JP6952498B2 - 位置制御装置 - Google Patents
位置制御装置 Download PDFInfo
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- JP6952498B2 JP6952498B2 JP2017108177A JP2017108177A JP6952498B2 JP 6952498 B2 JP6952498 B2 JP 6952498B2 JP 2017108177 A JP2017108177 A JP 2017108177A JP 2017108177 A JP2017108177 A JP 2017108177A JP 6952498 B2 JP6952498 B2 JP 6952498B2
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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
- 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
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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
- F16H61/66—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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- 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
- F16H61/6648—Friction gearings controlling of shifting being influenced by a signal derived from the engine and the main coupling
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/04—Final output mechanisms therefor; Actuating means for the final output mechanisms a single final output mechanism being moved by a single final actuating mechanism
- F16H63/06—Final output mechanisms therefor; Actuating means for the final output mechanisms a single final output mechanism being moved by a single final actuating mechanism the final output mechanism having an indefinite number of positions
- F16H63/065—Final output mechanisms therefor; Actuating means for the final output mechanisms a single final output mechanism being moved by a single final actuating mechanism the final output mechanism having an indefinite number of positions hydraulic actuating means
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- 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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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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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- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/107—Temperature
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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
- 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
- F16H2015/383—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 with two or more sets of toroid gearings arranged in parallel
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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
- 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
- F16H59/70—Inputs being a function of gearing status dependent on the ratio established
- F16H2059/704—Monitoring gear ratio in CVT's
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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
- F16H2061/0078—Linear control, e.g. PID, state feedback or Kalman
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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
- 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
- F16H59/70—Inputs being a function of gearing status dependent on the ratio established
-
- 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
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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
図1は、第1実施形態に係る駆動機構一体型発電装置1のスケルトン図である。図1に示すように、駆動機構一体型発電装置1(Integrated Drive Generator,以下「IDG」)は、航空機の交流電源として用いられる。IDG1の起動時は、航空機のエンジン回転軸の回転動力がIDG1に伝達開始されても、IDG1が安定動作できるまでは、航空機内の電装品はIDG1とは異なる補助電源(例えば、機外発電機又は補助発電機)によって駆動され、IDG1が安定動作できるようになれば、電装品の電源が補助電源からIDG1に切り換わる。IDG1は航空機の主電源として用いられるため、補助電源からIDG1への電源切換えは、離陸前に行われる。
図10は、第2実施形態に係る変速制御装置140のブロック図である。図11(A)は、図9に示す目標位置演算器の算出ゲインと油温との関係を示すグラフである。図11(B)は、目標位置演算器の算出ゲインと制御弁の指令値(電流値)との関係を示すグラフである。なお、第1実施形態と共通する構成については同一符号を付して説明を省略する。図10に示すように、変速制御装置140では、目標位置演算器48は、油温センサ35で検出された油温Tに応じてゲイン設定器160で決定される算出ゲインG1に基づいて目標値Xrefを算出する。なお、位置制御器43の算出ゲインG2は、例えば一定である。
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
44 実変速比演算器(実変速比取得器)
48 目標位置演算器
G1,G2 算出ゲイン(第1ゲイン)
KB 内部ゲイン(第2ゲイン)
T 油温
HD 高開度領域(第1開度領域)
LD 低開度領域(第2開度領域)
Iref 動作指令値
Xref 目標値
LP1 メジャー閉ループ制御
LP2 マイナー閉ループ制御
Claims (7)
- 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と、
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ように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、
前記油温が低くなるにつれて、前記閉ループ制御の少なくとも1つのゲインを前記閉ループ制御の感度が上がる傾向に変化させるゲイン設定器と、を備え、
前記少なくとも1つのゲインは、前記偏差から前記動作指令値を求めるのに用いられる第1ゲインを含み、
前記ゲイン設定器は、前記油温が低くなるにつれて前記第1ゲインを増加させる
前記第1ゲインは、前記位置制御器の算出ゲインであり、
前記ゲイン設定器は、前記制御弁の開度が第1開度領域にあるときに比べ、前記制御弁の開度が前記第1開度領域よりも小さい第2開度領域にあるときには、前記油温の変化に対する前記ゲインの変化率の絶対値が増加するように前記ゲインを補正する、位置制御装置。 - 前記偏差を求める位置減算器を更に備え、
前記少なくとも1つのゲインは、前記位置減算器に入力される前記実値を求めるのに用いられる第2ゲインを含み、
前記ゲイン設定器は、前記油温が低くなるにつれて前記第2ゲインを減少させる、請求項1に記載の位置制御装置。 - 前記位置取得器は、前記対象物の動作位置の実値を推定する位置推定器であり、
前記第2ゲインは、前記位置推定器の内部モデルの感度を含む、請求項2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3のいずれか1項に記載の位置制御装置。
- 無段変速機の変速比を変化させるように変速要素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、
前記油圧アクチュエータの油温の情報を取得する油温取得器と、
前記変速比の実値を取得する実変速比取得器と、
前記変速要素の動作位置の実値を取得する位置取得器と、
前記変速比の指令値と前記変速比の前記実値との偏差を減らすように第1閉ループ制御により前記変速要素の動作位置の目標値を算出する目標位置演算器と、
前記変速要素の動作位置の前記目標値と前記変速要素の動作位置の前記実値との偏差を減らすように第2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、
前記油温が低くなるにつれて、前記第1閉ループ制御のゲインを前記第1閉ループ制御の感度が下がる傾向に変化させるゲイン設定器と、を備え、
前記ゲイン設定器は、前記制御弁の開度が第1開度領域にあるときに比べ、前記制御弁の開度が前記第1開度領域よりも小さい第2開度領域にあるときには、前記油温の変化に対する前記ゲインの変化率の絶対値が減少するように前記ゲインを補正する、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、前記変速要素は、前記パワーローラである、請求項4又は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、
前記ゲイン調整は、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行われる、請求項5又は6に記載の位置制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2017108177A JP6952498B2 (ja) | 2017-05-31 | 2017-05-31 | 位置制御装置 |
US16/617,594 US11131380B2 (en) | 2017-05-31 | 2018-05-16 | Position controller |
EP22199058.3A EP4134775B1 (en) | 2017-05-31 | 2018-05-16 | Position controller of a continuously variable transmission |
PCT/JP2018/018953 WO2018221226A1 (ja) | 2017-05-31 | 2018-05-16 | 位置制御装置 |
EP18808789.4A EP3633484B1 (en) | 2017-05-31 | 2018-05-16 | Position controller |
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JP2017108177A JP6952498B2 (ja) | 2017-05-31 | 2017-05-31 | 位置制御装置 |
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JP2018205902A JP2018205902A (ja) | 2018-12-27 |
JP2018205902A5 JP2018205902A5 (ja) | 2020-04-23 |
JP6952498B2 true JP6952498B2 (ja) | 2021-10-20 |
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EP (2) | EP3633484B1 (ja) |
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WO (1) | WO2018221226A1 (ja) |
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JP2010036694A (ja) * | 2008-08-04 | 2010-02-18 | Toyota Motor Corp | 車両用駆動装置の制御装置 |
US10520079B2 (en) * | 2016-03-08 | 2019-12-31 | Kawasaki Jukogyo Kabushiki Kaisha | Transmission controller |
JP6565841B2 (ja) * | 2016-09-09 | 2019-08-28 | 株式会社デンソー | シフトレンジ制御装置 |
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EP4134775A1 (en) | 2023-02-15 |
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