JP3430276B2 - Transmission control device for continuously variable transmission - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed change control device for a continuously variable transmission represented by a toroidal type continuously variable transmission, a V-belt type continuously variable transmission and the like.

[0002]

2. Description of the Related Art A toroidal type continuously variable transmission will be described as a continuously variable transmission. This toroidal type continuously variable transmission is usually disclosed in, for example, Japanese Patent Application Laid-Open No. 58-54262 or Japanese Patent Application Laid-Open No.
It is constructed as described in Japanese Patent No. 288062 and as schematically shown in FIG. The toroidal type continuously variable transmission in FIG. 14 is a toroidal transmission unit including coaxially arranged input / output cone disks 1 and 2, and a power roller 3 for transferring power by frictional engagement between the input / output cone disks, And a shift control device as described below.

The power roller 3 is squeezed between the input / output cone disks 1 and 2 by the thrust corresponding to the input torque of the transmission, and the oil film is sheared between the power roller 3 and the input / output cone disks 1 and 2. The power roller 3 transmits power between the input / output cone disks 1 and 2. That is, the rotation of the input cone disc 1 is transmitted to the power roller 3 by the shear of the oil film, and the rotation of the power roller 3 is transmitted to the output cone disc 2 by the shear of the oil film, and conversely from the output cone disc 2 to the input cone. The power transmission to the disk 1 is similarly performed via the power roller 3.

The shift control device will now be described. It has an actuator (hereinafter referred to as a step motor) 4, and the step motor is given a shift command value (step number) corresponding to a target gear ratio. Is driven to the corresponding position,
Of the inner and outer valve bodies 5a and 5b of the shift control valve 5, the outer valve body 5b
Is displaced relative to the inner valve body 5a from the neutral position to open the shift control valve 5. As a result, the input hydraulic pressure to the shift control valve 5 is supplied to the chamber on one side of the piston 6 and the chamber on the other side is drained, so that the piston 6 displaces the power roller 3 in the vertical direction in the figure by fluid pressure. Let This power roller 3 by the rotation axis O ₁ is offset from the illustrated position in the corresponding direction crossing the rotation axis O ₂ of the input and output cone discs 1 and 2, the power roller 3 by the offset y is output cone discs 1, With the component force from 2, the tilting (φ) is performed around the swing axis O ₃ orthogonal to the own rotation axis O _1, and the frictional contact arc diameter of the power roller 3 with respect to the input / output cone disks 1 and 2 is continuous. It is possible to perform continuously variable transmission by changing to.

When the power roller target tilt angle corresponding to the above-mentioned gear shift command value (target gear ratio) is achieved by such continuously variable gear shifting, the offset cam (y) and tilt (φ) of the power roller 3 are adjusted to the precess cam 7. And the inner valve body 5a of the shift control valve 5 fed back via the shift link 8 is
The power roller 3 returns to the initial neutral position by following the displacement (x) relative to the outer valve body 5b, and at the same time, the rotation axis O _{1 of} the power roller 3 intersects with the rotation axes O ₂ of the input / output cone disks 1 and _2. By returning to the illustrated position, the achievement state of the power roller target tilt angle corresponding to the gear shift command value (target gear ratio) can be maintained.

Here, in the shift control device of the toroidal type continuously variable transmission including the mechanical feedback system including the recess cam 7 and the shift link 8 described above, the shift transient characteristic is a feedback according to the power roller tilt angle φ. Considering only this, it is known to be represented by the following approximate expression. Note that the feedback according to the power roller offset amount y is feedback for damping that prevents the control from becoming oscillatory.
The present invention is omitted because it does not contribute to the accuracy of gear shifting and is not related to the present invention.

[Formula 1] dφ / dt = y {cos (θ−φ) · [1 + η−cos (2θ−φ)]} · N ₀ / (1 + η) · R · sin θ (1) Where θ; η; R: constant determined by the structure of the transmission N ₀ : rotational speed of the output cone disc 2

Therefore, the power roller 3 of the toroidal type continuously variable transmission causes the tilt φ by being given the offset amount y, and the tilt φ can be fed back to the mechanism for giving the offset amount y. For example, it can be seen that the above-mentioned shift control is stably performed.

However, in the continuously variable transmission including the above-mentioned toroidal type continuously variable transmission, the components may be deformed due to the change in the path length of the mechanical feedback system. In the toroidal type continuously variable transmission of FIG. 14, the deformation that occurs when the member that rotatably supports the power roller 3 receives the power roller clamping pressure between the input / output cone disks 1 and 2 corresponds to that. The power roller clamping force is indispensable because it is frictional transmission, and naturally it is necessary to increase as the transmission torque increases in order to ensure transmission.

Deformation of the power roller support member causes a change in the path length of the mechanical feedback system as the recess cam 7 is displaced in the y-axis direction. The change in the path length of the mechanical feedback system is caused by the change-speed link
Is transmitted to the inner valve body 5a of the shift control valve 5 via the power transmission control valve 5, and the power roller tilt angle (actual shift state) when the shift control valve 5 returns to the neutral position and the shift is completed is a target corresponding to the shift command value. There is an error with respect to the tilt angle (target shift state), which causes a reduction in shift control accuracy. As described above, the phenomenon in which the mechanical feedback system cannot match the actual shift state with the target shift state due to the deformation of the components according to the transmission torque of the continuously variable transmission is commonly referred to as torque shift.

To solve this problem, Japanese Patent Laid-Open No. 59-1 has been proposed.
As used in the belt type continuously variable transmission described in Japanese Patent No. 21244, a shift command value for the actuator 4 is controlled by PI (P: proportional, I: integral) control based on the deviation of the actual shift state from the target shift state. It is possible to decide.

That is, as shown in FIG. 15, the PI controller 30
0, the actual speed change state of the continuously variable transmission 310 (the power roller actual tilt angle φ in the toroidal type continuously variable transmission) and the target speed change state (the power roller target tilt angle φ ^{* in the} toroidal type continuously variable transmission). The shift state deviation Δφ between and is calculated, and this deviation Δφ is multiplied by the gain K _p to obtain a proportional input K _p ·
An integral input K _I · Δφ / S obtained by multiplying Δφ and an integrated value Δφ / S (S is a differential operator) of the shift state deviation Δφ by a gain K _I.
The shift command value U to the continuously variable transmission 310 (specifically, the actuator 4 shown in FIG. 14) is determined according to the sum of The continuously variable transmission 310 performs the above-described gear shift based on the gear shift command value U to the actuator 4, and at the same time brings the actual gear shift state to the target gear shift state by the feedback from the mechanical feedback system 320.

Here, only by giving the proportional input K _p · Δφ, the actual speed change state φ is obtained unless the proportional gain K _p is infinite.
Does not match the target shift state φ ^* , and a steady deviation due to the torque shift T _S shown in FIG. 15 remains, but the integrated input K _I · Δ
By adding φ / S for PI control, the above steady-state deviation can be eliminated even if the proportional gain K _p and the integral gain K _I are finite.

[0013]

However, the integral input K _I
・ When trying to eliminate the steady deviation due to torque shift by Δφ / S, it takes a certain time for the integral input to reach the value that eliminates the steady deviation, and the problem of torque shift occurs due to the reduction of the transmission torque. It was confirmed that there is a problem that the integral input is still applied even when it disappears, and until the integral input decreases, a shift state deviation opposite to that caused by the torque shift occurs.

This phenomenon will be described with reference to the simulation result of FIG. In FIG. 16, a torque shift T _S occurs after 5 seconds have elapsed from the start of the simulation in the steady state where the gear shift command value U is originally kept constant, and the proportional input K _p · Δφ and the integral input K shown in FIG. _I / Δφ /
The shift command value U changes as shown by S, and the operation waveform is shown when the actual shift state (power roller actual tilt angle φ) converges to the target value of 1 °. As you can see from this figure,
It takes a certain period of time for the integrated input K _I · Δφ / S to reach a value at which the steady shift due to torque shift is eliminated and the actual shift state φ is converged to the target value of 1 °. Even if the torque shift T _S disappears, the integration input K _I · Δφ /
Since S has the same value as that in the case where the torque shift T _S exists, it is inevitable that the shift state deviation in the opposite direction to the influence of the torque shift appears until the integral input decreases. .

In order to solve this problem, the integral gain K _I
However, since the gear shift control becomes unstable in this case, there is a limit to increasing the integral gain K _I , and this cannot be a drastic solution.

According to the present invention, since the torque shift is caused by the deformation of the component parts, the feedforward correction is given to the shift command value based on this deformation, so that the integral gain is not increased, and accordingly, the above-mentioned problem occurs. The purpose is to eliminate the steady-state deviation due to the torque shift without causing

[0017]

To this end, a transmission control device for a continuously variable transmission according to a first aspect of the present invention comprises a continuously variable transmission unit capable of continuously changing an input / output rotation ratio, and a target transmission state and By opening the shift control valve from the neutral position in response to the shift command value determined according to the integrated value of the shift state deviation between the actual shift states, the pressure from the shift control valve causes the continuously variable transmission unit to shift to the shift position. When the target gear ratio is achieved by shifting the gear shift toward the target gear ratio corresponding to the command value and feeding back the progress of the gear shift to the gear shift control valve via a mechanical feedback system, In a continuously variable transmission having a gear shift control device for returning to a neutral position, a deformation amount of a component of the continuously variable transmission accompanied by a change in the path length of the mechanical feedback system is detected. And a shift command value for correcting the shift command value based on the detected value of the component deformation amount detected by the means so as to correct an incorrect shift condition caused by the change in the system path length. A correction means is provided.

A shift control device for a continuously variable transmission according to a second aspect of the present invention is a toroidal transmission including an input / output cone disk arranged coaxially and a power roller for transferring power by frictional engagement between the input / output cone disks. A unit is provided to open the shift control valve from the neutral position in response to the shift command value determined according to the integrated value of the shift state deviation between the target shift state and the actual shift state, so that the pressure from the shift control valve causes The power roller is offset from the position where the rotation axis intersects with the rotation axis of the input / output cone disk, and the offset causes the power roller to rotate around the swing axis perpendicular to its own rotation axis by the component force from the input / output cone disk. Is tilted toward the target tilt angle corresponding to the gear shift command value to perform continuously variable gear shifting and to reduce power consumption. When the target tilt angle is achieved by feeding back the tilt angle of the shifter to the shift control valve through a mechanical feedback system, the shift control valve is returned to the neutral position and the power roller is offset by the offset. In a toroidal type continuously variable transmission having a speed change control device for returning to a position where there is no gap, a component for detecting a deformation amount of a component of the toroidal type continuously variable transmission accompanied by a change in the path length of the mechanical feedback system. Deformation amount detection means,
Shift command value correcting means for correcting the shift command value based on the detected value of the component deformation amount detected by the means so as to eliminate the incorrect shift state due to the change in the system path length. It is what

Further, in the shift control device for a continuously variable transmission according to the third aspect of the present invention, the transmission torque detecting means for detecting the transmission torque of the continuously variable transmission is included in forming the component deformation amount detecting means. The component deformation amount detecting means is constituted by the component deformation amount estimating means for estimating the deformation amount of the component of the continuously variable transmission accompanied by the change of the path length of the mechanical feedback system from the transmission torque of the continuously variable transmission. It is characterized by that.

Further, in the shift control device for a continuously variable transmission according to the fourth aspect of the invention, the throttle opening detecting means for detecting the throttle opening of the engine in the preceding stage of the continuously variable transmission is included in the component deformation amount detecting means. An engine output torque estimating means for estimating the engine output torque from the throttle opening detected by the means; and a continuously variable transmission with a change in the system path length of the mechanical feedback system from the estimated engine output torque. It is characterized in that the component deformation amount detecting means is constituted by the component deformation amount estimating means for estimating the deformation of the component.

In the shift control device for a continuously variable transmission according to the fifth aspect of the invention, the shift command value correcting means is configured to learn the correction amount of the shift command value by the integrated value of the shift state deviation. .

In the shift control device for a continuously variable transmission according to the sixth aspect of the present invention, the shift command value correction means is such that the deformation amount detection value by the component deformation amount detection means is constant for a predetermined time, and the shift state deviation. When the integrated value of is constant for a predetermined time, the added value of the integrated value and the output shift command value correction amount is set as a new shift command value correction amount.

In the shift control device for a continuously variable transmission according to the seventh aspect of the invention, the shift command value correction means outputs the shift command value correction amount at that time when updating the shift command value correction amount in accordance with the integrated value of the shift state deviation. It is characterized in that the gear shift command correction amount being applied is not changed and the correction is suspended, and the suspended correction is performed at the stage when another gear shift command correction amount is used.

The shift control device for a continuously variable transmission according to the eighth aspect of the present invention is characterized in that a failure diagnosis means for determining a failure of the continuously variable transmission from a change in a shift command value correction amount is added.

[0025]

In the first aspect of the present invention, the gear shift control device determines in accordance with the integrated value of the gear shift state deviation between the target gear shift state and the actual gear shift state during the gear shift for continuously changing the input / output rotation ratio of the continuously variable transmission unit. By opening the shift control valve from the neutral position corresponding to the shift command value, the pressure from the shift control valve shifts the continuously variable transmission unit toward the target gear ratio corresponding to the shift command value. At the same time, the shift control device feeds back the progress of the shift to the shift control valve via a mechanical feedback system, thereby returning the shift control valve to the neutral position and ending the shift when the target shift ratio is achieved. Then, the achievement state of the target gear ratio is maintained.

Here, the component deformation amount detecting means detects the deformation amount of the component of the continuously variable transmission accompanied by the change of the system path length of the mechanical feedback system, and detects the component deformation amount detected by the means. Based on the value, the gear shift command value correcting means corrects the gear shift command value so as to eliminate the irregularity of the gear shift state due to the change in the system road length.

Therefore, it is possible to eliminate an erroneous shift state (steady-state deviation) due to torque shift caused by a change in the system path length of the mechanical feedback system. Moreover, since it is the feedforward correction of the shift command value based on the deformation amount of the components of the continuously variable transmission accompanied by the change of the system path length of the mechanical feedback system, the problem that occurs when relying on the integral input described above, In other words, the problem that there is a response delay until the steady deviation disappears and the problem that the shift state deviation that is opposite to that caused by the torque shift occur even if the problem of torque shift does not occur due to the reduction of transmission transmission torque are solved. be able to.

In the second invention, the power roller of the toroidal transmission unit transfers the power by frictional engagement between the input and output cone disks. During this power transmission, the shift control device opens the shift control valve from the neutral position in response to the shift command value determined according to the integrated value of the shift state deviation between the target shift state and the actual shift state, thereby performing the shift control. The pressure from the valve causes the power roller to be offset from the position where the rotation axis intersects with the rotation axis of the input / output cone disk, and the component force from the input / output cone disk causes the power roller to rotate with its own rotation axis. A continuously variable gear shift is performed by tilting the vehicle toward a target tilt angle corresponding to the gear shift command value around a straight swing axis.

The power roller tilt angle during shifting is fed back to the shift control valve through a mechanical feedback system, and when the power roller tilt angle reaches the above target tilt angle,
The shift control device returns the power roller to the position where the offset disappears by returning to the neutral position of the shift control valve, and maintains the achieved state of the shift command value.

By the way, in determining the gear shift command value, the gear shift control device performs this in the following manner. That is, the component deformation amount detection means detects the deformation amount of the component of the continuously variable transmission accompanied by the change of the system path length of the mechanical feedback system, and shifts based on the detected value of the component deformation amount detected by the means. The command value correction means corrects the shift command value so that an incorrect shift state caused by the change in the system road length is eliminated.

Therefore, particularly in the toroidal type continuously variable transmission, it is possible to eliminate an erroneous shift state (steady-state deviation) due to a torque shift caused by a change in the path length of the mechanical feedback system. Moreover, since it is the feedforward correction of the shift command value based on the deformation amount of the components of the continuously variable transmission accompanied by the change of the system path length of the mechanical feedback system, the problem that occurs when relying on the integral input described above, That is, there is a response delay until the steady deviation disappears,
Even if the problem of the torque shift does not occur due to the reduction of the transmission torque of the transmission, it is possible to solve the problem that the shift state deviation occurs in the opposite direction to that of the torque shift.

In the third aspect of the present invention, the component deformation amount detecting means detects the deformation amount, the transmission torque detecting means first detects the transmission torque of the continuously variable transmission, and then the component deformation amount estimating means. From the detected transmission torque of the continuously variable transmission, the amount of deformation of the component parts of the continuously variable transmission that accompanies a change in the system path length of the mechanical feedback system is estimated. In this case, the present invention can be adopted even under the condition that it is difficult to directly detect the deformation amount of the component parts of the continuously variable transmission.

In the fourth aspect of the invention, when the component deformation amount detecting means detects the deformation amount, first, the throttle opening detecting means detects the throttle opening of the engine in the preceding stage of the continuously variable transmission, and then the engine. The output torque estimation means estimates the engine output torque from the detected throttle opening degree, and the component deformation amount estimation means further estimates the estimated engine output torque from the estimated engine output torque without changing the path length of the mechanical feedback system. Estimate the deformation of the component parts of the transmission. Also in this case, the present invention can be adopted under the condition that it is difficult to directly detect the deformation amount of the component parts of the continuously variable transmission, and it is not necessary to directly detect the engine output torque. In addition, the present invention can be realized at low cost in combination with the fact that the detection of the throttle opening degree is indispensable for the shift control and is an existing signal.

In the fifth aspect of the invention, the shift command value correction means learns the correction amount of the shift command value according to the integrated value of the shift state deviation. In this case, the correction amount of the gear shift command value is always appropriate regardless of the manufacturing error of the transmission and deterioration with time, and the above-described action and effect of the first aspect of the invention can be consistently achieved.

In the sixth invention, when the deformation amount detection value by the component deformation amount detecting means is constant for a predetermined time and the integrated value of the shift state deviation is constant for a predetermined time, the shift command value correction is performed. The means sets the added value of the integrated value and the output shift command value correction amount as a new shift command value correction amount. In this case, the learning is performed in real time, and it is possible to eliminate the adverse effect that the gear shift command value is inappropriately corrected due to the learning value fluctuating in a timely manner.

In the seventh invention, when the shift command value correction means updates the shift command value correction amount according to the integrated value of the shift state deviation, the shift command value correction amount output at that time is It is assumed that the correction is suspended without changing and the suspended correction is performed at a stage when another shift command correction amount is used. In this case, even if the gear shift command value correction amount changes due to learning, the gear shift command value correction amount that is actually given does not change immediately, so it is possible to prevent a rapid change in the gear shift command value correction amount. It is possible to avoid the adverse effect that the gear ratio changes due to the abrupt change in the correction amount.

In the eighth aspect of the invention, the failure diagnosis means determines the failure of the continuously variable transmission from the change in the shift command value correction amount.
Therefore, it is advantageous that even a slight abnormality of the continuously variable transmission that does not appear in the gear ratio can be diagnosed.

[0038]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 and 2 exemplify a toroidal-type continuously variable transmission equipped with a shift control device according to an embodiment of the present invention. FIG. 1 is a vertical cross-sectional side view of the toroidal-type continuously variable transmission, and FIG. FIG. Note that, for convenience, in these figures, the same parts as those in FIG. 14 are denoted by the same reference numerals.

First, the toroidal transmission unit, which is the main part of the continuously variable transmission, will be described. This has an input shaft 20 to which rotation from an engine (not shown) is transmitted, and this input shaft is clearly shown in FIG. As described above, the end portion far from the engine is rotatably supported in the transmission case 21 via the bearing 22, and the center portion is provided in the intermediate wall 23 of the transmission case 21.
4 and the hollow output shaft 25 so as to be rotatably supported.
The input and output cone discs 1 and 2 are rotatably supported on the input shaft 20.
The toroidal curved surfaces 1a and 2a are arranged so as to face each other. A pair of power rollers 3 disposed on both sides of the input shaft 20 sandwiching the input shaft 20 are interposed between the opposing toroidal curved surfaces of the input / output cone disks 1 and 2, and these power rollers are placed between the input / output cone disks 1 and 2. To clamp
The following configuration is adopted.

That is, the loading nut 26 is screwed into the bearing end portion of the input shaft 20, and the toroid of the input cone disc 1 and the cam disc 27, which is locked by the loading nut and is rotationally engaged on the input shaft 20. The loading cam 28 is interposed between the curved surface 1a and the end surface far from the curved surface 1a,
The rotation from the input shaft 20 to the cam disk 27 is transmitted to the input cone disk 1 via the loading cam. Here, the rotation of the input cone disc 1 is transmitted to the output cone disc 2 via the rotation of the power roller 3, and during the transmission, the loading cam 28 generates a thrust proportional to the transmission torque, so that the power roller 3 is rotated by the input / output cone. A force is applied between the disks 1 and 2 to enable the above power transmission.

The output cone disk 2 is wedged on the output shaft 25, and the output gear 29 is fitted on this shaft so as to rotate integrally. The output shaft 25 is further rotatably supported in an end cover 31 of the transmission case 21 via a radial / thrust bearing 30. In the end cover 31, the radial / thrust bearing 3 is separately provided.
The input shaft 20 is rotatably supported via 2. here,
The radial and thrust bearings 30 and 32 are abutted against each other via a spacer 33 so that they cannot approach each other, and the relative thrust and thrust bearings 30 and 32 cannot move relative to each other. Make it urge in the direction. Thus, the thrust acting between the input / output cone disks 1 and 2 by the loading cam 28 is
The internal force that sandwiches 3 does not act on the transmission case 21.

Each power roller 3 is, as shown in FIG.
The trunnion 41 is rotatably supported, and the trunnion has an upper end rotatably and swingably at both ends of an upper link 43 by a spherical joint 42, and a lower end each having a spherical joint 44.
Thus, the lower link 45 is rotatably and swingably connected to both ends of the lower link 45. The upper link 43 and the lower link 45 are supported by the spherical joints 46 and 47 in the center of the transmission case 21 so as to be swingable in the vertical direction so that both trunnions 41 can be vertically moved in synchronization with each other in opposite directions. .

A shift control device for shifting gears by vertically moving both trunnions 41 in synchronism with each other in opposite directions will be described below with reference to FIG. Each trunnion 41 is provided with a piston 6 for individually stroking them vertically, and upper chambers 51, 52 and lower chambers 53, 54 are defined on both sides of both pistons 6, respectively. The shift control valve 5 is installed in order to control the strokes of both pistons 6 in opposite directions. Here, the shift control valve 5 includes a spool type inner valve body 5a and a sleeve type outer valve body 5b slidably fitted to each other, and the outer valve body 5b is attached to the valve outer casing 5a.
It is configured by slidably fitting to c.

In the shift control valve 5, the input port 5d is connected to the pressure source 55, one communication port 5e is connected to the piston chambers 51 and 54, and the other communication port 5f is connected to the piston chambers 52 and 53, respectively. To do. And the inner valve body 5a
To cooperate with the cam surface of the recess cam 7 fixed to the lower end of one trunnion 41 via a bell crank type speed change lever 8 to drive the outer valve element 5b to the step motor 4 in a rack and pinion type drive engagement. .

The operation command of the shift control valve 5 is a shift command value U
The actuator (step motor) 4 which responds to is given as a stroke to the outer valve body 5b via the rack and pinion. This operation command causes the outer valve body 5b of the shift control valve 5 to be displaced relative to the inner valve body 5a from the neutral position to, for example, the position shown in FIG. Is supplied to the chambers 52 and 53, while the other chambers 51 and 54 are drained, and the outer valve body 5b of the shift control valve 5 is displaced in the opposite direction from the neutral position relative to the inner valve body 5a. When the shift control valve 5 is opened, the fluid pressure from the pressure source 55 is supplied to the chambers 51 and 54, while the other chambers 52 and 54,
It is assumed that 53 is drained and both trunnions 41 are displaced by fluid pressure through the piston 6 in opposite vertical directions corresponding to each other in the figure. As a result, both power rollers 3 are
The rotation axis O ₁ is offset (offset amount y) from the illustrated position where the rotation axis O 1 intersects the rotation axes O ₂ of the input / output cone disks 1 and _2, and the power roller 3 is offset from the input / output cone disks 1 and 2 by the offset. With the swing component force of ( ₁ ), tilting (tilt angle φ) is performed around the swing axis O ₃ orthogonal to the own rotation axis O ₁ and continuously variable transmission can be performed.

During such shifting, the precess cam 7 coupled to the lower end of one trunnion 41 shifts the above-mentioned vertical movement (offset amount y) and tilt angle φ of the trunnion 41 and the power roller 3 via the shift link 8. Control valve 5
Is mechanically fed back to the inner valve body 5a. When the gear shift command value U to the step motor 4 is achieved by the continuously variable gear shift, mechanical feedback via the recess cam 7 causes the inner valve body 5a of the gear shift control valve 5 to move,
Return to the initial neutral position relative to the outer valve body 5b,
At the same time, both the power roller 3, by the rotation axis O ₁ returns to the illustrated position that intersects the rotation axis O ₂ of the input and output cone discs 1 and 2, it is possible to maintain the achieved state of the shift command value. Therefore, the recess cam 7 and the speed change link 8 constitute a mechanical feedback system in the speed change control device of the toroidal type continuously variable transmission.

Since the purpose of the control is to set the power roller tilt angle φ to a value corresponding to the target gear ratio (shift command value U), the precess cam 7 basically only controls the power roller tilt angle φ. It would be nice to give feedback,
Here, the reason why the power roller offset amount y is also fed back is to provide a damping effect for preventing the shift control from becoming oscillating to avoid the hunting phenomenon of the shift control.

The shift command value U to the step motor 4 is determined by the controller 61. To do this because the controller 61, the output rotation sensor for detecting a signal from a throttle opening sensor 62 for detecting an engine throttle opening TVO, the rotational speed N _o of the output cone discs 2 6
3, a signal from an input rotation sensor 64 that detects the rotation speed N _i of the input cone disc 1 (or the engine rotation speed N _e may be used), and the deformation amount (torque shift) of the trunnion 41 that is a power roller supporting member. T _S (corresponding to the component deformation amount detecting means) strain gauges for detecting the 65
Input signals from each.

The above-mentioned deformation T _S of the trunnion 41 is
I / O cone disk 1 according to transmission torque of transmission
Caused by the clamping force of the power roller 3 between the two,
A change in the position of the recess cam 7 at the lower end of the trunnion 41 causes a change in the path length of the mechanical feedback system including the recess cam 7 and the speed change link 8, which causes the torque shift.

The controller 61 determines the shift command value U to the step motor 4 by the following calculation based on the above various input information. Therefore, in this example, the controller 61 is configured as shown in FIG. 3 and FIG.
In these figures, the toroidal type continuously variable transmission described above with reference to FIGS. 1 and 2 is 310 in accordance with FIG. 15, and the mechanical feedback system including the precess cam 7 and the speed change link 8 is 320 in accordance with FIG. Show. That is, the controller 61 is provided with the PI control unit 300 similar to that shown in FIG. 15 and, in particular, the feedforward correction unit 330 corresponding to the shift command value correction means added in this example.

The controller 61 uses the PI control section 30.
As is well known in obtaining the target tilt angle φ ^* to 0,
Based on the shift map stored in advance in memory, the throttle opening TVO detected by the sensor 62 and the vehicle speed based on the rotational speed N _o of the output cone disk 2 detected by the sensor 63 are used as the target input cone disk rotation. Find the number,
And the input cone disc target speed, calculates the power rollers target tilting angle phi ^* from the output cone disk rotational speed N _o.

In the PI controller 300, the power roller actual tilt angle φ representing the actual gear ratio of the toroidal type continuously variable transmission 310 and the power roller target tilt angle φ representing the target gear ratio.
^* Asked the tilt angle deviation Δφ in between, this deviation Δφ
The gain K and the proportional input K _p · [Delta] [phi multiplied by _p, the integral value [Delta] [phi / S of the power roller tilt angle deviation [Delta] [phi (S is a differential operator) to the gain K _I multiplied by the integral input K _I · [Delta] [phi / S Shift command value U before correction to the step motor 4 according to the sum of
_Set to ₀ . Further, in the feedforward correction unit 330, based on the deformation amount T _S of the trunnion 41 detected by the component deformation amount detection means 65, in order to eliminate the incorrect gear ratio based on the torque shift due to the deformation of the trunnion 41. The shift command value correction amount ΔU is calculated. Then, the controller 61 determines the gear shift command value U to the step motor 4 by the sum of the gear shift command value U ₀ before correction and the gear shift command value correction amount ΔU.

Here, the feedforward correction unit 330
In consideration of the case where the component deformation amount detection means 65 cannot accurately detect the deformation amount T _S of the trunnion 41, the occurrence and disappearance of the trunnion deformation amount T _S is 0 as shown in FIG. The shift command value correction amount ΔU corresponding to the value of 80% of the trunnion deformation amount T _S is output with a delay of 2 seconds, and the gear ratio based on the torque shift due to the deformation of the trunnion 41 is corrected. The shift command value correction amount ΔU to be eliminated is obtained in advance by experiments or the like.

The toroidal type continuously variable transmission 310 performs the above-mentioned gear shift based on the gear shift command value U to the actuator 4,
At the same time, due to the feedback from the mechanical feedback system 320, when the actual tilt angle φ of the power roller reaches the target tilt angle φ ^* , the gear shifting is terminated and the power roller 3
Can be maintained at this target tilt angle φ ^* .

By the way, when the shift command value U to the step motor 4 is determined, the proportional input K _p · Δφ based on the tilt angle deviation Δφ obtained by the PI control unit 300 and the integral input K.
_The trunnion 4 obtained by the deformation amount T _S of the trunnion 41 without directly using the sum value of _I · Δφ / S as the shift command value
1 is corrected by the correction amount ΔU for eliminating the irregularity of the tilt angle of the power roller due to the torque shift caused by the deformation of the power shift command value U. Therefore, as shown in FIG. Even if there is a deformation T _{S of the} trunnion 41 that changes, it is possible to eliminate the irregularity of the power roller tilt angle based on this deformation, as is apparent from FIG. 5, which is a simulation result under the same conditions as in FIG. Therefore, accurate shift control can be realized.

Moreover, since the feed-forward correction of the shift command value is based on the deformation amount T _S of the trunnion 41 that accompanies a change in the mechanical feedback system path length, only the conventional integral input K _I · Δφ / S is used. Even if the problem that occurred as a result of the countermeasures, that is, there is a response delay until the steady deviation disappears, or the problem of torque shift due to the reduction of transmission transmission torque does not occur, the shift state deviation in the opposite direction to that due to torque shift It is possible to solve the problem of causing

FIG. 6 shows an example in which the controller 61 is composed of a microcomputer, and the processing in the PI control unit 300 and the feedforward correction unit 330 is executed by the control program of FIG.
It is shown with the torque shift generation mechanism 350. In this example, the tilt angle detection means 340 for detecting the actual tilt angle φ of the power roller is provided, and the controller 61 also uses information from this time. Here, in detecting the actual tilt angle φ of the power roller, in addition to the method of directly detecting this, the ratio (gear ratio) between the input cone disc rotation speed N _i and the output cone disc rotation speed N _o is calculated, It goes without saying that the actual tilt angle φ of the power roller may be calculated from this.

In FIG. 7, first, at step 71, variables A, B, C, D, and E are initialized, and at step 72, the throttle opening TVO of the engine 340 and the output cone disk 2 are set in the same manner as in the above embodiment. calculates the power rollers target tilting angle phi ^* from the rotational speed N _o, this is set to the variable a. Next, at step 73, the actual tilt angle φ of the power roller detected by the tilt angle detecting means is set to the variable B, and at step 74, AB is set to the variable C. Here, the variable C corresponds to the tilt angle deviation Δφ = φ ^* −φ. Then, in step 75, the variable C (tilt angle deviation Δ
φ) is integrated and the integrated value is set to a variable D.

Next, at step 76, the sum of the value obtained by multiplying the variable C by the proportional gain K _p and the value obtained by multiplying the variable D by the integral gain K _p is set to the variable E, and then at step 7
In step 7, the trunnion deformation amount T _S detected by the component deformation amount detection means 65 is stored in the variable A and updated. Then, in step 78, this variable A (trunnion deformation amount T _S )
The table lookup is performed for the feedforward correction amount ΔU corresponding to, and this is set in the variable B. Then, in step 79, the sum of the variable B and the variable E is output to the step motor 4 as the shift command value U. Then, the gear shift is performed based on this.

As described above, also in this embodiment, the shift command value U is determined as in the above embodiment, and the tilt angle deviation Δφ is obtained.
Proportional input K _p · Δφ and integral input K _I · Δφ /
The sum value of S and S is not used as the shift command value, and the trunnion 4 is used.
The shift command value U corrected by a correction amount ΔU for eliminating the irregularity of the power roller tilt angle based on the torque shift caused by the deformation of the trunnion 41, which is obtained from the deformation amount T _{S of} 1
Therefore, even if there is a deformation T _{S of the} trunnion 41 that accompanies a change in the path length of the mechanical feedback system, it is possible to eliminate the irregularity of the tilt angle of the power roller based on this deformation.
Accurate shift control can be realized.

In addition, since the feed-forward correction of the shift command value is based on the deformation amount T _S of the trunnion 41 that accompanies the change in the mechanical feedback system path length, only the conventional integral input K _I · Δφ / S is used. Even if the problem that occurred as a result of the countermeasures, that is, there is a response delay until the steady deviation disappears, or the problem of torque shift due to the reduction of transmission transmission torque does not occur, the shift state deviation in the opposite direction to that due to torque shift It is possible to solve the problem of causing

By the way, the magnitude of the torque shift that causes the deviation of the tilt angle of the power roller, that is, the trunnion deformation amount T.
_Since the magnitude of _S corresponds to the magnitude of transmission transmission torque, the trunnion deformation amount T _S for obtaining the gear shift command value correction amount ΔU for eliminating the irregularity of the power roller tilt angle based on the torque shift is: It can also be obtained from the transmission torque of the toroidal type continuously variable transmission.

8 and 9 are based on this idea, instead of the component deformation amount detecting means 65 in each of the embodiments, as shown in FIG. 8, transmission transmission torque detecting means 370.
Also, the component deformation amount estimating means 380 is provided. The transmission transmission torque detecting means 370 is, for example, a torque sensor provided in the input cone disc 1 and detects the transmission torque of the toroidal type continuously variable transmission.
Further, the component deformation amount estimation means 380 estimates the trunnion deformation amount T _S from the detected transmission torque of the transmission based on the data obtained in advance by experiments and the like, and estimates the trunnion deformation amount T _S , which is used as the feedforward correction unit. Shall be supplied to 330.

As shown in FIG. 9, the gear shift command value calculation program in this example is assumed to have step 77 in FIG. 7 replaced with step 80. In this step 80,
The transmission transmission torque value detected by the means 370 is stored in the variable B, the trunnion deformation amount T _S is looked up from this variable B, and this is set in the variable A.

According to the structure of the present embodiment, even if it is difficult in terms of layout and cost to provide the trunnion 41 with the component deformation amount detecting means 65 in each of the above-mentioned embodiments, the shift of the present invention can be performed. It is very useful to be able to put the control device into practical use.

Since the transmission transmission torque is substantially equal to the engine output torque and the engine output torque can be estimated from the throttle opening, the example of FIG. 10 shows the component deformation amount detecting means 65 in FIGS. 3 and 6. Instead of the above, the throttle opening sensor 62 as the throttle opening detecting means, the engine output torque estimating means 390, and the component deformation amount estimating means 400 are provided. The engine output torque estimating means 390 estimates the engine output torque from the throttle opening TVO detected by the throttle opening sensor 62, and the component deformation amount estimating means 400 preliminarily conducts an experiment or the like based on the estimated engine output torque. It is assumed that the trunnion deformation amount T _S is estimated by a search or the like based on the data obtained by the above and is supplied to the feedforward correction unit 330.

According to the configuration of this example, even if it is difficult in terms of layout and cost to provide the trunnion 41 with the component deformation amount detecting means 65 shown in FIGS. 3 and 6, the present invention can be used. The gear shift control device can be put into practical use and is very useful, and it is not necessary to directly detect the engine output torque, and the throttle opening TVO
Since the above signal is an existing signal, the shift control of the present invention can be realized at low cost.

FIG. 11 shows still another example of the present invention. In this example, the feedforward correction unit 330 and the PI control unit 30 are provided.
It is assumed that the integration input K _I · Δφ / S of 0 is input, and the feedforward correction unit 330 determines the shift command value correction amount ΔU by the processing shown in FIG.

In step 91, an array variable temp having a dimension corresponding to the number of bits of the A / D converter of the microcomputer is initialized to a predetermined value, and the predetermined value is obtained by, for example, an experiment, and the trunnion deformation is obtained. The feedforward correction amount for each amount. Next, at step 92, the trunnion deformation amount T _S detected by the means 65 is A /
It is acquired by the D converter and stored in the variable t1, and in step 93, the integral input K _I · Δφ / S is acquired by the A / D converter and stored in the variable s1. Next, at step 94, the absolute value of the difference between the variable s1 and the previous variable s2 related thereto, that is, the change rate F of the integral input is calculated.

Then, in step 95, the absolute value of the difference between the variable t1 and the previous variable t2 related thereto, that is, the change ratio of the trunnion deformation amount is calculated, and the trunnion deformation amount is determined by whether it is smaller than a predetermined constant. Determine whether it has changed. Further, in step 96, it is determined whether or not the integral input has changed depending on whether or not the change rate F of the integral input is smaller than a predetermined constant.

When it is determined in step 95 that the trunnion deformation amount has not changed, and in step 96 that the integral input has not changed, in step 97, the value of the t1th element of the array variable temp is set. Set to s1. Since t1 is the value obtained by the A / D converter,
It is an integer. When it is determined in step 95 that the trunnion deformation amount is changing, in step 98, the second value of the table for calculating the feedforward correction amount, that is, the value output by the table lookup for the input t1 is set to temp. t
Add the second element. In other words, the value of t2 is rewritten when the trunnion deformation amount changes from t2 to t1. Even if it is determined in step 95 that the trunnion deformation amount has not changed, if it is determined in step 96 that the integral input has changed, the above update is not performed, and the control proceeds directly to step 99.

In step 99, the value of t2 is replaced with the value of t1, the value of s2 is replaced with the value of s1, and the control is returned to step 92.

As described above, according to the configuration of the present example in which the shift command value correction amount is determined according to the integral input, it is not always necessary to previously obtain the shift command value correction amount by an experiment, and since it is real time, It is possible to cope with a change in characteristics of the continuously variable transmission with time. Furthermore, by using the value when the integral input becomes constant, it becomes possible to more accurately determine the feedforward correction amount that can eliminate the steady deviation. In addition, the calculated feedforward correction amount is
After the variable trunnion deformation amount, the transmission transmission torque, and the throttle opening which are different from each other once are stored as in step 97, a table for calculating the feedforward correction amount corresponding to the value is input. By writing the obtained value, it is possible to suppress a rapid change in the feedforward correction amount, and to avoid a change in the gear ratio due to a change in the feedforward correction amount.

FIG. 13 shows still another embodiment of the present invention. In this embodiment, a failure diagnosis means 410 is connected to the feedforward correction section 330. Here, the failure diagnosis means 4
Reference numeral 10 determines that the toroidal continuously variable transmission 310 is abnormal when the shift command value correction amount ΔU is input and becomes greater than or equal to a predetermined value or when the state of the predetermined value or more continues for a predetermined time. I shall.

In each of the above-described embodiments, detailed description has been made of the case where the speed change control device according to the present invention is applied to a toroidal type continuously variable transmission, but the same concept applies to a V-belt type continuously variable transmission. Therefore, it is needless to say that the shift control device of the present invention can be used and the same operational effects as described above can be obtained.

[0076]

As described above, the shift control device for a continuously variable transmission according to the first aspect of the present invention, as described in claim 1, is capable of continuously changing the input / output rotation ratio of the continuously variable transmission unit in a stepless target shift state. And opening the shift control valve from the neutral position corresponding to the shift command value determined in accordance with the integrated value of the shift state deviation between the actual shift states, the pressure from the shift control valve causes the continuously variable transmission unit to move. When the target gear ratio is achieved by shifting the gear shift toward the target gear ratio corresponding to the gear shift command value and feeding back the progress of the gear shift to the gear shift control valve via a mechanical feedback system, Assuming a speed change control device for a continuously variable transmission in which the gear is returned to a neutral position to end the speed change, the components of the continuously variable transmission accompanied by a change in the path length of the mechanical feedback system are The shape amount is detected by the component deformation amount detecting means, and the shift command value correcting means corrects the shift command value based on the detected value of the component deformation amount detected by the means in accordance with the change in the system path length. Since the correction is made so as to eliminate the problem, it is possible to eliminate an incorrect shift state (steady-state deviation) due to a torque shift caused by a change in the system length of the mechanical feedback system. Since it is a feedforward correction of the shift command value based on the amount of deformation of the components of the continuously variable transmission that causes a long change, the problem that occurred when relying on the integral input described above, that is, the response delay until the steady deviation disappears Even if the problem of torque shift does not occur due to a decrease in transmission torque of the transmission, a shift state deviation in the opposite direction to that caused by torque shift is generated. It is possible to solve the problem.

According to a second aspect of the present invention, there is provided a transmission control device for a continuously variable transmission, wherein the power roller of the toroidal transmission unit transmits power by frictional engagement between the input and output cone disks during transmission. At the time of gear shift, by opening the shift control valve from the neutral position corresponding to the shift command value determined according to the integrated value of the shift state deviation between the target shift state and the actual shift state, the pressure from the shift control valve causes the shift control valve to open. The power roller is offset from the position where the rotation axis intersects with the rotation axis of the input / output cone disk, and the offset causes the power roller to rotate around the swing axis perpendicular to its own rotation axis by the component force from the input / output cone disk. By inclining toward the target tilt angle corresponding to the above-mentioned shift command value, stepless speed change is performed, and
During this gear shift, the power roller tilt angle is fed back to the gear shift control valve via the mechanical feedback system, and when the power roller tilt angle reaches the above target tilt angle, the power control valve is returned to the neutral position to reduce the power. Assuming a shift control device that returns the roller to the position where the offset disappears and maintains the state of achieving the shift command value, in determining the shift command value, the component deformation amount detecting means detects the mechanical feedback. The shift command value correcting means detects the deformation amount of the component of the continuously variable transmission accompanied by the change of the system path length of the system, and the shift command value correcting means calculates the shift command value based on the detected value of the component deformation amount detected by the means. Since the configuration is such that the incorrect shift condition due to the change in the system path length is eliminated, the change in the system path length of the mechanical feedback system is caused especially in the toroidal continuously variable transmission. It is possible to eliminate incorrect shift conditions (steady-state deviation) due to torque shift, and to correct feed-forward correction of shift command values based on the amount of deformation of the components of the continuously variable transmission that accompany changes in the mechanical feedback system path length. Therefore, even if the problem that occurred when relying on the integral input described above, that is, the problem that there is a response delay until the steady deviation disappears, and the problem of torque shift due to the reduction of transmission transmission torque, It is possible to solve the problem that a shift state deviation opposite to that caused by the shift occurs.

According to a third aspect of the present invention, there is provided a transmission control device for a continuously variable transmission, wherein the component deformation amount detecting means detects the deformation amount, and the transmission torque detecting means first uses the continuously variable transmission. Of the transmission torque of the continuously variable transmission, and the component deformation amount estimation means detects the transmission torque of the continuously variable transmission from the detected transmission torque of the continuously variable transmission, and the deformation amount of the components of the continuously variable transmission accompanied by the change in the path length of the mechanical feedback system. Therefore, the third invention can be adopted even under the condition that it is difficult to directly detect the deformation amount of the component parts of the continuously variable transmission, which is very useful.

According to a fourth aspect of the present invention, in the transmission control device for a continuously variable transmission, the component deformation amount detecting means detects the deformation amount, and first, the throttle opening detecting means continuously changes the speed. The throttle opening of the engine in the front stage of the transmission is detected, then the engine output torque is estimated by the engine output torque estimating means, and the engine output torque is estimated from the detected throttle opening. Since the deformation of the component parts of the continuously variable transmission accompanied by the change of the path length of the mechanical feedback system is estimated from the output torque, the deformation of the component parts of the continuously variable transmission is also performed in the case of the fourth invention. The present invention can be adopted under the condition that it is difficult to directly detect the amount, and it is not necessary to directly detect the engine output torque. Can be realized inexpensively present invention also I phase 俟 and liters opening detection is an existing signal essential for shift control.

According to a fifth aspect of the present invention, in the shift control device for a continuously variable transmission, the shift command value correcting means learns the correction amount of the shift command value by the integrated value of the shift state deviation. With this configuration, the correction amount of the gear shift command value is always appropriate regardless of the manufacturing error of the transmission and deterioration with time, and the above-described action and effect of the first aspect of the invention can be consistently achieved.

According to a sixth aspect of the present invention, there is provided a transmission control device for a continuously variable transmission, wherein the deformation amount detection value by the component deformation amount detecting means is constant for a predetermined time, and
When the integrated value of the shift state deviation is constant for a predetermined time, the shift command value correction means sets the addition value of the integrated value and the output shift command value correction amount as a new shift command value correction amount. With this configuration, even if the gear shift command value correction amount changes due to learning, the actual gear shift command value correction amount does not change immediately, so it is possible to prevent a sudden change in the gear shift command value correction amount. It is possible to avoid the adverse effect that the gear ratio changes due to the abrupt change in the command value correction amount.

According to a seventh aspect of the present invention, in the shift control device for a continuously variable transmission, the shift command value correcting means updates the shift command value correction amount in accordance with the integrated value of the shift state deviation. In doing so, the shift command value correction amount that is being output at that time is not changed, and the correction is suspended, and the suspended correction is performed when another shift command correction amount is used. Since the learning is performed, it is possible to eliminate the adverse effect that the shift command value is unnecessarily corrected due to the variation of the learning value.

In the shift control device for a continuously variable transmission according to the eighth aspect of the present invention, the failure diagnosis means determines the failure of the continuously variable transmission from the change in the shift command value correction amount. It is also very advantageous to be able to diagnose even a slight abnormality of the continuously variable transmission that does not appear in the gear ratio.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional side view of a toroidal-type continuously variable transmission including a shift control device according to an embodiment of the present invention.

FIG. 2 is a vertical sectional front view showing the toroidal-type continuously variable transmission together with its shift control system.

FIG. 3 is a system diagram showing a schematic system of a shift control device in the example.

FIG. 4 is a functional block diagram showing the shift control device of the same example.

FIG. 5 is an operation time chart of the shift control device of the same example.

FIG. 6 is a block diagram showing an example in which the controller of the shift control device is configured by a microcomputer.

FIG. 7 is a flowchart showing a shift command value determination program to be executed by the same microcomputer.

FIG. 8 is a block diagram showing still another example of the shift control device according to the present invention.

FIG. 9 is a flowchart showing a shift command value determination program executed by a microcomputer in the same example.

FIG. 10 is a block diagram showing still another example of the shift control device according to the present invention.

FIG. 11 is a block diagram showing still another example of the shift control device according to the present invention.

FIG. 12 is a flowchart showing a shift command value determination program executed by a microcomputer in the same example.

FIG. 13 is a block diagram showing still another example of the shift control device according to the present invention.

FIG. 14 is a system diagram showing a general shift control system of a toroidal-type continuously variable transmission.

FIG. 15 is a block diagram showing a general shift control command value calculation system for a toroidal continuously variable transmission.

FIG. 16 is an operation time chart showing a gear shift action based on a gear shift control command value obtained by the arithmetic system.

[Explanation of symbols]

1 input cone disc 2 output cone disc 3 power rollers 4 step motor 5 shift control valve 6 pistons 7 Precessum 8 speed change link 20 Input shaft 28 loading cam 41 trunnion 43 Upper link 45 Lower Link 61 Controller 62 Throttle opening sensor (throttle opening detection means) 63 output rotation sensor 64-input rotation sensor 65 Component deformation amount detection means 300 PI calculator 310 toroidal type continuously variable transmission (continuously variable transmission) 320 Mechanical feedback system 330 Feedforward correction unit (shift command value correction means) 340 engine 350 Torque shift mechanism 360 Tilt angle detection means 370 Transmission transmission torque detection means 380 Component deformation amount estimation means 390 Engine output torque estimation means 400 Component deformation amount estimation means 410 Failure diagnosis means

─────────────────────────────────────────────────── --Continued from the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) F16H 61/00-61/24

Claims (8)

(57) [Claims] 1. A continuously variable transmission unit capable of continuously changing the input / output rotation ratio, and corresponding to a shift command value determined according to an integrated value of a shift state deviation between a target shift state and an actual shift state. By opening the shift control valve from the neutral position, the pressure from the shift control valve shifts the continuously variable transmission unit toward the target gear ratio corresponding to the shift command value, and the progress of the shift is mechanically performed. A continuously variable transmission having a speed change control device configured to return the speed change control valve to a neutral position when the target speed change ratio is achieved by feeding back to the speed change control valve via a feedback system. Component deformation amount detection means for detecting the deformation amount of the component parts of the continuously variable transmission accompanied by the change of the system path length of the dynamic feedback system, and the detection of the component part deformation amount detected by the means. A shift control device for a continuously variable transmission, comprising: a shift command value correction unit that corrects the shift command value based on a value so that an incorrect shift state due to a change in the system road length is resolved. 2. An input / output cone disk arranged coaxially,
It has a toroidal transmission unit consisting of a power roller that transfers power by frictional engagement between these input and output cone disks, and uses a toroidal transmission unit to change the gearshift command value determined according to the integrated value of the gearshift state deviation between the target gearshift state and the actual gearshift state. Correspondingly, by opening the shift control valve from the neutral position, the pressure from the shift control valve causes the power roller to be offset from the position where the rotation axis intersects with the rotation axis of the input / output cone disk, and the offset is applied. By continuously tilting the power roller by the component force from the output cone disk toward the target tilt angle corresponding to the shift command value around the swing axis line that is orthogonal to the rotation axis line of the power cone disk, continuously variable transmission is performed. At the same time, the tilt angle of the power roller is fed back to the shift control valve via a mechanical feedback system, thereby A toroidal type continuously variable transmission having a shift control device configured to return a shift control valve to a neutral position to return a power roller to a position where the offset disappears when a target tilt angle is achieved. Component deformation amount detection means for detecting the deformation amount of the component parts of the toroidal type continuously variable transmission accompanied by a change in the path length of the dynamic feedback system, and the shift command based on the detected value of the component deformation amount detected by the means. A shift control device for a continuously variable transmission, comprising: a shift command value correction unit that corrects a value so that an incorrect shift state caused by a change in the system road length is eliminated. 3. The component deformation amount detecting means according to claim 1 or 2, wherein the transmission torque detecting means detects the transmission torque of the continuously variable transmission, and the transmission torque detecting means detects the transmission torque of the continuously variable transmission. A shift control device for a continuously variable transmission, comprising: a component deformation amount estimation means for estimating a deformation amount of a component of a continuously variable transmission of a type involving a change in the path length of a mechanical feedback system. 4. The throttle opening detection means for detecting the throttle opening of the engine in the preceding stage of the continuously variable transmission according to claim 1 or 2, and the throttle detected by the means. An engine output torque estimating means for estimating an engine output torque from an opening degree, and a configuration for estimating a deformation amount of a component of a continuously variable transmission accompanied by a change in the system path length of the mechanical feedback system from the estimated engine output torque. A shift control device for a continuously variable transmission, comprising: a part deformation amount estimating means. 5. The shift command value correction means according to claim 1, wherein the shift command value correction means is configured to learn a correction amount of the shift command value by an integrated value of the shift state deviation. Shift control device for continuously variable transmission. 6. The shift command value correcting means according to claim 5, wherein the deformation amount detection value by the component deformation amount detecting means is constant for a predetermined time, and the integrated value of the shift state deviation is constant for a predetermined time. In this case, the shift control device for the continuously variable transmission is configured such that the added value of the integrated value and the output shift command value correction amount is set as a new shift command value correction amount. 7. The shift command value correction amount according to claim 6, wherein the shift command value correction means updates the shift command value correction amount in accordance with an integrated value of the shift state deviation. Is held unchanged and the correction is suspended, and the suspended correction is performed at the stage when another shift command correction amount is used. 8. A continuously variable transmission according to any one of claims 1 to 7, further comprising: failure diagnosis means for determining a failure of the continuously variable transmission from a change in a shift command value correction amount. Shift control device.