JP6924619B2 - 位置制御装置 - Google Patents
位置制御装置 Download PDFInfo
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- JP6924619B2 JP6924619B2 JP2017108176A JP2017108176A JP6924619B2 JP 6924619 B2 JP6924619 B2 JP 6924619B2 JP 2017108176 A JP2017108176 A JP 2017108176A JP 2017108176 A JP2017108176 A JP 2017108176A JP 6924619 B2 JP6924619 B2 JP 6924619B2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
- B60K2025/022—Auxiliary drives directly from an engine shaft by a mechanical transmission
- B60K2025/024—Auxiliary drives directly from an engine shaft by a mechanical transmission with variable ratio
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/101—Infinitely variable gearings
- B60W10/108—Friction gearings
- B60W10/109—Friction gearings of the toroïd type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H15/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members
- F16H15/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members without members having orbital motion
- F16H15/04—Gearings providing a continuous range of gear ratios
- F16H15/06—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B
- F16H15/32—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line
- F16H15/36—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with concave friction surface, e.g. a hollow toroid surface
- F16H15/38—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with concave friction surface, e.g. a hollow toroid surface with two members B having hollow toroid surfaces opposite to each other, the member or members A being adjustably mounted between the surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2312/00—Driving activities
- F16H2312/20—Start-up or shut-down
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/68—Inputs being a function of gearing status
- F16H59/72—Inputs being a function of gearing status dependent on oil characteristics, e.g. temperature, viscosity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0206—Layout of electro-hydraulic control circuits, e.g. arrangement of valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0262—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being hydraulic
- F16H61/0265—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being hydraulic for gearshift control, e.g. control functions for performing shifting or generation of shift signals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
- F16H61/664—Friction gearings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
- Control Of Position Or Direction (AREA)
Description
3 発電機
10 トロイダル無段変速機
16 パワーローラ(変速要素)
20 油圧アクチュエータ
25 制御弁
28 スプール
35 油温センサ(油温取得器)
40,140 変速制御装置(位置制御装置)
42 位置推定器(位置取得器)
43 位置制御器
51 振動波付与器
T 油温
Iref 動作指令値
Xref 目標値
Claims (8)
- 対象物の動作位置を変化させる油圧アクチュエータの制御弁に駆動信号を出力して位置制御を行う位置制御装置であって、
前記対象物の動作位置の実値を取得する位置取得器と、
前記対象物の動作位置の目標値と前記実値との偏差を減らす閉ループ制御により前記制御弁に対する動作指令値を算出する位置制御器と、
前記閉ループ制御の開始時において前記動作指令値が所定の周波数で振動するように前記閉ループ制御の信号に振動波を付与する振動波付与器と、を備え、
前記振動波付与器は、前記閉ループ制御を開始してから所定の第1期間と、前記第1期間の経過後の第2期間とにおいて前記閉ループ制御の前記信号に対して前記振動波を付与し、
前記第1期間における前記振動波は、前記第2期間における前記振動波よりも低い周波数又は高い振幅の少なくとも一方を有する、位置制御装置。 - 前記周波数は、前記油圧アクチュエータの駆動部が前記振動波に起因した振動を起こさない高周波域の周波数である、請求項1に記載の位置制御装置。
- 前記油圧アクチュエータの油温に関する情報を取得する油温取得器を更に備え、
前記振動波付与器は、前記油温取得器で取得された前記油温が上昇するにつれて前記振動波の周波数を高くする、及び/又は、前記油温が上昇するにつれて前記振動波の振幅を低くする、請求項1又は2に記載の位置制御装置。 - 前記閉ループ制御の開始前の暖機運転時において前記制御弁のスプールを往復動させるように前記制御弁に対して駆動信号を出力する暖機促進器を更に備え、
前記振動波付与器の前記振動波の周波数は、前記暖機促進器の前記駆動信号の周波数よりも高周波である、請求項1乃至3のいずれか1項に記載の位置制御装置。 - 前記対象物は、その位置変化により無段変速機の変速比を変化させる変速要素である、請求項1乃至4のいずれか1項に記載の位置制御装置。
- 前記無段変速機は、パワーローラの傾転角に応じて前記変速比を変化させるトロイダル無段変速機であり、かつ、前記変速要素は、前記パワーローラである、請求項5に記載の位置制御装置。
- 前記無段変速機から出力される動力は、発電機に入力され、かつ、前記発電機は、前記閉ループ制御の開始から遅れて発電動作を開始し、
前記振動波付与器は、少なくとも前記閉ループ制御の開始後かつ前記発電機の発電動作の開始前の期間に前記閉ループ制御の前記信号に対して前記振動波を付与する、請求項5又は6に記載の位置制御装置。 - 前記振動波付与器は、前記閉ループ制御の開始後かつ前記発電機の発電動作の開始前の初期段階と、前記発電機の発電動作の開始後の安定段階とにおいて前記閉ループ制御の前記信号に対して前記振動波を付与し、
前記初期段階における前記振動波は、前記安定段階における前記振動波よりも低い周波数又は高い振幅の少なくとも一方を有する、請求項7に記載の位置制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017108176A JP6924619B2 (ja) | 2017-05-31 | 2017-05-31 | 位置制御装置 |
US16/617,608 US11132006B2 (en) | 2017-05-31 | 2018-05-16 | Position controller |
EP18810070.5A EP3633485B1 (en) | 2017-05-31 | 2018-05-16 | Position control apparatus |
PCT/JP2018/018952 WO2018221225A1 (ja) | 2017-05-31 | 2018-05-16 | 位置制御装置 |
Applications Claiming Priority (1)
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---|---|---|---|
JP2017108176A JP6924619B2 (ja) | 2017-05-31 | 2017-05-31 | 位置制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2018205901A JP2018205901A (ja) | 2018-12-27 |
JP6924619B2 true JP6924619B2 (ja) | 2021-08-25 |
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JP2017108176A Active JP6924619B2 (ja) | 2017-05-31 | 2017-05-31 | 位置制御装置 |
Country Status (4)
Country | Link |
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US (1) | US11132006B2 (ja) |
EP (1) | EP3633485B1 (ja) |
JP (1) | JP6924619B2 (ja) |
WO (1) | WO2018221225A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112433470B (zh) * | 2020-10-27 | 2023-05-23 | 山东交通学院 | 一种多层嵌套优先级高精度液压伺服控制方法及系统 |
CN113291488B (zh) * | 2021-04-30 | 2022-01-04 | 浙江长龙航空有限公司 | 一种整体驱动发电机性能监控方法及装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3008337A (en) * | 1959-12-11 | 1961-11-14 | Various Assignees | Toroidal type transmission |
JPH01275941A (ja) * | 1988-04-27 | 1989-11-06 | Mazda Motor Corp | デューティソレノイドの制御装置 |
US6312358B1 (en) * | 1999-05-21 | 2001-11-06 | Advanced Technology Institute Of Commuter-Helicopter, Ltd. | Constant speed drive apparatus for aircraft generator and traction speed change apparatus |
US7004128B2 (en) | 2001-06-15 | 2006-02-28 | Denso Corporation | Control apparatus for device having dead band, and variable valve system |
JP2007292001A (ja) * | 2006-04-26 | 2007-11-08 | Hitachi Ltd | 油圧駆動車両用機器の制御装置 |
JP4495117B2 (ja) * | 2006-06-30 | 2010-06-30 | 川崎重工業株式会社 | 無段変速機の制御方法および制御システム |
JP4633198B1 (ja) * | 2009-12-15 | 2011-02-23 | 日産自動車株式会社 | 車両用ベルト式無段変速機の制御装置と制御方法 |
US8427806B2 (en) * | 2009-12-29 | 2013-04-23 | GM Global Technology Operations LLC | Control system and method for transmission solenoids |
EP3951214B1 (en) * | 2016-03-07 | 2023-05-03 | Kawasaki Jukogyo Kabushiki Kaisha | Controller of toroidal continuously variable transmission |
JP6632091B2 (ja) * | 2016-07-12 | 2020-01-15 | ジヤトコ株式会社 | リニアソレノイドバルブ |
JP6907073B2 (ja) * | 2017-08-31 | 2021-07-21 | 川崎重工業株式会社 | トロイダル無段変速機の変速制御装置 |
-
2017
- 2017-05-31 JP JP2017108176A patent/JP6924619B2/ja active Active
-
2018
- 2018-05-16 US US16/617,608 patent/US11132006B2/en active Active
- 2018-05-16 EP EP18810070.5A patent/EP3633485B1/en active Active
- 2018-05-16 WO PCT/JP2018/018952 patent/WO2018221225A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2018221225A1 (ja) | 2018-12-06 |
EP3633485A1 (en) | 2020-04-08 |
US20200183431A1 (en) | 2020-06-11 |
US11132006B2 (en) | 2021-09-28 |
JP2018205901A (ja) | 2018-12-27 |
EP3633485A4 (en) | 2021-03-10 |
EP3633485B1 (en) | 2022-08-03 |
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