JP5790564B2 - Solenoid valve control device and abnormality determination method thereof - Google Patents

Description

  The present invention relates to a solenoid valve control device and an abnormality determination method thereof, and more specifically, a solenoid that controls a solenoid valve using a control signal set by feedback control so that an actual current flowing through the solenoid of the solenoid valve becomes a command current. The present invention relates to a valve control device and an abnormality determination method for such a control device.

  Conventionally, as a control device for this kind of solenoid valve, a target current of a solenoid corresponding to a target hydraulic pressure is set in a device that controls a plurality of solenoid valves that supply hydraulic pressure to a friction engagement element of an automatic transmission for a vehicle. In order to control the solenoid valve, feedback control is performed so that the actual current detected as the current actually flowing through the solenoid matches the target current, the duty signal is set, and the duty signal is output to the solenoid. (For example, refer to Patent Document 1). In this device, the failure degree of the solenoid is set based on the steady control deviation between the target current and the actual current in the integral term of the relational expression of the feedback control, and when the failure degree exceeds the threshold value, the failure such as the solenoid valve sticking It is determined that the error has occurred, and a transition is made to fail-safe mode or a warning is given by a lamp.

Japanese Patent Laid-Open No. 11-11826

  However, in the above-described control device, even if a failure has occurred until the failure degree based on the deviation between the target current and the actual current in the integral term of the feedback control relational expression exceeds the threshold, the failure Therefore, it takes a relatively long time to find the occurrence of the failure. If it takes a long time to find a failure (abnormality), the state of the solenoid valve control device or the hydraulic control device of the automatic transmission for vehicles including the solenoid valve is appropriate, such as delaying the transition to fail-safe mode. May be delayed.

  The main object of the solenoid valve control device and abnormality determination method thereof according to the present invention is to more quickly find the occurrence of an abnormality in the solenoid valve control device.

  The solenoid valve control device and abnormality determination method of the present invention employ the following means in order to achieve the above-mentioned main object.

The control device for the solenoid valve of the present invention comprises:
A solenoid valve control device that controls the solenoid valve using a control signal set by feedback control so that an actual current flowing through the solenoid of the solenoid valve becomes a command current,
The amount of change in the actual current from the first time that is predetermined as the time indicating the first-order delay response of the feedback control system is based on the amount of change in the command current from the first time. And an abnormality determining means for determining that an abnormality has occurred in the control system on condition that the first condition that is not included in the defined normal range continues for the first time. To do.

  In the solenoid valve control device according to the present invention, the change amount of the actual current from the first time that is predetermined as the time indicating the response of the primary delay of the control system of the feedback control is the first time before the command current. It is determined that an abnormality has occurred in the control system on condition that the first condition that the state not included in the normal range determined on the basis of the change amount from the first is continuous over the first time is satisfied. Therefore, it can be determined as abnormal with the time indicating the response of the first-order lag of the control system, compared with the case where it is determined as abnormal when the integrated value of the deviation between the command current and the actual current exceeds the threshold value. The occurrence of abnormalities can be found more quickly. Here, as the “time indicating the first-order lag responsiveness”, for example, a time constant of the first-order lag, a slightly shorter time, a slightly longer time, or the like can be used.

  In the solenoid valve control apparatus according to the present invention, the abnormality determination unit is configured to perform a second time before a predetermined time as the time indicating the response of the control system longer than the first time after the first condition is satisfied. A state in which the change amount of the actual current from the second current range is not included in the second normal range determined based on the change amount of the command current from the second time before is changed from the second time to the first time. It can also be a means for determining that an abnormality has occurred in the control system on condition that the second condition that continues for the time obtained by subtraction is satisfied. In this way, it is possible to improve the abnormality determination accuracy in the solenoid valve control device.

  In the solenoid valve control device according to the aspect of the present invention in which it is determined that an abnormality has occurred in the control system on the condition that the second condition is satisfied, the abnormality determination unit is configured to perform the command current after the second condition is satisfied. And a state in which the current deviation from the actual current is not included in a predetermined range is a time obtained by subtracting the second time from a third time that is predetermined as a time longer than the second time. It may be a means for determining that an abnormality has occurred in the control system on condition that the continuous third condition is satisfied. In this way, erroneous determination of abnormality in the solenoid valve control device can be suppressed.

The abnormality determination method of the present invention includes:
An abnormality determination method for a solenoid valve control device that controls the solenoid valve using a control signal set by feedback control so that an actual current flowing through the solenoid of the solenoid valve becomes a command current,
The amount of change in the actual current from the first time that is predetermined as the time indicating the first-order delay response of the feedback control system is based on the amount of change in the command current from the first time. It is determined that an abnormality has occurred in the control system on condition that the first condition that is not included in the defined normal range continues for the first time.
It is characterized by that.

  In the abnormality determination method of the present invention, the amount of change in the actual current from the first time that is predetermined as the time indicating the response of the primary delay of the control system of the feedback control is calculated from the first time before the command current. It is determined that an abnormality has occurred in the control system on condition that the first condition in which the state not included in the normal range determined based on the change amount is continued for the first time is satisfied. Therefore, it can be determined as abnormal with the time indicating the response of the first-order lag of the control system, compared with the case where it is determined as abnormal when the integrated value of the deviation between the command current and the actual current exceeds the threshold value. The occurrence of abnormalities can be found more quickly. Here, as the “time indicating the first-order lag responsiveness”, for example, a time constant of the first-order lag, a slightly shorter time, a slightly longer time, or the like can be used.

It is a schematic block diagram of the power transmission device 20 for vehicles provided with the automatic transmission 25 grade | etc.,. 3 is an operation table showing a relationship between each gear position of the automatic transmission 25 and operation states of clutches and brakes. FIG. 3 is a system diagram showing a hydraulic control device 50 controlled by a shift electronic control unit 21 as a control device according to an embodiment of the present invention. It is a schematic block diagram of the drive circuit 85 of the linear solenoid valve SLT. 3 is a flowchart showing an example of an abnormality determination routine executed by a shift ECU 21. It is explanatory drawing for demonstrating an example of 1st delay time Tref1, 2nd delay time Tref2, and convergence confirmation time Tref3 used for abnormality determination, a 1st normal range, a 2nd normal range, and a convergence confirmation range.

  Next, the form for implementing this invention is demonstrated using an Example.

  FIG. 1 is a schematic configuration diagram of a power transmission device 20 for a vehicle including an automatic transmission 25 and the like, and FIG. 2 is an operation showing a relationship between each shift stage of the automatic transmission 25 and the operating states of clutches and brakes. FIG. 3 is a system diagram showing a hydraulic control device 50 controlled by the shift electronic control unit 21 as a control device according to one embodiment of the present invention. As shown in FIG. 1, the power transmission device 20 includes a transmission case 22, a fluid transmission device (torque converter) 23, an automatic transmission 25, a hydraulic control device 50 (see FIG. 3), and a control device that controls these components. A shift electronic control unit (hereinafter referred to as “shift ECU”) 21 (see FIG. 3) and the like are provided to transmit power from an engine (internal combustion engine) as a prime mover (not shown) to drive wheels (not shown).

  The shift ECU 21 is configured as a microcomputer centering on a CPU (not shown). In addition to the CPU, a ROM for storing various programs, a RAM for temporarily storing data, an input / output port and a communication port (all not shown). Etc.). The transmission ECU 21 includes an accelerator opening Acc from an accelerator pedal position sensor (not shown), a shift range SR from a shift range sensor, a vehicle speed V from a vehicle speed sensor, and an input rotational speed Nin of the automatic transmission 25 from a rotational speed sensor. The oil temperature Toil of the hydraulic oil in the hydraulic control device 50 (for example, in a valve body (not shown)) from the oil temperature sensor, the linear solenoid valve SLT and the first to fourth linear solenoid valves SL1 described later included in the hydraulic control device 50 Signals from various sensors such as signals from current sensors 61 to 65 (see FIG. 3) that detect currents flowing through the solenoids of SL4, an engine electronic control unit (hereinafter referred to as “engine ECU”) 14 for controlling the engine (See FIG. 3) and the like, and the shift ECU 21 Hydraulic transmission 23 and the automatic transmission 25 on the basis of the signal, i.e. for controlling the hydraulic control unit 50.

  A fluid transmission device 23 of the power transmission device 20 includes an input-side pump impeller 23a connected to a crankshaft of an engine (not shown) and an output-side turbine runner connected to an input shaft (input member) 26 of an automatic transmission 25. 23b and a lock-up clutch 23c. The oil pump 24 is configured as a gear pump including a pump assembly including a pump body and a pump cover, and an external gear connected to the pump impeller 23a of the fluid transmission device 23 via a hub. When the external gear is rotated by power from an engine (not shown), hydraulic oil (ATF) stored in an oil pan (not shown) is sucked by the oil pump 24 and is pumped to the hydraulic control device 50.

  The automatic transmission 25 is configured as a six-speed transmission, and changes the power transmission path from the input side to the output side of the single pinion type planetary gear mechanism 30, the Ravigneaux type planetary gear mechanism 35, and the like. Three clutches C1, C2 and C3, two brakes B1 and B2, and a one-way clutch F1. The single pinion type planetary gear mechanism 30 includes a sun gear 31 that is an external gear fixed to the transmission case 22, and a ring gear 32 that is disposed concentrically with the sun gear 31 and is connected to the input shaft 26. And a plurality of pinion gears 33 that mesh with the sun gear 31 and mesh with the ring gear 32, and a carrier 34 that holds the plurality of pinion gears 33 so as to rotate and revolve.

  The Ravigneaux planetary gear mechanism 35 meshes with two sun gears 36a and 36b that are external gears, a ring gear 37 that is an internal gear fixed to an output shaft (output member) 27 of the automatic transmission 25, and the sun gear 36a. A plurality of short pinion gears 38a, a plurality of long pinion gears 38b meshed with the sun gear 36b and the plurality of short pinion gears 38a and meshed with the ring gear 37, and a plurality of short pinion gears 38a and a plurality of long pinion gears 38b coupled to each other. And a carrier 39 supported by the transmission case 22 via a one-way clutch F1. The output shaft 27 of the automatic transmission 25 is connected to drive wheels (not shown) via a gear mechanism 28 and a differential mechanism 29.

  The clutch C1 has a hydraulic servo constituted by a piston, a plurality of friction plates, a counter plate, an oil chamber to which hydraulic oil is supplied, and the like, and a carrier 34 of a single pinion planetary gear mechanism 30 and a Ravigneaux planetary gear mechanism 35. This is a multi-plate friction type hydraulic clutch (friction engagement element) that can be engaged with the sun gear 36a and can be released. The clutch C2 has a hydraulic servo composed of a piston, a plurality of friction plates and mating plates, an oil chamber to which hydraulic oil is supplied, and the like, and fastens the input shaft 26 and the carrier 39 of the Ravigneaux planetary gear mechanism 35. At the same time, the multi-plate friction type hydraulic clutch is capable of releasing the fastening of both. The clutch C3 has a hydraulic servo composed of a piston, a plurality of friction plates and mating plates, an oil chamber to which hydraulic oil is supplied, and the like, and a carrier 34 of a single pinion planetary gear mechanism 30 and a Ravigneaux planetary gear mechanism 35. This is a multi-plate friction type hydraulic clutch capable of fastening the sun gear 36b and releasing the fastening of both.

  The brake B1 is configured as a band brake or a multi-plate friction brake including a hydraulic servo, and fixes the sun gear 36b of the Ravigneaux type planetary gear mechanism 35 to the transmission case 22 and releases the fixation of the sun gear 36b to the transmission case 22. It is a hydraulic brake that can. The brake B2 is configured as a band brake or a multi-plate friction brake including a hydraulic servo, and fixes the carrier 39 of the Ravigneaux type planetary gear mechanism 35 to the transmission case 22 and releases the fixing of the carrier 39 to the transmission case 22. It is a hydraulic brake that can.

  These clutches C <b> 1 to C <b> 3 and brakes B <b> 1 and B <b> 2 operate by receiving and supplying hydraulic oil from the hydraulic control device 50. The automatic transmission 25 provides the first to sixth forward speeds and the first reverse speed by setting the clutches C1 to C3 and the brakes B1 and B2 to the states shown in the operation table of FIG.

  As shown in FIG. 3, the hydraulic control device 50 is connected to the oil pump 24 that is driven by power from an engine (not shown) and sucks and discharges hydraulic oil from an oil pan. The hydraulic pressure required by the automatic transmission 25 and the automatic transmission 25 is generated, and hydraulic oil is supplied to lubricating parts such as various bearings. In addition to a valve body (not shown), the hydraulic control device 50 adjusts hydraulic oil from the oil pump 24 to generate a line pressure PL, and a primary regulator valve according to an operation position of a shift lever (not shown). The manual valve 52 for switching the supply destination of the line pressure PL from 51, the apply control valve 53, the line pressure PL as the original pressure supplied from the manual valve 52 (primary regulator valve 51), respectively, to the corresponding clutch, etc. The first linear solenoid valve SL1, the second linear solenoid valve SL2, the third linear solenoid valve SL3, the fourth linear solenoid valve SL4, and the like as pressure regulating valves that generate the hydraulic pressure of

  The primary regulator valve 51 generates a line pressure using the hydraulic pressure from the linear solenoid valve SLT as a signal pressure.

  The linear solenoid valve SLT has a solenoid (see FIG. 4) 55 that opens and closes the valve, and is configured as a normally open type (normally open type) linear solenoid valve that can adjust the output pressure in accordance with the current applied to the solenoid 55. Has been. The linear solenoid valve SLT is controlled by driving the drive circuit 85 illustrated in FIG. As shown in the figure, in the drive circuit 85, for example, a transistor 85a serving as a switching element is connected to a battery 70 for a vehicle auxiliary machine configured as a lead storage battery having a rated output voltage of 12V, and the on-time ratio of the transistor 85a. By adjusting the current, the current flowing through the solenoid 55 can be adjusted. The drive circuit 85 is provided with a current sensor 65 for detecting a current flowing through the solenoid 55. The control of the linear solenoid valve SLT by the transmission ECU 21 sets a hydraulic pressure command value corresponding to the accelerator opening Acc or the throttle valve opening (not shown), and a drive circuit is applied so that a current corresponding to the hydraulic pressure command value is applied to the solenoid 55. This is done by switching 85 transistors 85a. As a result, the linear solenoid valve SLT regulates the hydraulic oil from the oil pump 24 side and outputs a hydraulic pressure corresponding to the hydraulic pressure command value.

  The manual valve 52 includes a spool that can slide in the axial direction in conjunction with a shift lever (not shown), an input port to which a line pressure PL is supplied, and input ports and oil passages of the first to fourth linear solenoid valves SL1 to SL4. Drive range output port, reverse range output port, and the like that communicate with each other (both not shown). When the forward driving shift range such as the drive range or the sports range is selected by the driver, the input port is communicated only with the drive range output port by the spool of the manual valve 52, thereby the first to fourth linear solenoid valves SL1. The line pressure PL as the drive range pressure is supplied to ~ SL4. Further, when the reverse range is selected by the driver, the input port is communicated only with the reverse range output port by the spool of the manual valve 52. Further, when the parking range or neutral range is selected by the driver, the communication between the input port, the drive range output port, and the reverse range output port is blocked by the spool of the manual valve 52.

  The apply control valve 53 supplies the hydraulic pressure from the third linear solenoid valve SL3 to the clutch C3, the line pressure PL from the primary regulator valve 51 to the clutch C3, and the reverse range output port of the manual valve 52. The second state in which the line pressure PL (reverse range pressure) is supplied to the brake B2, and the line pressure PL (reverse range pressure) from the reverse range output port of the manual valve 52 is supplied to the clutch C3 and the brake B2. The spool valve can selectively form a third state and a fourth state in which the hydraulic pressure from the third linear solenoid valve SL3 is supplied to the brake B2.

  The first to fourth linear solenoid valves SL1 to SL4 have solenoids that open and close the valves, and are normally closed (normally closed) linear solenoid valves that can adjust the output pressure according to the current applied to the solenoids. It is configured. The first linear solenoid valve SL1 adjusts the line pressure PL from the manual valve 52 in accordance with the applied current to generate the hydraulic pressure Psl1 to the clutch C1. The second linear solenoid valve SL2 adjusts the line pressure PL from the manual valve 52 in accordance with the applied current to generate a hydraulic pressure Psl2 to the clutch C2. The third linear solenoid valve SL3 adjusts the line pressure PL from the manual valve 52 according to the applied current to generate the hydraulic pressure Psl3 to the clutch C3 or the brake B2. The fourth linear solenoid valve SL4 adjusts the line pressure PL from the manual valve 52 according to the applied current to generate the hydraulic pressure Psl4 to the brake B1. That is, the hydraulic pressures to the clutches C1 to C3 and the brakes B1 and B2, which are friction engagement elements of the automatic transmission 25, correspond to the first, second, third, or fourth linear solenoid valve pressures SL1, SL2, respectively. Directly controlled (set) by SL3 or SL4.

  The first to fourth linear solenoid valves SL1 to SL4 are controlled by driving drive circuits 81 to 84 configured similarly to the drive circuit 85 of FIG. The drive circuits 81 to 84 are provided with current sensors 61 to 64 for detecting a current flowing through each solenoid. The first to fourth linear solenoid valves SL1 to SL4 are controlled by the transmission ECU 21 so as to output a hydraulic pressure corresponding to a hydraulic pressure command value set as follows. That is, the shift ECU 21 sets the shift stage so that a target shift stage corresponding to the accelerator opening Acc (or the throttle valve opening) and the vehicle speed V acquired from a predetermined shift diagram (not shown) is formed. A hydraulic pressure command value (engagement pressure command value) to any one of the first to fourth linear solenoid valves SL1 to SL4 corresponding to the clutch or brake (engagement element) to be engaged with the change, The hydraulic pressure command value (release pressure command value) to any one of the first to fourth linear solenoid valves SL1 to SL4 corresponding to the clutch or brake (release element) that is released in accordance with the change of the gear position is set. . Further, the shift ECU 21 changes any one or two of the first to fourth linear solenoid valves SL1 to SL4 corresponding to the engaged clutch or brake (engagement element) during the shift stage change or after the shift is completed. Set the hydraulic pressure command value (holding pressure command value) to

  Next, the abnormality determination procedure of the control system of the linear solenoid valve SLT and the first to fourth linear solenoid valves SL1 to SL4 included in the hydraulic control device 50 provided in the power transmission device 20 configured in this way is described as the linear solenoid valve SLT. Will be described as an example. FIG. 5 is a flowchart showing an example of an abnormality determination routine for determining an abnormality in the control system of the linear solenoid valve SLT, which is executed by the transmission ECU 21. This routine is executed when the ignition switch of the vehicle is turned on. The abnormality determination routines for the control systems of the first to fourth linear solenoid valves SL1 to SL4 are executed by the shift ECU 21 in the same manner as the abnormality determination routines for the control system of the linear solenoid valves SLT, respectively.

  When the abnormality determination routine is executed, the CPU of the speed change ECU 21 first determines the command current Ir to be supplied to the solenoid 55 of the linear solenoid valve SLT, the actual current Ifb that is the current flowing to the solenoid 55 detected by the current sensor 65, and the like. A process of inputting necessary data is executed (step S100). Here, the command current Ir is input based on a hydraulic pressure command value P * of the linear solenoid valve SLT corresponding to an accelerator opening Acc from an accelerator pedal position sensor (not shown).

  In the embodiment, in a solenoid valve control routine (not shown), the duty signal D is used as a drive signal for the solenoid 55 (control signal for the linear solenoid valve SLT) by the following equation (1) using the actual current Ifb and the command current Ir. The linear solenoid valve SLT is controlled by setting and performing on / off control of the transistor 85a of the drive circuit 85 by the set duty signal D. Expression (1) is a relational expression in feedback control for making the actual current Ifb coincide with the command current Ir. In the expression (1), the first term on the right side represents the command current Ir as a reference value of the on-time ratio of the transistor 85a. The second term “k1” in the right-hand side is the proportional term gain, and the third term “k2” in the right-hand side is the gain of the integral term. The control system for feedback control of the actual current Ifb of the embodiment includes a first-order lag element and a second-order lag element, and the gains “k1” and “k2” in Expression (1) are the first-order lag and second-order lag of this control system. In consideration of the responsiveness of the next delay, it was adjusted in advance. Details of the adjustment of the gains “k1” and “k2” will be described later. By such control, the output hydraulic pressure of the linear solenoid valve SLT can be set to the hydraulic pressure corresponding to the hydraulic pressure command value P *.

  D = f (Ir) + k1 ・ (Ir-Ifb) + k2 ・ ∫ (Ir-Ifb) dt (1)

  When data is input in step S100, a predetermined amount of change in the command current Ir before the first delay time Tref1 to the present (difference between the current command current Ir and the command current Ir before the first delay time Tref1). A certain command current change amount ΔIr and an actual current that is also a change amount of the actual current Ifb from before the first delay time Tref1 to the present (difference between the current actual current Ifb and the actual current Ifb before the first delay time Tref1). The change amount ΔIfb is calculated (step S110), and the calculated command current change amount ΔIr is multiplied by a predetermined first upper limit ratio Rmax1 and a predetermined first lower limit ratio Rmin1, respectively. ΔIfbmin1 is set (step S120). Subsequently, whether or not the calculated actual current change amount ΔIfb is within the upper limit ΔIfbmax1 and the lower limit ΔIfbmin1 of the first normal range, that is, whether or not the actual current change amount ΔIfb is within the first normal range. (Step S130), and when the actual current change amount ΔIfb is outside the first normal range, the state in which the actual current change amount ΔIfb is outside the first normal range continues for the first delay time Tref1. It is determined whether or not there is (step S140).

  FIG. 6 is an explanatory diagram for explaining an example of the first delay time Tref1, the second delay time Tref2, the convergence confirmation time Tref3, the first normal range, the second normal range, and the convergence confirmation range used for abnormality determination. is there. Here, first, the first delay time Tref1, the second delay time Tref2, the first normal range, and the second normal range will be described. In the figure, the horizontal axis indicates the time, and the vertical axis indicates the current value. In the example in the figure, a response delay of the actual current Ifb indicated by the thick solid line occurs with respect to the stepped input of the command current Ir indicated by the thick broken line. It shows a state. In the embodiment, the adjustment of the gains “k1” and “k2” in the relational expression (1) of the feedback control described above is performed for the stepped input of the command current Ir within the predetermined time constant Tx1. The current Ifb changes (follows) by an amount corresponding to about 63.2% of the command current change amount ΔIr, and the actual current Ifb changes to the command current change amount ΔIr with respect to the stepped input of the command current Ir within a predetermined time Tx2. It is assumed that it has been performed in advance by experiments and analysis so that it changes (follows up) by a predetermined ratio (about 90% in the embodiment) of less than 100%. The time constant Tx1 is determined in advance as a representative time indicating the first-order delay response of a control system (hereinafter also simply referred to as “control system”) for feedback control of the actual current Ifb (for example, several tens of msec, etc. ). The predetermined time Tx2 is a time indicating delay responsiveness including the primary delay of the control system, and is predetermined as a time longer than the time constant Tx1 (for example, a time longer by several tens of msec than the time constant Tx1). is there. Further, in the embodiment, the time constant Tx1 is used as the first delay time Tref1 (Tref1 = Tx1), and the predetermined time Tx2 is used as the second delay time Tref2 (Tref2 = Tx2).

  Therefore, as shown in FIG. 6, the actual current Ifb is at least at the time t1 when the first delay time Tref1 elapses from the time t0 when the stepped input of the command current Ir is made when no abnormality has occurred. An amount equivalent to about 63.2% of the command current change amount ΔIr changes (follows), and at least at a time equivalent to about 90% of the command current change amount ΔIr at time t2 when the second delay time Tref2 elapses from time t0. Changes (follows). Based on the response (following performance) of the actual current Ifb, in the embodiment, a first upper limit ratio Rmax1 (for example, about 105%) that is larger than about 63.2% corresponding to the time constant Tx1 (that is, the first delay time Tref1). ) And a first lower limit ratio Rmin1 (for example, about 40%) smaller than about 63.2%, the timing at which the time constant Tx1 (that is, the first delay time Tref1) elapses after the step-wise input of the command current Ir is made. The upper and lower limits of the normal range of the ratio of the actual current change amount ΔIfb with respect to the command current change amount ΔIr are statistically determined in advance by experiments and analysis. Further, in the embodiment, the second upper limit ratio Rmax2 (for example, about 115%) greater than about 90% corresponding to the predetermined time Tx2 (ie, the second delay time Tref2) and the second lower limit ratio Rmin2 (for example, about 115%) (for example, The actual current change amount ΔIfb with respect to the command current change amount ΔIr at the timing when the predetermined time Tx2 (that is, the second delay time Tref2) elapses after the step-like input of the command current Ir is made. The upper and lower limits of the normal range of the ratio were statistically determined in advance by experiments and analysis.

  When the actual current change amount ΔIfb is within the first normal range in step S130, the process returns to step S100, and the processes in steps S100 to S130 are repeated. The process of step S100 is also performed when it is determined in steps S130 and S140 that the actual current change amount ΔIfb is out of the first normal range and the state is not continuous over the first delay time Tref1. Returning to step S100, steps S100 to S140 are repeated. Here, a series of processes of steps S100 to S130 and S140 are repeatedly executed at intervals of a predetermined time (for example, several msec) sufficiently shorter than the first delay time Tref1, that is, repeatedly executed at predetermined time intervals. It was supposed to be.

  When it is determined that the state where the actual current change amount ΔIfb is outside the first normal range is continued over the first delay time Tref1, it is determined that there is a high possibility that the control system is abnormal, and step S100 and Similarly, the command current Ir and the actual current Ifb are input (step S150), and the command current change amount ΔIr, which is a change amount of the command current Ir before the second delay time Tref2 previously determined, An actual current change amount ΔIfb, which is a change amount of the actual current Ifb before the delay time Tref2, is calculated (step S160), and the above-described second upper limit ratio Rmax2 and second lower limit ratio Rmin2 are added to the calculated command current change amount ΔIr. The multiplied values are set as the upper and lower limits ΔIfbmax2 and ΔIfbmin2 of the second normal range, respectively (step S170). Subsequently, whether or not the calculated actual current change amount ΔIfb is within the range of the upper limit ΔIfbmax2 and the lower limit ΔIfbmin2 of the second normal range or not, that is, whether or not the actual current change amount ΔIfb is within the second normal range. (Step S180), and when the actual current change amount ΔIfb is outside the second normal range, the state where the actual current change amount ΔIfb is outside the second normal range is the first delay time from the second delay time Tref2. It is determined whether or not it continues for a time (Tref2-Tref1) obtained by subtracting Tref1 (step S190).

  When the actual current change amount ΔIfb is within the second normal range in step S180, the process returns to step S100, and the processes after step S100 are repeated. When it is determined in steps S180 and S190 that the actual current change amount ΔIfb is out of the second normal range and it is determined that the state is not continuous over time (Tref2−Tref1), the process of step S150 is performed. Returning, the processing of steps S150 to S190 is repeated. Here, the time interval for repeatedly executing a series of processes such as steps S150 to S190 is also the same predetermined time (for example, several msec) as when the processes of steps S100 to S130 and S140 are repeated.

  When it is determined that the state in which the actual current change amount ΔIfb is outside the second normal range is continuous over time (Tref2−Tref1), it is determined that there is a very high possibility that an abnormality has occurred in the control system. Similarly to S100, the command current Ir and the actual current Ifb are input (step S200), and the current deviation ΔIe is calculated by subtracting the actual current Ifb from the input command current Ir (step S210). Subsequently, whether or not the absolute value of the calculated current deviation ΔIe is larger than a predetermined convergence confirmation threshold value Ieref (positive value), that is, the convergence confirmation that the current deviation ΔIe is greater than or equal to the threshold value (−Ieref) and smaller than or equal to the threshold value Ieref. It is determined whether the current deviation ΔIe is out of the convergence confirmation range or not (step S220), and when it is determined that the current deviation ΔIe is out of the convergence confirmation range, It is determined whether or not it continues for a time (Tref3-Tref2) obtained by subtracting the second delay time Tref2 from a predetermined convergence confirmation time Tref3 longer than the delay time Tref2 (step S230).

  Here, the convergence confirmation time Tref3, the convergence confirmation range will be described. As shown in FIG. 6, when the control system is normal, the actual current Ifb converges within a certain time with respect to the step-like input of the command current Ir, and the current between the command current Ir and the actual current Ifb. The deviation ΔIe approaches the value 0. At the time t1 when the first delay time Tref1 elapses from the time t0 when the stepped input of the command current Ir is made, the actual current Ifb changes by about 63.2% or more of the command current change amount ΔIr (follow-up). And at the time t2 when the second delay time Tref2 elapses from the time t0, the actual current Ifb changes (follows) by about 90% or more of the command current change amount ΔIr. The gains “k1” and “k2” are adjusted in advance. From this, if it can be confirmed that the current deviation ΔIe has not converged for a certain length of time from time t2, it can be determined that the control system is abnormal. Based on these reasons, in the embodiment, the time and the current range in which the state where the actual current Ifb converges (follows) with respect to the command current Ir can be confirmed, in other words, the actual current Ifb with respect to the command current Ir. As a time and range in which an abnormal state in which no convergence has occurred can be confirmed, a convergence confirmation time Tref3 (for example, about 100 msec) and a convergence confirmation threshold Ieref (for example, several tens of mA) are preliminarily determined through experiments and analysis. It was assumed that it was stipulated.

  When the current deviation ΔIe is within the convergence confirmation range in step S220, the process returns to step S100, and the processes after step S100 are repeated. When it is determined in steps S220 and S230 that the current deviation ΔIe is outside the convergence confirmation range and it is determined that the state is not continuous over time (Tref3-Tref2), the process returns to step S200. The processes in steps S200 to S230 are repeated. Here, the time interval for repeatedly executing a series of processes such as steps S200 to S230 is also the same predetermined time (for example, several msec) as when the processes of steps S100 to S130 and S140 are repeated.

  When it is determined that the state in which the current deviation ΔIe is outside the convergence confirmation range is continued for a time (Tref3−Tref2), it is determined (confirmed) that a control system abnormality has occurred (step S240). The determination routine ends. When it is determined that an abnormality in the control system has occurred in this way, a warning light in the vehicle interior (not shown) is turned on, and the control mode of the hydraulic control device 50 is switched to a predetermined failsafe mode. As the abnormality of the control system determined in this way, an electrical abnormality such as an abnormality of a sensor or a signal line or an abnormality of a circuit or an element in the transmission ECU 21 can be considered.

  As described above, in the embodiment, the actual current change amount ΔIfb before the first delay time Tref1 as the time constant Tx1 indicating the first-order delay response of the control system of the feedback control of the actual current Ifb is the first delay time Tref1. The condition that the state that is not included in the first normal range based on the previous command current change amount ΔIr is continuous over the first delay time Tref1 (first condition) is satisfied (time in FIG. 6). It is determined that an abnormality has occurred in the control system) (see the shaded area from t0 to t1). Further, after the first condition is satisfied, the actual current change amount ΔIfb before the second delay time Tref2 as the predetermined time Tx2 indicating the response of the control system longer than the first delay time Tref1 is the second delay time Tref2. The condition that the state that is not included in the second normal range based on the command current change amount ΔIr from the front is continuous over time (Tref2−Tref1) (second condition) is satisfied (in FIG. 6, It is determined that an abnormality has occurred in the control system) (see the shaded area at time t1-t2). Then, after this second condition is satisfied, a state in which the current deviation ΔIe (= Ir−Ifb) between the command current Ir and the actual current Ifb is not included in the convergence confirmation range is the second condition for confirming the convergence of the current deviation ΔIe. On condition that a condition (third condition) continuous over a time (Tref3-Tref2) obtained by subtracting the second delay time Tref2 from the predetermined convergence confirmation time Tref3 as a time longer than the two delay times Tref2 is satisfied. (Refer to the hatched area at time t2-t3 in FIG. 6), it is determined that an abnormality has occurred in the control system.

  Here, since the first delay time Tref1 used for the determination of the first condition is a time constant Tx1 indicating the first-order delay response of the control system, at least about 63.2% of the command current change amount ΔIr. Since the actual current Ifb is a time required for changing (following), the second delay time Tref2 used for the determination of the second condition is a predetermined time Tx2 indicating the response of the delay including the primary delay of the control system. Since it is the time required for the actual current Ifb to change (follow up) by an amount corresponding to at least about 90% (predetermined ratio less than 100% and greater than about 63.2%) of the command current change amount ΔIr, both times It can be a sufficiently short time. In addition, the convergence confirmation time Tref3 used for the determination of the third condition may be any time that can confirm an abnormal state (non-convergence state) in which the actual current Ifb has not converged with respect to the command current Ir. It can be a sufficiently short time. Therefore, when the integral value of the current deviation ΔIe between the command current Ir and the actual current Ifb (the value of the integral term in the relational expression of the feedback control) is a threshold value (for example, using the formula (2) of the embodiment), it is necessary for determining the abnormality. It is determined in advance, compared to those that determine that an abnormality occurs when the current exceeds a few thousand mA (those that require a relatively long time to determine an abnormality without being determined in advance). It can be determined that an abnormality has occurred within a given time, and the occurrence of the abnormality can be found more quickly. In addition, in the embodiment, the abnormality determination is performed on the condition that the three conditions (first to third conditions) are satisfied, so that the accuracy of determination of the abnormality of the control system is improved and the erroneous determination is suppressed, and the abnormality of the control system is suppressed. More appropriate determination can be made.

  According to the abnormality determination by the shift ECU 21 of the linear solenoid valve SLT included in the hydraulic control device 50 of the embodiment described above, in the control system for feedback control of the actual current Ifb flowing to the solenoid 55 of the linear solenoid valve SLT, this control system The actual current change amount ΔIfb before the first delay time Tref1, which is predetermined as a time constant Tx1 indicating the first-order delay response, is determined based on the command current change amount ΔIr before the first delay time Tref1. It is determined that an abnormality has occurred in the control system on condition that the first condition that is not included in the first normal range continues for the first delay time Tref1. Further, after the first condition is satisfied, the actual current change amount ΔIfb before the second delay time Tref2 as the predetermined time Tx2 indicating the response of the control system longer than the first delay time Tref1 is the second delay time Tref2. On the condition that the condition (second condition) in which the state not included in the second normal range determined based on the command current change amount ΔIr from the previous is continuous over time (Tref2−Tref1) is satisfied. It is determined that an abnormality has occurred. Then, after the second condition is satisfied, a state in which the current deviation ΔIe (= Ir−Ifb) between the command current Ir and the actual current Ifb is not included in the predetermined convergence confirmation range is based on the second delay time Tref2. Abnormality in the control system on the condition that a continuous condition (third condition) is established over a time (Tref3-Tref2) obtained by subtracting the second delay time Tref2 from the convergence confirmation time Tref3 determined as a long time Is determined to have occurred. Thereby, the occurrence of an abnormality can be found more quickly, and the abnormality determination can be performed more appropriately.

  In the abnormality determination by the transmission ECU 21 of the embodiment, it is determined that an abnormality has occurred in the control system on condition that the above three conditions of the first condition, the second condition, and the third condition are satisfied. It may be determined that an abnormality has occurred in the control system when the second condition is satisfied regardless of whether the three conditions are satisfied, or the first condition is satisfied regardless of whether the second condition and the third condition are satisfied. Sometimes, it may be determined that an abnormality has occurred in the control system.

  In the abnormality determination by the transmission ECU 21 of the embodiment, the first delay time Tref1 is assumed to be the time constant Tx1 of the primary delay of the control system, but instead, for example, about 63.2% with respect to the step-like input. In a time slightly shorter or slightly longer than the time constant Tx1, such as a time required to change (follow up) by a slightly larger ratio or a time required to change (follow up) by a slightly smaller ratio than about 63.2%. It may be.

  In the abnormality determination by the transmission ECU 21 of the embodiment, the second delay time Tref2 is assumed to be the predetermined time Tx2 indicating the response of the control system. Instead of this, for example, from about 90% with respect to the step-like input The time required to change (follow up) by a slightly larger proportion, the time required to change (follow up) slightly less than about 90%, etc., and a time slightly shorter or slightly longer than the predetermined time Tx2. Good.

  In the abnormality determination by the transmission ECU 21 of the embodiment, the responsiveness of the actual current Ifb to the step-like input of the command current Ir has been described as an example. However, based on the case where the command current Ir changes in a decreasing direction, for example, the command current Ir When the absolute value of the command current change amount ΔIr and the absolute value of the actual current change amount ΔIfb are used instead of the change amount ΔIr and the actual current change amount ΔIfb, respectively, or when the sign of the command current change amount ΔIr is positive It is also possible to perform abnormality determination after performing a case classification between a negative case and a negative case.

  In the control by the shift ECU 21 of the embodiment, the duty signal D is set by feedback control so that the actual current Ifb matches the execution command current Ir *, and the solenoid 55 is driven. However, the actual current Ifb becomes the command current Ir. The target voltage may be set by feedback control so as to match, and a PWM signal may be generated based on the set target voltage, and the generated PWM signal may be output to the transistor 85a of the drive circuit 85 to drive the solenoid 55. .

  In the embodiment, the present invention is applied to control the linear solenoid valve SLT included in the hydraulic control device 50 provided in the power transmission device 20 for the vehicle. However, the hydraulic pressure provided in a moving body other than the vehicle, a non-moving facility, or the like. The present invention may be applied to control of a solenoid valve included in the control device. Further, the present invention may be used as an abnormality determination method for a solenoid valve control device.

  Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the linear solenoid valve SLT corresponds to a “solenoid valve”, which is a time constant Tx1 indicating a first-order delay response of the control system for feedback control of the actual current Ifb. The command current change amount ΔIr and the actual current change amount ΔIfb are calculated, and the upper and lower limits ΔIfbmax1, ΔIfbmin1 of the first normal range based on the command current change amount ΔIr are set, and the actual current change amount ΔIfb is out of the first normal range. The shift ECU 21 that executes the processes of steps S100 to S140 and S240 of the abnormality determination routine of FIG. 5 that determines that the control system is abnormal under the condition that the first condition continues for the first delay time Tref1 is “abnormal”. This corresponds to “determination means”. The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  As mentioned above, although the form for implementing this invention was demonstrated using the Example, this invention is not limited at all to such an Example, In the range which does not deviate from the summary of this invention, it is with various forms. Of course, it can be implemented.

  The present invention can be used in the manufacturing industry of control devices for solenoid valves.

  DESCRIPTION OF SYMBOLS 14 Engine electronic control unit (engine ECU), 20 Power transmission device, 21 Transmission electronic control unit (transmission ECU), 22 Transmission case, 23 Fluid transmission device, 23a Pump impeller, 23b Turbine runner, 23c Lock-up clutch, 24 Oil pump, 25 automatic transmission, 26 input shaft, 27 output shaft, 28 gear mechanism, 29 differential mechanism, 30 single pinion planetary gear mechanism, 31, 36a, 36b sun gear, 32, 37 ring gear, 33 pinion gear, 34, 39 Carrier, 35 Ravigneaux type planetary gear mechanism, 38a Short pinion gear, 38b Long pinion gear, 50 Hydraulic control device, 51 Primary regulator valve, 52 Manual valve, 53 Apply control valve, 5 5 Solenoid, 61-65 Current sensor, 70 Battery, 81-85 Drive circuit, 85a Transistor, B1, B2 Brake, C1, C2, C3 Clutch, F1 One-way clutch, SL1 First linear solenoid valve, SL2 Second linear solenoid valve , SL3 3rd linear solenoid valve, SL4 4th linear solenoid valve, SLT linear solenoid valve.

Claims (2)

A solenoid valve control device that controls the solenoid valve using a control signal set by feedback control so that an actual current flowing through the solenoid of the solenoid valve becomes a command current,
The amount of change in the actual current from the first time that is predetermined as the time indicating the first-order delay response of the feedback control system is based on the amount of change in the command current from the first time. Predetermined as the time when the first condition that is not included in the first normal range is satisfied over the first time and the control system has a longer response time than the first time. The first condition is satisfied when the change amount of the actual current from the second time before is not included in the second normal range determined based on the change amount of the command current from the second time ago. After that, a third normal range in which the second condition that continues for the time obtained by subtracting the first time from the second time and the current deviation between the command current and the actual current are predetermined. After the second condition is satisfied As a third condition condition and establishment of a continuous over time which is obtained by subtracting the second time from the third time, which is predetermined as longer than the second time, abnormality occurs in the control system It includes an abnormality determination means determines that,
The upper limit value of the second normal range is larger than the upper limit values of the first and third normal ranges . An abnormality determination method for a solenoid valve control device that controls the solenoid valve using a control signal set by feedback control so that an actual current flowing through the solenoid of the solenoid valve becomes a command current,
The amount of change in the actual current from the first time that is predetermined as the time indicating the first-order delay response of the feedback control system is based on the amount of change in the command current from the first time. Predetermined as the time when the first condition that is not included in the first normal range is satisfied over the first time and the control system has a longer response time than the first time. The first condition is satisfied when the change amount of the actual current from the second time before is not included in the second normal range determined based on the change amount of the command current from the second time ago. After that, a third normal range in which the second condition that continues for the time obtained by subtracting the first time from the second time and the current deviation between the command current and the actual current are predetermined. After the second condition is satisfied As a third condition condition and establishment of a continuous over time which is obtained by subtracting the second time from the third time, which is predetermined as longer than the second time, abnormality occurs in the control system it is determined that,
An abnormality determination method , wherein an upper limit value of the second normal range is made larger than upper limit values of the first and third normal ranges .

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