt is the current and previous duty
Actual turbine speed in cycle (Nt)_nAnd (Nt)
_n-1From the following equation (17).   (Ωt)_n= (Nt)_n− (Nt)_n-1       …… (17)   Also, E_n-1Is the target turbine for the previous duty cycle
The difference between the rotation change rate ωto and the actual turbine rotation change rate ωt
is there. K_P2, K_D2Are proportional gain and derivative gain, and
Each is set to a predetermined value. (Di) n is the integral term
Is calculated by the following equation (18). (Di) n = (Di)_n-1+ K_I2・ E_n+ D_H1+ D_H2  …… (18)   (Di)_n-1Was set in the previous duty cycle
K is the integral term_I2Is the integral gain, which is
Is set.   D_H1Of the engine due to accelerator work during shifting, etc.
Turbine shaft torque change ΔTt when Luc changes
It is a correction value of the turbine shaft torque set according to
It is obtained from the same arithmetic expression as the above expressions (12) to (14).   D_H2Changes the control section from C to D and from D to E
Target turbine speed change rate, applicable only at the time
This is the correction duty ratio at the time of change.
0).     D_H2＝ α ・ Δωto …… (19)   Δωto = (tωo)_n− (Ωto)_n-1     …… (20)   Where (ωto)_nThis time after the duty cycle
The target turbine rotation change rate to be applied, (ωto)
_n-1Is the target rate of turbine rotation change
is there. α is a constant set according to the shift pattern.
You.   In this way, the duty calculated for each duty cycle is
Rate D_{twenty four}The integral term (Di) n of the control section B
Duty of the release side solenoid valve 47 calculated in
Rate D_LRSimilarly, the duty ratio correction amount D_H1Correction, immediately
That is, it is corrected by the change amount ΔTt of the turbine shaft torque, and further,
When the control section is changed, the change amount Δ of the target turbine rotation change rate
The duty ratio D is corrected according to ωto._{twenty four}The tar
In response to the change in the bin shaft torque, and the change in the target turbine rotation
The rate can be corrected without delay and the feedback system
The above-mentioned integral gain, comparison gain, and derivative gain
Does not need to be set to a large value,
Moreover, stable control without hunting becomes possible.   TCU16 sets the duty ratio D in step S46._{twenty four}Operation and
After the output of the drive signal, the process proceeds to step S48, where the turbine
When the rotation speed Nt is 2nd speed, the rotation immediately above the calculated turbine rotation speed Ntc2
From the turbine speed Ntc2 at the second speed (ΔNtc2 (for example,
For example, 80 to 120 rpm) higher rotation speed Ntc20
Is determined. If the result of this determination is negative, the previous
Returning to step S43, steps S43 to S48
Execute repeatedly.   At the point when control section C has just entered,
Switch 34 has just begun to engage, and the target
-Reduce turbine rotation speed Nt with bin rotation change rate ωto
Thus, the shift shock at the time of starting the engagement is avoided.
The TCU 16 reduces the turbine speed Nt and
Fast drive gear rotation speed N₀Speed multiplied by a predetermined coefficient
(For example, 2.8 × N₀), Exits control section C
Is determined to have entered the control section D, and
The absolute value of the target turbine rotation change rate ωto at
Value (at time t5 in FIG. 13 (a)).   Increase the absolute value of the target turbine rotation change rate ωto to a larger value.
Is changed to the duty ratio D of the coupling side solenoid valve 48.
_{twenty four}Is set to a value greater than the value set in control section C.
(From time t5 to time t6 in FIG. 13 (c))
The rotational speed Nt sharply decreases at approximately the target turbine rotational change rate ωto.
Will be less. Absolute target turbine rotation change rate ωto
The higher the value, the better the shift response will be.
Will be improved.   Next, the turbine speed Nt further decreases and the transfer
Drive gear rotation speed N₀Speed multiplied by a predetermined coefficient
(For example, 2.2 × N₀), That is, the second speed
The piston of the switch 34 gradually moved to near the engagement completed position
At this time, it is determined that the vehicle has left the control section D and has entered the control section E.
The target turbine speed set in step S44.
The absolute value of the change rate ωto is set to the value set in the control section D.
Change to a smaller value (time t6 in FIG. 13 (a)). Eye
Change the absolute value of the target turbine rotation change rate ωto to a smaller value.
Then, the duty ratio D of the connection side solenoid valve 48_{twenty four}Is
Set to a value smaller than the value set in control section D.
(From time t6 to time t7 in FIG. 13 (c)),
The number of turns Nt decreases slowly at approximately the target turbine rotation change rate ωto
As a result, the disengagement side clutch 33 is completely disengaged.
This completes the engagement of the clutch 34 on the coupling side.
A shift shock near the time point is avoided.   If the decision result in the step S48 is affirmative, that is,
-The turbine rotation speed Nt is the 2nd speed and the calculated turbine rotation speed Ntc2 is predetermined.
When the rotational speed Ntc20 directly above is reached (at time t7 in FIG. 13 (c)), T
CU16 sets the timer to the predetermined time T._{science fiction}(For example, 0.5sec)
Set (step S50), predetermined time T_{science fiction}Wait for
(Step S51). Predetermined time T_{science fiction}By waiting for the passage of
Engagement of the coupling side clutch 34 can be surely completed.
You.   The predetermined time T_{science fiction}Has elapsed and the determination result of step S51 is
If affirmative, TCU 16 opens release solenoid valve 47 and connects
Duty ratio D of side solenoid valve 48_LR, D_{twenty four}Both are 100
% And the duty ratio D_LR, D_{twenty four}With solenoid valve 47,
A drive signal for opening and closing 48 is output (FIG. 13 (b) and
(At time t8 in (c)). Thus, from the first gear to the second gear
The shift hydraulic pressure control of the power-on upshift is completed. Hydraulic control during power-on downshift   14 to 16 show the case of the power-on downshift.
FIG. 7 is a flowchart showing a shift hydraulic pressure control procedure, in which the second speed is controlled.
Shift hydraulic control when downshifting from gear to first gear
The order will be described as an example with reference to FIG.   The TCU 16 has a power-on downshift from 2nd gear to 1st gear.
First, the solenoid shift valves 47 and 48
Initial duty ratio D_d1And D_d2With the above formula (8) and
Computed by the following equations (21) and (22) similar to (9)
(Step S60).   D_d1＝ a8 ・ | Tt | ＋ c8 …… (21)   D_d2＝ a9 ・ | Tt | ＋ c9 …… (22)   Here, a8, c8 and a9, c9 shift from 2nd speed to 1st speed
It is a constant applied when going down.   Next, the TCU 16 sets the duty of the solenoid valve 48 on the release side.
Rate D_{twenty four}Is the initial duty ratio D set in step S60._d1To
Set the duty ratio D_{twenty four}Opens and closes solenoid valve 48 with
Output signal, and the second speed which is the disengagement side frictional engagement element is output.
Initial duty ratio D for clutch 34_d1Initial hydraulic pressure corresponding to
Of the second speed clutch 34 (not shown).
Back toward the position just before clutch slippage occurs.
(Step S62, time t10 in FIG. 17 (b)). one
On the other hand, the duty ratio D of the solenoid valve 47 on the coupling side_LR0%
And the duty ratio D_LROpens and closes solenoid valve 47
A drive signal is output, that is, the normally-open solenoid valve 47
1st speed clutch which is fully engaged and is a coupling side frictional engagement element
Position 33 piston immediately before clutch engagement starts
(Piston backlash filling position) (Fig. 17
(At time t10 in (c)), the initial pressure supply time Ts2
Is set (step S64). This initial pressure supply time Tt2
The normally open solenoid valve 47 is driven at a duty ratio of 0% for
When operating hydraulic pressure is supplied to the coupling side clutch 33, the clutch
The piston of the switch 33 to a predetermined position immediately before the start of engagement.
I can do it.   TCU16 is the initial pressure supply time Ts2 set in step S64
It is determined whether or not has elapsed (step S66), and
If not, until the initial pressure supply time Ts2 elapses
Repeat step S66 and wait.   If the determination result in step S66 is affirmative, that is, the initial pressure
Immediately after the supply time Ts2 elapses and the first speed clutch 33 is
When the TCU 16 advances to the predetermined position, the TCU 16
Proceed to 68, and the duty ratio D of the coupling side solenoid valve 47_LRTo
A predetermined value D for giving the holding pressure_LRset to max
Tee rate D_LRGenerates a drive signal to open and close the solenoid valve 47.
(At time t11 in FIG. 17 (c)). Note that the connection side
Duty ratio D of the solenoid valve 47_LRIs the turbine speed N
Until t reaches the 1st speed operation turbine rotation speed Ntc1 (17th
(From time t11 to time t15 shown in FIG.
A predetermined duty ratio D for giving the holding pressure to the switch 33_LRmax
Will be retained.   On the other hand, the piston of the release side clutch 34 gradually
Move to the release side, and the friction torque of the clutch 34 is reduced.
The turbine speed Nt gradually starts to rise.
The TCU 16 determines that the turbine speed Nt is equal to the first predetermined determination value.
(For example, 1.5 × No)
(Step S70), Revolution 1.5 × N₀If not exceeded,
The determination in step S70 is repeated until it exceeds, and the process stands by.   Turbine speed Nt is 1.5 × N₀Exceeds (17th
(Time t12 in FIG. 7 (a)), the shift in the control section A shown in FIG.
This means that the hydraulic control has been completed and the vehicle has entered the control section B,
The TCU 16 proceeds through one duty cycle in the following step S71.
After waiting for the excess, feedback control
Performance of turbine speed Nt at 1st speed while adjusting change rate ωt
Hydraulic control to increase toward the turbine speed Ntc1
Start. That is, control section B and control sections C and D following it
Control of the hydraulic pressure is controlled by the duty of the solenoid valve 48 on the release side.
Rate D_{twenty four}With the turbine rotation change rate ωt and a predetermined target turbine
Feedback to a value that minimizes the difference from the rotational speed change rate ωto.
Control the turbine speed Nt at the 1st speed
The number is gradually increased toward the number of turns Ntc1.   First, in step S72, the TCU 16 sets the target
The rotational speed change rate ωto is set by the following equation (23).   ωto = a10 ・ N₀+ B10 …… (23)   Here, a10 and b10 are predetermined values according to the control sections BD.
(Positive value). The values of a10 and b10 are set by equation (23).
The target turbine rotation change rate ωto
In the control section B just after the start of the
In the control section C following the control section B, the number of turns Nt gradually increases.
Is set to a value greater than the rate of change in control section B
Increase the speed at which the rotation speed Nt increases, and when the turbine rotation speed Nt is 1st speed
In the control section D approaching the operation turbine speed Ntc1,
Up the turbine speed Nt
(Figure 17 (a)
Over time of the turbine speed Nt).   Next, the TCU 16 sets the duty of the release side solenoid valve 48.
Rate D_{twenty four}Where the turbine speed Nt is 1.5 × N₀T1 beyond
Using the duty ratio at the two time points as the initial value, the above equation (1
Compute and set using the same formula as in 6) and (18) and set
Duty ratio D_{twenty four}To open and close the solenoid valve 48
A signal is output (step S74). Note that the above equation (16) and
Gain K at (18)_I2, Proportional gain K_P2,as well as
Differential gain K_D2In the power-on-dan shift
It is set to a predetermined value that is optimal for the shift pattern.   The TCU 16 determines the duty ratio D in step S74._{twenty four}Operation of
After the output of the drive signal and the
The engine rotation speed Nt reaches the 1st speed operation turbine rotation speed Ntc1?
It is determined whether or not. And when this judgment result is negative,
Returns to step S71, and returns to steps S71 to S7.
Repeat step 6.   Immediately after entering control section B, the release-side
Switch 34 has just begun disengagement, and
The turbine rotation speed Nt is increased at the target turbine rotation change rate ωto.
This prevents the turbine speed Nt from rising.
It is. Then, the TCU 16 increases the turbine speed Nt and
Transfer drive gear rotation speed N₀Multiplied by a predetermined coefficient
Rotational speed (for example, 1.7 × N₀), Control section B
Is determined to have entered the control section C, and
In step S72, increase the target turbine rotation change rate ωto
(At time t13 in FIG. 17 (a)).   Change the target turbine rotation change rate ωto to a larger value
The duty ratio D of the release side solenoid valve 46_{twenty four}Is control
Set to a value smaller than the value set in section B
(Between time t13 and time t14 in FIG. 17 (b)),
The number of turns Nt rises sharply at approximately the target turbine rotation change rate ωto
Will be. Larger target turbine rotation change rate ωto
The higher the value, the better the shift response
become.   Next, the turbine speed Nt further increases and the transfer
Drive gear rotation speed N₀Speed multiplied by a predetermined coefficient
(For example, 2.4 × N₀), That is, the second speed
Switch is gradually released and the turbine speed Nt is 1st speed
When approaching the operation turbine speed Ntc1, the control section C
It is determined that the vehicle has left and entered control section D,
The target turbine rotation change rate ωto set in S72 is
Change to a value smaller than the value set in control section C
(Point 14 in FIG. 17 (a)). Target turbine rotation change rate
If ωto is changed to a smaller value, the release side solenoid valve
48 duty ratio D_{twenty four}Is set in control section C
The value is set to a value larger than the value (at time t14 in FIG. 17 (b)).
T15), the turbine speed Nt is approximately the target turbine speed.
The rate of change of rotation ωto rises slowly,
The number of turns Nt is larger than the calculated turbine speed Ntc1 at 1st speed
Overshoot will be avoided.   The determination result in step S76 becomes positive, and the turbine rotation
It was detected that the number Nt reached the turbine speed Ntc1 at the 1st speed.
When released (time t15 in FIG. 17 (a)), the oil in the control section
After the pressure control, the hydraulic control in the control section E is started. this
The hydraulic control in the control section E is based on the actual slip speed N_SRAnd goals
Slip speed N_S0(Eg 20rpm) deviation to a minimum
So that the duty ratio D of the solenoid valve 48 on the release side_{twenty four}To
Feedback control, during which the first speed clutch on the coupling side
The control is performed so that the engagement of the hook 33 is gradually strengthened.
That is, the TCU 16 determines in step S78 that the solenoid
Duty ratio D of valve 47_LRWas set in step S60 above.
The duty ratio D_LRmaxSmaller initial duty ratio D
_d2And the duty ratio D_LRTo open solenoid valve 47
A drive signal to close is output (at time t15 in FIG. 17 (c)).
point). As a result, the piston of the first speed clutch 33 on the coupling side is fixed.
Gradually begin to move to the engagement side.   Next, the TCU 16 determines in step S79 that the predetermined time t_D
After the elapse of time, the release side
Duty ratio D of solenoid valve 48_{twenty four}With the above formulas (11) and (1
Calculate using the following equations (24) and (24a) similar to 1a),
Duty ratio D_{twenty four}Drive signal to open and close the solenoid valve 48
The signal is output (step S80). (D_{twenty four}) N = (Di)_n+ K_P1・ E_n+ K_D1(E_n−e_n-1)                                           …(twenty four) (Di) n = (Di)_n-1+ K_I1・ E_n+ D_H1        … (24a)   Where (Di)_n-1Is the last duty cycle
Is the integral term set as the initial value.
Detects that Nt has exceeded the 1st speed calculation turbine rotation speed Ntc1
The duty ratio set immediately before t15 is used.
It is. K₁₁, K_P1, K_D1Are integral gain, proportional gain, and differential gain.
In each of the power-on downshifts
It is set to a predetermined value. e_nIs the duty size
Target slip rotation speed N_S0And actual slip speed N_SRof
Deviation (e_n= N_S0−N_SR), E_n-1Is the previous duty cycle
Target slip speed N_S0And actual slip speed N_SRDeviation of
It is.   D_H1Of the engine due to accelerator work during shifting, etc.
Turbine shaft torque change ΔTt when Luc changes
It is a correction value of the turbine shaft torque set according to
This value is calculated by the above-described calculation formulas (12) to (14).
You.   Next, in steps S82 to S85, the TCU 16
Rotation speed N_SRThe absolute value of
For example, a state smaller than 5 rpm) is continuously
It is determined whether or not the detection is made over the vehicle. That is,
In step S82, the actual slip speed N_SRThe absolute value of
It is determined whether the rotation speed is less than the
As long as the result is negative, TCU 16 resets flag FLG value to 0.
(Step S83), the process returns to Step S79, and
Steps S79 to S82 are repeatedly executed. Coupling side
The friction torque of the clutch 33 is small.
In response to the increase, the clutch 34
Increase the amount of friction torque reduction (opening amount) to
The engine 10 in the running state reduces the turbine speed Nt.
While the torque to be raised is winning, the turbine speed
Nt is calculated from the turbine speed Ntc1 at 1st speed,
Number of turns N_S0Speed can be maintained only
When the friction torque of the latch 33 increases, the turbine speed Nt
Gradually descends, and the determination result of step S82 becomes positive,
Step S84 is executed.   In step S84, it is determined whether or not the flag FLG value is equal to the value 1.
Determine. Turbine rotation speed Nt decreases and goes to step S82.
If the answer is affirmative for the first time in step S84
Is negative, in which case step S85
In step S, the value of the flag FLG is set to 1 and
Returning to 79, execute steps S79 and S80. So
Then, in step S82, the actual slip rotation speed N_SRof
Make sure that the absolute value is smaller than the specified slip speed (5rpm).
If it is determined, that is, two consecutive actual slip rotation speeds N_SR
Is detected that the absolute value of
(At time t16 in FIG. 17 (a)), the determination in step S84 is made.
The result is affirmative, and the hydraulic control in control area E ends.
Step S87 is executed.   In step S87, the TCU 16 controls the connection side and the release side.
Duty ratio D of solenoid valves 47 and 48_LRAnd D_{twenty four}Any
Is set to 0%, and TCU16 is set to solenoid valves 47 and 48.
No drive signal is output. Thus, the second speed class
Release of the clutch 34 and engagement of the first speed clutch 33,
Transmission oil for power-on downshift from first gear to first gear
The pressure control is completed. Hydraulic control during power-off upshift   18 to 20 show the case of power-off upshift.
FIG. 4 is a flowchart showing a shift hydraulic pressure control procedure, wherein
Shift hydraulic control hand when shifting up from gear to second gear
The order will be described as an example with reference to FIG.   The TCU 16 has a power off upshift from 1st gear to 2nd gear.
First, the solenoid valve on the coupling side
48 initial duty ratio D_U2Is the same arithmetic expression as the expression (9)
(Step S90).   Next, the TCU 16 sets the duty of the solenoid valve 47 on the release side.
Rate D_LRIs a predetermined duty ratio D that gives the holding pressure._LRmax
Set this duty ratio D_LROpens and closes solenoid valve 47
A drive signal is output, and the first friction engagement element that is the release-side friction engagement element is output.
When the piston (not shown) of the speed clutch 33 is
Waiting to be able to resume engagement immediately
To the position (step S92, FIG. 21).
(At time t21 in (b)). That is, the engine 10 is powered off.
When the clutch is in the rotation state, the release signal
Output, the turbine speed Nt rises even if the engagement is immediately released.
Don't worry about getting stuck, but rather release the clutch 33 quickly
A shift shock may occur. On the other hand,
Duty ratio D of the solenoid valve 48_{twenty four}To 100% and the du
Rate D_{twenty four}Signal to open and close the solenoid valve 48 with
That is, a drive signal for fully opening the solenoid valve 48 is output and
Piston of second speed clutch 34, which is a coupling side frictional engagement element
The position immediately before clutch engagement is started (fixed
To the position (the time point t21 in FIG. 21 (c)).
At the same time, the initial pressure supply time Ts1 is set in a timer
(Step S93).   Then, the TCU 16 supplies the initial pressure set in step S93.
It is determined whether or not the time Ts1 has elapsed (step S95).
If the initial pressure supply time Ts1 has not elapsed
Step S95 is repeatedly executed until the operation is completed.   If the decision result in the step S95 is affirmative, that is, the initial pressure
Immediately after the supply time Ts1 has elapsed and the second speed clutch 34 is
When the TCU 16 advances to the predetermined position, the TCU 16 proceeds to step S96.
Only, the duty ratio D of the coupling side solenoid valve 48_{twenty four}The above
Initial duty ratio D calculated in step S90_U2Set to
And the duty ratio D_{twenty four}To open and close the solenoid valve 48 with
A valve drive signal is output (at time t22 in FIG. 21 (c)). So
And a predetermined time t_D, Ie, one duty cycle
(Step S98), and the predetermined time t_DElapses
And the solenoid valve set in the previous duty cycle
48 duty ratio D_{twenty four}Add predetermined duty ratio ΔD5 to
And a new duty factor D_{twenty four}And this new Deute
Rate D_{twenty four}Outputs a signal to drive the solenoid valve 48 to open and close.
(Step S99). The predetermined duty ratio ΔD5 to be added is
Duty ratio D of solenoid valve 48_{twenty four}Is a predetermined speed (for example,
If duty ratio D_{twenty four}Increases at a rate of 14-17% per second
(Speed) (see FIG. 21 (c)).
Duty ratio D from time t22 to time t23_{twenty four}The changing part of
See).   Next, the process proceeds to step S100, where the TCU 16
Number of turns N_SRIs calculated by the above equation (10), and this is calculated as a negative predetermined value.
Discrimination value ΔN_SR2(For example, -8 to -12 rpm).   Actual slip speed N_SRIs the predetermined discrimination value ΔN_SR2Compared to
Actual slip speed N_SRIs the predetermined discrimination value ΔN_SR2Greater than
(N_SR> ΔN_SR2), The TCU 16 returns to step S98,
Steps S98 to S100 are repeatedly executed to
Id 48 duty ratio D_{twenty four}Gradually increase. to this
Thus, the clutch 34 on the coupling side starts engaging, and the clutch 34
Gradually increases the friction torque. Then, the turbine rotation
The number Nt gradually decreases, and the result of the determination in step S100 is positive.
TCU 16 proceeds to step S102 shown in FIG. 19,
After the hydraulic control in the control section A is completed, the hydraulic control in the control section B is performed.
Start.   Hydraulic control in control section B and subsequent control sections C and D
Is the duty ratio D of the solenoid valve 48 on the coupling side._{twenty four},
-Bin rotation change rate ωt and predetermined target turbine rotation change rate
feedback control to a value that minimizes the difference from
-Bin speed Nt toward 2nd speed calculated turbine speed Ntc2
Is gradually reduced.   First, in step S102, the TCU 16 sets one duty.
Elapse of cycle (predetermined time t_DAfter the elapse)
The target turbine rotation change rate ωto is set according to the control sections BD.
It is set to a predetermined value stored in advance. Each control section B ~
The target turbine rotation change rate ωto set to D
In the control section B immediately after the start of the
The control section following the control section B is set to a value at which the bin rotation speed Nt gradually decreases.
In the interval C, a value larger than the absolute value of the rate of change in the control section B is set.
Speed of the turbine speed Nt
Switch 34 is almost completed, and the turbine speed Nt
In the control section E approaching the calculated turbine speed Ntc2,
Shift shock prevention by setting the absolute value of the conversion rate to a small value
(The turbine speed shown in FIG.
Nt over time).   Next, the TCU 16 sets the duty of the connection side solenoid valve 48.
Rate D_{twenty four}Is the actual slip speed N_SRIs negative predetermined slip rotation
Number ΔN_S2(For example, -8 to -12 rpm)
The duty ratio at time point t23 when detected is set as the initial value.
The calculation is set by the calculation formulas (16) and (18).
Duty ratio D_{twenty four}To open and close the solenoid valve 48
A signal is output (step S106). In addition, the calculation formula (1
6) and integral gain K applied to (18)_I2, Proportional gain
K_P2And derivative gain K_D2Are power off upshifts respectively
It is set to a predetermined value that is optimal for the shift pattern.   The TCU 16 determines the duty ratio D in step S106._{twenty four}Operation of
After the output of the drive signal, the process proceeds to step S107,
Engine speed Nt decreases and the 2nd speed turbine speed Ntc2
Predetermined immediately above rotational speed Ntc20 (the 2nd speed operation turbine rotational speed Ntc2
Higher rotation speed by ΔNtc2 (for example, 80 to 120 rpm)
It is determined whether or not it has been reached. And this judgment result is negative
In this case, the process returns to step S102, and
Step S107 is repeatedly executed.   At the point when control section B has just entered,
Switch 34 has just begun to engage, and the target
-Reduce turbine rotation speed Nt with bin rotation change rate ωto
Thus, the shift shock at the time of starting the engagement is avoided.
The TCU 16 reduces the turbine speed Nt and
Fast drive gear rotation speed N₀Speed multiplied by a predetermined coefficient
(For example, 2.8 × N₀), Leaving control section B
Is determined to have entered the control section C, and
Control the absolute value of the target turbine rotation change rate ωto
To a value greater than the value applied to interval C (Figure 21).
(At time t24 in (a)).   Increase the absolute value of the target turbine rotation change rate ωto to a larger value.
Is changed to the duty ratio D of the coupling side solenoid valve 48.
_{twenty four}Is set to a value greater than the value set in control section B.
(From time t24 to time t25 in FIG. 21 (c)).
The bin rotation speed Nt is approximately equal to the target torque set to this large value.
It decreases sharply at the bin rotation change rate ωto. still,
Increase absolute value of target turbine rotation change rate ωto
The more you set, the better the shift response will be.
You.   Next, the turbine speed Nt further decreases and the transfer
Drive gear rotation speed N₀Multiplied by a given coefficient (example
For example, 2.2 × N₀), That is, the second speed clutch 3
When the engagement of (4) gradually moves near the completion position, the control
It is determined that the vehicle has left the interval C and has entered the control section D,
Of the target turbine rotation change rate ωto set in step S104.
Absolute value smaller than the value set in control section C
(At time t25 in FIG. 21 (a)). Target turbine
If the value is smaller than the absolute value of the rotation change rate ωto,
Duty ratio D of mating solenoid valve 48_{twenty four}Is in control section C
Is set to a value smaller than the value set in
(From time t25 to time t26 in (c)), the turbine speed Nt is approximately
At the target turbine rotation change rate ωto
The engagement near the point where the engagement of the clutch 34 on the coupling side is completed is complete.
-The turbine rotation speed Nt smoothly reaches the calculated turbine rotation speed Ntc2 at the 2nd speed
And the shift shock is avoided.   If the determination result in step S107 is affirmative, that is,
-The turbine rotation speed Nt is the 2nd speed and the calculated turbine rotation speed Ntc2 is predetermined.
When the number of rotations immediately above reaches Ntc20 (time t26 in FIG. 21 (c)),
The TCU 16 sets the timer to a predetermined time T._{science fiction}(For example, 0.5sec)
It is set (step S109), and the predetermined time T_{science fiction}Over the course of
Wait (step S110). This predetermined time T_{science fiction}Wait for
To ensure that the engagement of the coupling side clutch 34 is completed.
I can do it.   The predetermined time T_{science fiction}Has elapsed and the result of the determination in step S110 has been reached.
If affirmative, the process proceeds to step S112 where the TCU 16
Duty rate of solenoid valve 47 and coupling side solenoid valve 48
D_LR, D_{twenty four}Are set to 100%, and the duty ratio D_LR,
D_{twenty four}Output drive signal to open and close solenoid valves 47 and 48
(Time t27 in FIGS. 21 (b) and (c)). Thus,
Power off upshift from first gear to second gear
The hydraulic control is completed. Hydraulic control during power-off downshift   FIG. 22 to FIG. 24 show the case of the power-off downshift.
FIG. 7 is a flowchart showing a shift hydraulic pressure control procedure, in which the second speed is controlled.
Shift hydraulic control when downshifting from gear to first gear
The order will be described as an example with reference to FIG.   The TCU 16 has a power-off downshift from 2nd speed to 1st speed.
First, the solenoid shift valves 47 and 48
Initial duty ratio D_d1And D_d2Is calculated by the above equation (21) and
The calculation is performed according to (22) (step S114). The operation formula
A8, c8 and a9, c9 applied in (21) and (22) are
When power downshifting from 2nd gear to 1st gear
It is set to an optimal predetermined value.   Next, the TCU 16 sets the duty of the solenoid valve 48 on the release side.
Rate D_{twenty four}Is the initial duty ratio D set in step S114._d1To
Set the duty ratio D_{twenty four}Opens and closes solenoid valve 48 with
Output signal, and the second speed which is the disengagement side frictional engagement element is output.
The clutch (not shown) of the clutch 34
Retreat toward the position immediately before the occurrence (step S11
5, at time t31 in FIG. 25 (b)). On the other hand, the solenoid
Duty ratio D of valve 47_LRIs set to 100% and the
Rate D_LROutputs a signal to drive the solenoid valve 47 to open and close.
Of the first-speed clutch 33, which is a coupling-side frictional engagement element
The piston immediately before the engagement of the clutch (piston gear
(T3 in FIG. 25 (c)).
At the same time), set the timer to the initial pressure supply time Ts2.
(Step S116).   TCU16 is a predetermined time t_D, That is, one duty cycle
Wait for the passage of the clock (28.6 msec) (step S118), and
Time t_DSet at the previous duty cycle
Duty ratio D_{twenty four}Subtract predetermined duty ratio ΔD6 from
And a new duty factor D_{twenty four}And this duty ratio D_{twenty four}
Outputs a signal to drive the solenoid valve 48 to open and close (step
Step S120). The predetermined duty ratio ΔD6 to be subtracted is
Duty ratio D of valve 48_{twenty four}Decreases at a given speed
(For example, a value that decreases by 8 to 12% per second)
(Duration from time t31 to time t33 in FIG. 25 (b)).
Rate D_{twenty four}Change). Then, the TCU 16 executes the step.
The initial pressure supply time Ts2 set in step S116 has elapsed.
Is determined (step S122), and it has not passed yet.
If it is, return to step S118, and repeat steps S118 to S118.
S122 is repeatedly executed. As a result, the solenoid 48
Duty factor D_{twenty four}Gradually decreases to the release side clutch 34
Gradually moves toward the disengagement start position.   If the determination result in step S122 is affirmative, that is, the initial pressure
Immediately after the supply time Ts2 elapses and the first speed clutch 33 starts engaging.
When the TCU 16 advances to the previous predetermined position, the TCU 16
Proceeding to step S124, the duty ratio D of the solenoid valve 47_LRThe
Initial duty ratio D calculated in step S114_d2Set in
This duty ratio D_LROpens and closes solenoid valve 47
A drive signal to be output is output (at time t32 in FIG. 25 (c)).
As a result, the piston of the clutch 33 on the coupling side is gradually engaged.
Continue to move to the start position. The solenoid valve 47
Duty factor D_LRIs the time until it enters the control section C described later
(At time t34 in FIG. 25 (c)), the initial duty ratio D_d2
Is held.   Next, the TCU 16 sets the predetermined time t._D, That is, one due
Wait for the elapse of the power cycle (step S125), and
t_DWhen elapses, in the same manner as in step S120,
New duty factor D_{twenty four}Calculation and output of valve opening drive signal
Is continued (step S126). Then, step S128
The TCU 16 calculates the actual slip speed N_SRInto the following equation (25)
And calculates this as a negative predetermined discrimination value ΔN_SR2(For example,-
8 to -12 rpm).   N_SR= Nt-Ntc2 ... (25)   Here, Ntc2 is the calculated turbine speed at the 2nd speed,
Transfer drive gear rotation speed N₀Multiplied by a given number
Calculated as a value.   Actual slip speed N_SRIs a negative predetermined discrimination value ΔN_SR2Greater than
When (N_SR> ΔN_SR2), TCU16 returns to step S125
Steps S125 to S128 are repeatedly executed.
You. As a result, the disengaged second speed clutch 34 is gradually engaged.
It is released by unifying. At this time, the first speed
If the engagement of the switch 33 has not been started yet, the turbine speed Nt
Gradually decreases the number of revolutions (control section in FIG. 25 (a)).
A (the actual slip rotation speed N from the shift signal output time t31)_SRBut
Predetermined judgment value ΔN_SR2Time t3 when the following is detected
The latter half of the control section up to 3). And the real slip
Rotation speed N_SRIs the predetermined discrimination value ΔN_SR2It is detected that
(N_SR≤ΔN_SR2), And proceed to step S130.   In step S130, the TCU 16
Duty ratio D of the release side solenoid valve 48_{twenty four}
A predetermined duty ratio ΔD7 (for example, 2 to 6%)
And the duty ratio D that is once larger by the duty ratio ΔD7_{twenty four}
Set the duty ratio D_{twenty four}Is the initial value,
Rotation speed N_SRAnd predetermined target slip rotation speed N_S1(For example,
−20 rpm) deviation e_n(= N_S1−N_SRFee to minimize)
Start the feedback control. That is, the engagement of the coupling side clutch 33
If the engagement has not yet started, the release clutch 34
Duty factor D_{twenty four}If you set
The turbine speed Nt tends to fall due to the decrease in
With the duty ratio D_{twenty four}Is set to a larger value
Turbine speed Nt will rise due to increase in friction torque
The duty ratio D_{twenty four}For feedback control
The turbine rotation speed Nt can be maintained at a predetermined rotation speed.
Noh.   Therefore, the TCU 16 performs one duty cycle in step S132.
Release after every duty cycle
Duty ratio D of side solenoid valve 48_{twenty four}To the above equation (2
The setting is made using 4) (step S134). In addition,
Applied integral gain K_I1, Proportional gain K_P1, Derivative gain
K_D1Are the optimum values for the power-off downshift, respectively.
Is set.   Next, the TCU 16 calculates the actual slip speed N_SRIs the prescribed slip
Rotational speed ΔN_S2(E.g., 3-8 rpm)
It is determined (step S135). If this judgment result is negative
For example, the TCU 16 returns to the step S132, and the actual slip speed N
_SRIs the prescribed slip speed ΔN_S2Step S until above
Steps 132 to S135 are repeatedly executed. This
The duty ratio D of the solenoid valve 48 on the release side._{twenty four}Is on
As described above, the actual slip speed N_SRAnd target slip speed N
_S1So that the actual slip rotation speed
N_SRIs the target slip speed N_S1Feedback
While the solenoid valve 47 on the coupling side is
Rate D_LRIs the initial duty ratio D_d2Is kept constant.
As a result, the initial duty ratio D of the solenoid valve 47 is_d2To
The corresponding operating oil pressure is applied to the first speed clutch via the first oil pressure control valve 44.
It is supplied to the latch 33, and the engagement of the clutch 33 is started.
The piston (not shown) gradually moves to the engagement completed position side.
Due to the movement of the piston of the clutch 33, the turbine rotational speed Nt becomes
Start climbing. This increase in turbine speed Nt will be counteracted.
Duty rate D of the solenoid valve 48_{twenty four}Is less than
Duty factor D set to_{twenty four}Gradually decreases.
Duty ratio D of solenoid valve 48 on the release side_{twenty four}The smaller
The engagement side clutch 33
Due to the increase in the power, the turbine speed Nt increased, and Fig. 25
(A) Actual slip rotation speed N up to time t34 shown in FIG._SRPlace
Constant slip speed ΔN_S2That is all. TCU16 is a real slip
Speed N_SRIs the prescribed slip speed ΔN_S2That's all
Is detected (the determination result of step S135 is positive), the
The process proceeds to step S136 shown in FIG. Thus, as shown in FIG.
Control section B (control section between time t33 and time t34).
Hydraulic control is terminated.   In the control section B, the actual slip rotation speed N_SRPlace
Constant slip speed ΔN_S2Is detected
And step S136 in FIG. 24 is executed.
The actual slip speed N_SRPlace
Constant slip speed ΔN_S2What has become the above
If detected twice in the following duty cycle
In this case, the hydraulic control in the control section B is omitted and the steps in FIG.
Proceed to step S136 to start the hydraulic control of the control area C.
It may be.   Hydraulic control in control section C and subsequent control sections D and E
Is the duty ratio D of the solenoid valve 47 on the coupling side._LR,
-Bin rotation change rate ωt and predetermined target turbine rotation change rate
feedback control to a value that minimizes the difference from
-Bin speed Nt toward 1st speed operation turbine speed Ntc1
Is gradually increased.   First, in step S136, the TCU 16 releases the solenoid
Duty ratio D_{twenty four}To give the holding pressure
Rate D_{twenty four}Min and set the holding pressure to the second speed clutch 34
To supply the next time t_DAfter waiting for the passage of
(Step S138), a predetermined value stored in the storage device in advance
The value is read out according to the control sections C to E, and
It is set as the bin rotation change rate ωto (step S139).
Feed the target turbine rotation change rate ωto
In the control section C just after the back control is started,
The rotation speed Nt is set to a small value that gradually decreases.
In the subsequent control section D, a value larger than the change rate of the control section C is set.
Set the turbine speed Nt to lower the
In the control section E where the engagement of the latch 33 is completed,
The shift shock is prevented by setting the rate of change (No. 25).
(See time change of turbine speed Nt in FIG.   Next, the TCU 16 sets the duty of the coupling side solenoid valve 47.
Rate D_LRIs the actual slip speed N_SRIs the predetermined slip speed Δ
N_S2Is detected at the time t34.
Duty ratio, that is, initial duty ratio D_d2Before as the initial value
The following expressions (26) and (26) similar to the arithmetic expressions (16) and (18)
a) Duty ratio D calculated and set according to a)_LRWith
A drive signal for opening and closing the solenoid valve 47 is output (step S1
40). (D_LR) N = (Di)_n+ K_P1・ E_n+ K_D1(E_n−E_n-1)                                         …… (26) (Di) n = (Di)_n-1+ K_I1・ E_n+ D_H1+ D_H2 …… (26a)   Where (Di)_n-1Is the last duty cycle
Is the integral term set by_I1, K_P1, K_D1Is the integral gain,
Proportional gain and derivative gain.
The value is set to a predetermined value that is optimal for the downshift. E_nIs
The value of the current duty cycle set in step S139
Standard turbine rotation change rate ωto and actual turbine rotation change rate ωt
Deviation (E_n= Ωto-ωt), E_n-1Is the last duty
Cycle target turbine rotation change rate ωto and actual turbine rotation
This is a deviation from the change rate ωt.   D_H1Of the engine due to accelerator work during shifting, etc.
Turbine shaft torque change ΔTt when Luc changes
It is a correction value of the turbine shaft torque set according to
This value is calculated by the above-described calculation formulas (12) to (14).
You.   D_H2Changes the control section from C to D and from D to E
Target turbine speed change rate, applicable only at the time
This is the correction duty ratio at the time of the change, and is obtained by the above-described equation (19).
And from (20). Note that the expression (19)
The coefficient α is suitable for the shift pattern of the power-off downshift
Value is set to   TCU16 determines the duty ratio D in step S140._LROperation of
After the output of the drive signal, the process proceeds to step S142,
Engine speed Nt is determined by turbine speed Ntc1 at 1st speed
Lower rotation speed Ntc10 by rotation speed (for example, 80 to 120 rpm)
It is determined whether or not it has been reached. And this judgment result is negative
In this case, the process returns to step S138,
Step S142 is repeatedly executed.   At the point when control section C has just entered,
Switch 33 has just begun to engage, and the target
-Increase turbine speed Nt at bin change rate ωto
Thus, the shift shock at the time of starting the engagement is avoided.
The TCU 16 increases the turbine speed Nt and
Fast drive gear rotation speed N₀Speed multiplied by a predetermined coefficient
(For example, 1.7 × N₀), Exits control section C
It is determined that the vehicle has entered the control section D,
Target turbine rotation change rate ωto to a larger value
Is changed (at time t35 in FIG. 25 (a)).   Change the target turbine rotation change rate ωto to a larger value
Then, the duty ratio D of the connection side solenoid valve 47 is_LRIs control
Set to a value smaller than the value set in section C
(From time t35 to time t36 in Fig. 25 (c))
The number of turns Nt rises sharply at approximately the target turbine rotation change rate ωto
Will be. Larger target turbine rotation change rate ωto
The higher the value, the better the shift response
become.   Next, the turbine speed Nt further increases and the transfer
Drive gear rotation speed N₀Speed multiplied by a predetermined coefficient
(For example, 2.4 × N₀), That is, the first speed
The piston of the switch 33 gradually moves to near the engaged position.
And the turbine speed Nt is the first-stage calculated turbine speed Ntc1
When approaching, the vehicle leaves control section D and enters control section E.
Has been entered, and the target
-Bin rotation change rate ωto is set in control section D
Change to a value smaller than the value (at time t36 in FIG. 25 (a)).
point). Change the target turbine rotation change rate ωto to a smaller value.
Then, the duty ratio D of the coupling side solenoid valve 47 is_LRIs
Set to a value greater than the value set in control section D.
(From time t36 to time t37 in Fig. 25 (c))
The rotation speed Nt slowly increases at approximately the target turbine rotation change rate ωto
And the engagement of the clutch 33 on the coupling side is completed.
Shift shocks that occur near the point in time are avoided.
You.   If the determination result in step S142 is affirmative, that is,
-The bin rotation speed Nt is higher than the calculated turbine rotation speed Ntc1 at 1st speed.
When the rotation speed reaches Ntc10, which is lower by a fixed rotation speed (80 to 120 rpm)
(At time t37 in FIG. 25 (c)), the TCU 16 immediately releases the solenoid
Duty ratio D of id valve 48 and coupling side solenoid valve 47_{twenty four},
D_LRAre set to 0%, and the duty ratio D_{twenty four}, D_LRso
A drive signal for opening and closing the solenoid valves 48 and 47 is output (second
(Figure 5 (b) and (c) at time t37). Thus, the second gear
Shift hydraulic control for power-off downshift from first gear to first gear
Control is completed.   In the above-described embodiment, for the sake of simplicity of description, the first speed
And only the hydraulic control procedure at the time of shifting to the second speed.
However, between other speeds, such as a speed change between the second speed and the third speed,
The hydraulic control procedure during shifting can be explained in the same way
Of course it is.   Also, a hydraulic clutch is used as a friction engagement element for shifting in an automatic transmission.
The latch has been described as an example, but as the frictional engagement element for shifting,
The invention is not limited to this, and may be a speed change brake.   Further, in the above embodiment, the oil of the automatic transmission according to the present invention is used.
Pressure control method for automatic transmission with torque converter
The explanation was made with the applied example as an example.
Is the fluid coupling of the torque converter and the damper clutch 28
It is not limited to such a slip-type direct-coupled clutch.
Rotation of input / output shafts of control type electromagnetic powder clutch, viscous clutch, etc.
The transmission torque can be determined almost uniquely from the rotation speed.
Or the transmission torque can be controlled from outside
Control parameter value corresponding to torque can be detected.
If so, various driving force transmission devices can be applied. (The invention's effect)   As described in detail above, the hydraulic control of the automatic transmission according to the present invention
According to the control method, the driving force transmission device capable of detecting the transmission torque is used.
The driving force of the engine is transmitted to the transmission via the
In addition, the shift speed is shifted by the shift friction engagement element of the transmission.
The drive transmitted to the wheels after being shifted to an appropriate
In the hydraulic control method for a transmission,
The supply pressure during shifting to the friction engagement element is transmitted to the driving force transmission device.
The driving force is adjusted according to the transmission torque value of the driving force.
The rotation change rate of the output shaft of the delivery device matches the predetermined target value
Feedback control so that the transmission of the driving force transmission device
The ultimate torque is determined by the rotation of the input shaft and output shaft of the driving force transmission device.
That the speed is detected by calculation using the rotation speed as a parameter.
Features.   Therefore, the transmission torque value of the driving force transmission device,
Using the instantaneous value of the input shaft torque of the device as a parameter
Since it is used for controlling the torque capacity of the combined element,
Response even if engine torque changes due to cell work etc.
Excellent effect that stable shift control with good performance can be obtained
Play.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of the present invention. FIG. 1 is a schematic configuration diagram of an automatic transmission equipped with a torque converter in which a method of the present invention is implemented, and FIG. FIG. 3 is a gear train diagram showing a part of the internal configuration of the gear transmission 30 shown in FIG.
FIG. 4 is a hydraulic circuit diagram showing a part of the internal configuration of the hydraulic circuit 40, and FIG. 4 is a main program routine showing a hydraulic control procedure at the time of shifting executed by the transmission control unit (TCU) 16 shown in FIG. FIG. 5 is a timing chart showing a state of generation of a pulse signal from the engine speed (Ne) sensor 14 used for calculating the engine speed Ne. FIG. 6 is a timing chart showing the throttle valve opening and the transfer drive. FIG. 7 is a flowchart showing a power-on / off determination routine, and FIGS. 8 to 12 show hydraulic control procedures executed during a power-on upshift. FIG. 13 is a flowchart showing the turbine rotation speed Nt and the transfer drive gear rotation during the power-on upshift. FIG. 14 to FIG. 16 are timing charts showing a time change of the number N ₀ and a duty ratio change of the release-side and connection-side solenoid valves. figure time variation of the turbine speed Nt and the transfer drive gear rotational speed N ₀ in the power-on downshift, as well as timing chart showing duty ratio change of the release side and linked side solenoid valve, 18
Figure to FIG. 20, a flowchart showing a hydraulic control procedure executed at the time of power-off upshift, FIG. 21, the time change of the turbine speed Nt and the transfer drive gear rotational speed N ₀ at power-off upshift, as well as FIG. 22 to FIG. 24 are timing charts showing the duty ratio changes of the release side and connection side solenoid valves, FIG. 22 to FIG. 24 are flowcharts showing the hydraulic control procedure executed at the time of power off downshift, and FIG. time variation of the turbine speed Nt and the transfer drive gear rotational speed N ₀ in, and is a timing chart showing duty ratio change of the release side and linked side solenoid valve. 10 ...... internal combustion engines, 11a ...... ring gear, 14 ...... Ne sensor, 15 ...... Nt sensor, 16 ...... transmission control unit (TCU), 17 ...... N ₀ sensor, 19 ...... oil temperature sensor, 20 ... … Torque converter, 21 …… Drive shaft, 23
…… pump, 25 …… turbine, 28 …… damper clutch,
30 gear transmission, 30a turbine shaft (input shaft), 3
1 ... first drive gear, 32 ... second drive gear, 33,34 ...
... Hydraulic clutch (shift clutch), 35 ... Intermediate transmission shaft,
41 oil passage, 42 pilot oil passage, 44 first hydraulic control valve, 46 second hydraulic control valve, 47 normally open solenoid valve, 48 normally closed solenoid valve , 50 ... Damper clutch hydraulic control circuit, 52 ... Damper clutch control valve, 54 ... Damper clutch control solenoid valve.

Claims (1)

(57) [Claims] The driving force of the engine is transmitted to the transmission via a driving force transmission device capable of detecting the transmission torque, and the speed is changed to an appropriate speed by switching the speed by a friction engagement element for shifting of the transmission. In the hydraulic pressure control method for the transmission, which is transmitted to wheels, the transmission pressure to the friction engagement element during a shift is adjusted according to a transmission torque value of the driving force transmission device. Feedback control is performed so that the rotation change rate of the output shaft of the force transmission device matches a predetermined target value. A hydraulic control method for an automatic transmission, wherein the hydraulic pressure is detected by calculation. 2. The driving force transmission device is a torque converter having a slip clutch, and the operating oil pressure to the slip clutch can be controlled by controlling the opening and closing of a solenoid valve disposed in the middle of the operating oil pressure supply path to the slip clutch. 2. The hydraulic pressure control method for an automatic transmission according to claim 1, wherein the transmission torque of the driving force transmission device is detected based on a driving signal to the solenoid valve. 3. 3. The automatic transmission according to claim 1, wherein a supply pressure to the friction engagement element is changed in accordance with a change amount of a transmission torque value of the driving force transmission device during a gear shift. A hydraulic control method for a transmission.