JPH02229961A - Speed change gear control device - Google Patents

Abstract

PURPOSE:To control a select lever to an accurate select position with high precision by a method wherein from motor running, a select lever drive amount is detected to learn and store it, and during control of a select lever, a select position is reset according to the learning value. CONSTITUTION:A control circuit 5 runs sn electric motor 41 of a select actuator 4. An internal lever 2 is slid over a shaft 22 through a speed reducing mechanism 42, a rod 43, and a select lever 44, and a lower end part 23 selects some of the engaging positions of shift blocks 31-34. An electric motor 11 of a shift actuator 1 is run. A shift fork shaft 22 is rotated through a reduction gear 12, a rod 13, and a shift lever 21, a shift block engaged with the lower end part 23 is actuated, and select and shift operation are completed. In this case, through detection of rotation of the motor 41, learning and memory are effected, and during control of the select lever, a current to the actuator 4 is controlled according to a learning value. This constitution enables improvement of control precision.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a transmission control device for controlling a power transmission mechanism for a vehicle. (Prior art) In recent years, electronically controlled automatic transmissions using microcomputers have been developed as automatic transmissions for vehicles, and the actuator for driving the transmission is controlled by hydraulic pressure or an electric motor (motor) depending on the driving condition of the vehicle. Various proposals have been made for actuators for transmissions. In this type of transmission actuator that uses a motor, for example, a conversion mechanism that converts the rotational motion of the motor into linear motion is coupled to the select lever and shift lever of the transmission, respectively, and the shift lever is actuated. A proposal in which a M'll spring is provided in the rod that is used is disclosed in JP-A-58-134256. Furthermore, a transmission drive device that improves the stopping accuracy of the select lever and shift lever of the transmission with a simple configuration is also disclosed in, for example, Japanese Patent Application Laid-Open No. 58-137647. (Problems to be Solved by the Invention) These conventional transmission control methods use hydraulic pressure or pneumatic pressure as the power source, and the system uses a solenoid valve as the control system. Because the system is configured separately, there have been various problems in terms of reliability and performance as a speed change control device. In other words, in terms of performance, hydraulic or pneumatic systems have problems with activation delay time, and in terms of reliability, there is also the issue of how to deal with failures in the control system or power source. , it was not possible to create a sufficient system configuration. In particular, variations in the dimensional accuracy of individual transmissions may reduce control reliability. The present invention was made in view of these problems, and its purpose is to electrically unify the control system and the power source, improve reliability, and easily deal with mechanical variations. To provide a transmission control device. (Means for Solving the Problems) According to the present invention, in a transmission control device that controls a transmission mechanism by driving an internal lever of a transmission with a shift lever and a select lever, the transmission mechanism is moved in a select direction. A motor for driving a select actuator to be operated, a detecting means for detecting a select lever drive amount from this motor, a learning means for storing and learning a signal from this detecting means, and a motor for controlling the motor in accordance with the learned value. A transmission control device is provided that includes a control means for controlling the transmission.

(Function) The select actuator of the transmission is electrically driven by a motor, detects the rotation of the motor during operation, stores it as a learned value, and adjusts the select position according to changes in this learned value when controlling the select lever. Reset the
It has the effect of controlling the current to the electric actuator.

(Example) Next, an example of the present invention will be explained in detail using the drawings. FIG. 1 is an explanatory diagram of a transmission mechanism showing one embodiment of the present invention, FIG. 2 is a circuit diagram of a drive motor used in this embodiment, and FIG. 3 is an explanatory diagram of the current of the drive motor during shift operation. ．． In FIG. 1(a), reference numeral 1 denotes a shift actuator of an electric type, which operates the transmission mechanism 3 in the shifting direction by energizing the motor 11. The rotary torque of the motor 11 is decelerated by a deceleration mechanism 12, and the rotary motion is converted into linear motion to move the rod 13 in the direction of arrow A. Note that 14 is a stroke sensor that measures the moving position of the rod 13. Reference numeral 21 denotes a shift lever, which is attached to one end of the shift lever shaft 22 having the internal lever 2. When the shift lever 21 is swung around the shift lever shaft 22 by movement of the rod 13 in the direction of arrow A, the internal lever 21 is moved. The lower end portion 23 of the null lever 2 is used to drive a predetermined shift block of the transmission mechanism 3 with which it is engaged in the shift direction.

31 to 34 are shift blocks, each of which has a shift rod attached to the left and right. For example, when the shift block 31 is driven to the right in the shift direction, the shift rod 3
The shift fork 36 provided at 5 engages a first speed gear (not shown) of the transmission, thereby selecting the first speed. Reference numeral 4 designates a select actuator which, like shift actuator 1, employs an electric type, and operates the transmission mechanism in the select direction by energizing the motor 41. The rotational torque of the motor 41 is decelerated by the reduction mechanism 42, and the rotational motion is converted into linear motion.
The rod 43 is configured to move in the direction of arrow B. A select lever 44 is attached to the rod 43 in a perpendicular direction, and presses the internal lever 2 in response to the movement of the rod 43 in the direction of arrow B.
This is to drive the internal lever 2 in the axial direction, that is, in the select direction. Note that a rotary encoder 45 is provided to detect the rotation speed of the motor 41.
It is configured so that learning about the selection position is performed. Therefore, the lower end 23 of the internal lever 2 selects a predetermined shift block of the transmission mechanism 3 by the operation of the select actuator 4, and the selected predetermined shift block is selected by the operation of the shift actuator 1, as shown in FIG. ) is configured to shift into a desired gear position in the shift pattern shown in ().

Reference numeral 5 denotes a controller consisting of a microcomputer, which includes a central control unit for performing arithmetic processing, various memories for storing control programs for the transmission mechanism and learning values described later, and input/output circuits. And stroke sensor 14
In addition to signals from the rotary encoder 45, a select sensor 51 detects the position of the select lever operated by the driver and a clutch sensor 5 detects the engaged state of the clutch.
It is configured so that signals from 2, etc. are input. In the circuit diagram of the drive motor shown in FIG. 2, a set of transistors Q1 to Q4 and their protective diodes D1 to D4 are connected to a bridge circuit, which controls the direction of the current flowing to the motor 11. This controls the direction of rotation. For example, when a control signal is applied to the right direction terminal ■, transistors Q1 and Q4 become conductive, and Q1 → motor 11
→ Q4 → R1 will be energized, so that
1 rotates in the direction of arrow r and has a minute resistance value R1
A voltage drop V will occur due to the current flowing. The rotational torque of the motor 11 is controlled by controlling the duty of the control signal applied to the right direction terminal I, thereby controlling the power supplied to the motor 11 and freely controlling the rotational torque. In addition, since the rotational torque of the motor and the supplied power generally increase or decrease almost correspondingly, the load on the resistor R1 can be detected by measuring the voltage drop V or passing current of the resistor R1.

Also, the left direction terminal! ■If a control signal is applied to the resistor R
By measuring the voltage drop or passing current of 2, the load on the motor 11 can be detected. Figure 3 shows changes in the current of the motor that drives the shift actuator during shift operation, where the horizontal axis shows the shift stroke from the neutral point N to the target shift position, and the vertical axis shows the motor current. Then, X is the area where the load of the transmission mechanism increases due to synchronization operation, and therefore the current increases, and Y is the area where the load current of the motor decreases outside the synchronization operation area and shifts into the target position. The current is cut off due to this. In addition, the Z point is the point where the transmission mechanism ends the synchronization area and moves to the non-synchronization area, and the motor current during shift operation is measured and the current decreases until it reaches a predetermined stable state in the process of decreasing the current. This is the point that I did.

Therefore, by memorizing the current value Z' at point Z and the shift stroke as learning values, the transition from the synchronized area to the non-synchronized area during a shift operation can be determined by measuring the motor current. FIG. 4 is a processing flow diagram showing an example of the operation of this embodiment. Next, the processing of this embodiment will be explained with reference to FIG. In step 1, it is checked whether there is a learning value in the synchronization area in the memory of the controller 5, and if the learning value is stored, the machine advances to step 2.
The motor 11 is driven by performing predetermined duty control. In step 3, the shift stroke is read based on the signal from the stroke sensor 14, and in step 4 it is checked whether the shift stroke is in the X region of the synchronization region, and if it is in the X region, steps 2.3 are repeated. If it is determined in step 4 that the current is outside the X region, then in step 5 the motor 11 is driven by duty control with the current value of Z' as the upper limit. Next, step 6 reads the shift stroke value and checks whether it has changed in step 7.
If the shift stroke reaches the set value, the target shift position has been reached and the flow ends. In this case, since the current value is limited by the duty IIJ control in step 5, it is possible to prevent excessive simulating from being applied to the transmission mechanism at the time of shift-in. If there is no learning value for the synchro region in step 1, the process proceeds to step 9 and the motor 11 is driven by predetermined duty control. In step 16, the motor current is read by the voltage drop across the resistor R1 or R2, and the initial motor current and current current are compared in step 11. If the current current is decreasing, the process proceeds to step 17. Compare the specified current value and the motor current value. Then, when the motor current is small, the shift stroke is read in step 18, and in step 19, it is checked whether the read shift stroke value is between two preset values, and the difference between the set values is checked. If there is, the stroke value is used as the learned value, and then the set duty control is performed to drive the motor (step 20.21). Then, when the shift stroke value has reached the set target value, the process proceeds from step 22 to 16 and the motor drive is stopped. If the motor current value read in step 11 is not smaller than the initial current value, the current value is stored in memory and the shift stroke is read (step 12.13), and the shift stroke value is read in step 14. Compare with a predetermined set value, and if it is less than this set value, proceed to steps 10 to 14.
is repeated. Also, if it is greater than the set value, step 15
At step 16, the backup value is substituted as the learning value for the synchronization area, and then at step 16, the motor drive is stopped. FIG. 5 shows each neutral position N1. in the shift pattern of FIG. 1(b). It is a process flow diagram regarding learning of N2, N5, and N4. In the SELECT L operation, the motor 42 is controlled by the number of pulses of the rotary encoder 45, so the encoder output is initialized at the N1 position.

First, it is checked whether the gear is in neutral (step 31), whether the vehicle speed is -0 (step 32), and whether the select learning flag is on (step 33). Here, when the gear is neutral and the vehicle speed is O, but the select learning flag is off, the select actuator 4 is first driven in the N1 direction (step 44).
The number of pulses of the rotary encoder 45 is checked (step 35), and if there is a change, step 34 is repeated until there is no change. Check whether the set time has elapsed (
Step 36), if it has elapsed, initialize the generated pulse counter value of the encoder 45 to zero (step 37)
．． Next, in steps 38 to 41, learning of the neutral N4 position is performed. Drive the encoder 42 in the direction of the N4 position (step 38), and when it hits the shift block and the number of pulses of the encoder 45 stops changing (step 39), wait for the set time to elapse (step 40), and When the select N4 switch is on, the generated pulse counter value of the encoder 45 is stored in the RAM as the learned value of the N4 position (step 41). Furthermore, in steps 42 to 44, neutral N2,
Learn the N5 position. Neutral N2. The N5 position is calculated proportionally from the learned value of the N4 position. Assume that the N2 and N3 positions are equally divided positions of N1-N, the learned value of N2 (-1/3
/ 3 x N 4 learned value) (step 43
), when learning is finished, turn on the select learning flag (
Step 44). Note that this learning is performed only in the neutral position, so if it is not neutral in step 31, the select learning flag is cleared (step 4).
5) # Although the present invention has been described above with reference to the above embodiments, various modifications can be made within the scope of the gist of the present invention, and these are not excluded from the scope of the present invention.

(Effects of the Invention) According to the present invention, even if there are variations in manufacturing dimensions of the transmission itself or wear of link mechanisms, levers, etc., each neutral position (select position) can be learned. , it is possible to absorb positional variations and achieve highly accurate control, thus improving the reliability of transmission control.
Moreover, it has the effect of easily dealing with mechanical variations.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of a transmission mechanism showing an embodiment of the present invention, Fig. 2 is a circuit diagram of a drive motor used in this embodiment, and Fig. 3 is an explanatory diagram of the current of the drive motor during shift operation. , FIG. 4 is a processing flow diagram showing one example of the operation of this embodiment, and FIG. 5 is a processing flow diagram showing another example of the operation of this embodiment. DESCRIPTION OF SYMBOLS 1...Shift actuator, 2...Internal lever 3...Transmission mechanism, 4...Select actuator, 5...Controller, 11...Motor, 1
2... Reduction mechanism, 14... Stroke sensor, 22
...Shift lever shaft. Patent applicant: Isu-X Jikensha Co., Ltd. Agent: Patent attorney: Minoru Tsuji, Masashi Neho (spontaneous) December 26, 1988 Commissioner of the Patent Office: Mr. Takeshi Yoshida 2. Name of the invention: Transmission control device 3, Relationship with the case of the person making the amendment Patent applicant address: 6-22-10 Minami-Oi, Shinagawa-ku, Tokyo Name: IsuX Automobile Co., Ltd. Representative: Topya 7 Kazusu Kazuo Hiyama 4. Agent address: 3-146 Kanda Ogawamachi, Chiyoda-ku, Tokyo 101
．． Column ``Detailed Description of the Invention'' in the Specification Subject to Amendment and Drawings (1) ``In recent years, vehicles...
・There is something to do. ' is corrected as below. "In recent years, electronically controlled automatic transmissions using microcomputers have been developed as vehicle transmissions. Hydraulic actuators are generally used as shift actuators for this type of automatic transmissions. By the way, hydraulic actuators When using a hydraulic pressure generator, a hydraulic pressure generator is required to supply hydraulic pressure to operate the hydraulic pressure generator, and a hydraulic circuit that connects the hydraulic pressure generator and the actuator, a control valve to control the supplied hydraulic pressure, etc. are also required. There are problems in that the entire device is large, heavy, and costly. To solve these problems, a variable speed actuator using an electric motor has been proposed. A control device for a speed change actuator is disclosed, for example, in Japanese Patent Publication No. 45093/1983. In the device disclosed in this prior example, a movable contact is provided on a gear driven by an electric motor, and the movable contact and a pair of fixed contacts that are in contact; a first drive circuit that is connected to one of the pair of fixed contacts and rotates the electric motor in the right direction in response to a clockwise rotation command; a second motor that rotates the electric motor to the left in response to a direction rotation command;
The speed change actuator control device includes a drive circuit and controls the drive of the electric motor based on the output of the fixed contact. (Problems to be Solved by the Invention) Incidentally, a speed change actuator, particularly a select actuator that performs a select operation, is required to accurately control the position of a plurality of select positions. The relationship between each select position and the amount of operation of the actuator, that is, the amount of rotation of the electric motor, differs from one transmission to another due to variations in manufacturing dimensions of the transmission mechanism and actuator, wear due to use of the transmission mechanism, and the like. However, in the above-mentioned prior example, the movable contact and each fixed contact are placed at a design-determined position corresponding to each design-determined select position.
There is a problem in that it is not possible to respond to changes in the selection positions of individual transmissions caused by manufacturing dimensional variations in the transmission mechanism and actuator, wear due to use of the transmission mechanism, and the like. An object of the present invention is to provide a transmission control device that can constantly and accurately control the operation of each transmission to the correct selection position in response to variations in manufacturing dimensions and wear due to use of the transmission mechanism and actuator. It is about providing. (2) Mei aX, page 5, line 1 to page 15, line 1
Correct the line ``Next, there is no...'' of the present invention as follows, and write ``Next, embodiments of the present invention will be explained in detail using the drawings. Figure 1 (a) is A schematic configuration diagram showing an embodiment of a transmission control device according to the present invention, FIG. 1(b) is an explanatory diagram showing a shift pattern in the transmission control device shown in FIG. 1, and FIG. 2 is a transmission control device according to the present invention. Fig. 3 is a diagram showing changes in electric motor current during shift operation.In Fig. 1(a), 1 is a shift actuator;
An electric motor 11, a deceleration mechanism 12 connected to the rotating shaft of the electric motor 1l and including a conversion mechanism that decelerates the rotation of the electric motor and converts rotational motion into linear motion; It consists of a rod 13 that is actuated linearly in the A direction. The operating position of the rod 13 of the shift actuator 1 is determined by the stroke sensor 14.
The operating position detection signal of the rod 13 detected by the stroke sensor 14 is input to a controller 5, which will be described later. Reference numeral 21 denotes a shift lever whose one end is rotatably pivotally attached to the rod 13, and whose other end is connected to a shift lever shaft 22. Reference numeral 2 denotes an internal lever whose upper end is spline-fitted to a spline 221 formed on the shift lever shaft 22 so as to be slidable in the axial direction, and whose lower end 23 is attached to shift rods 35, 36, 37, and 38, respectively. The shift blocks 31, 32, 33, and 34 are engaged with each other. Reference numeral 39 denotes a shift fork attached to the 2nd-3rd speed shift rod 36, which is adapted to engage with a clutch sleeve of a 2nd-3rd gear synchronizing mesh device of a transmission (not shown). Shift forks similar to the shift fork 36 are also attached to the shift rods 35, 37, and 38, and the shift forks are also engaged with clutch sleeves for 1st speed and reverse, 4th and 5th gear, and 6th speed, respectively. It matches. 4 is a select actuator, which, like the shift actuator 1, includes an electric motor 41 and a conversion mechanism connected to the rotating shaft of the electric motor 41 to decelerate the rotation of the electric motor and convert rotational motion into linear motion. It consists of a deceleration mechanism 12 and a rod 43 connected to the deceleration mechanism and operated linearly in the direction of arrow B. 44 is a select lever whose one end is attached to the rod 43 of the select actuator 4 in a right angle direction, and the other end is attached to the rod 43 of the select actuator 4.
It is formed into a fork shape and is configured to engage with the middle portion of the internal lever 2. Note that 45 is a rotary encoder attached to the electric motor 41 of the select actuator 4, and inputs its output signal to a controller to be described later. The operation of the shift operation mechanism configured as described above will be explained. When the electric motor 41 of the select actuator 4 is actuated, the rod 43 is actuated in the direction of arrow B via the deceleration mechanism 42, and this operation causes the internal lever 2 to move via the select lever 44 to the shift lever shaft 22.
The lower end 2 of the internal lever 2
3 selects the engagement position of one of the shift blocks 31, 32, 33, and 34, and the selection operation is completed. next,
When the electric motor 11 of the shift actuator 1 is actuated, the rod 13 is actuated in the direction of arrow A via the reducer 12, and this operation causes the shift fork shaft 22 to rotate via the shift lever 21, so that the internal lever 2 rotates to actuate the shift block engaged with its lower end 23, thereby completing the shift operation. In this way, by appropriately operating the select actuator 4 and the shift actuator 1, the
) It is possible to perform a gear change operation to a desired gear position according to the shift pattern shown in (). Reference numeral 5 denotes a controller consisting of a microcomputer, which includes a central control unit for performing arithmetic processing, various memories for storing control programs for the transmission mechanism, learning values to be described later, etc., input/output circuits, and the like. And stroke sensor 14
In addition to signals from the rotary encoder 45, a select sensor 51 detects the position of the select lever operated by the driver and a clutch sensor 5 detects the engaged state of the clutch.
2. It is configured to receive signals from a vehicle speed sensor 53 that detects the running speed of the vehicle, an accelerator sensor 54 that detects the amount of depression of the accelerator pedal, etc. FIG. 2 is a drive circuit diagram of the electric motors 11 and 41 of the shift actuator 1 and the select actuator 4, in which a set of transistors Ql to Q4 and their protection diodes Dl to D4 are connected to a bridge circuit, and the motor 11 (41) to control the direction of rotation thereof. For example, when a control signal is applied to the right direction terminal I, transistors Q1 and Q4 become conductive, and the current is passed through the path Q1 → motor 11 (41) → Q4 = R1, and the motor 11 (41) moves in the direction of arrow r. As the motor rotates, a voltage drop V occurs due to the current flowing through the resistor R1, which has a minute resistance value. The rotational torque of the motor 11 (41) is controlled by controlling the duty of the control signal applied to the right direction terminal (■), thereby controlling the power supplied to the motor 11 (41) and freely controlling the rotational torque. It will be done. In general, the rotational torque of the motor and the supplied power increase or decrease almost correspondingly, so the resistance R
By measuring the voltage drop of 1 or the passing current, motor 1
1 (41) loads can be detected. In addition, when applying a control signal to the left direction terminal I1, resistor R
If you measure the voltage drop or passing current of motor 11 (
41) can be detected. FIG. 3 shows changes in the current of the motor that drives the shift actuator during shift operation, where the horizontal axis shows the shift stroke from the neutral point N to the target shift position, and the vertical axis shows the motor current. In other words, X is the area where the load of the synchro meshing device has increased compared to the synchro operation, and therefore the current has increased, and Y is the area where the motor load current decreases outside the synchro operation area and shifts to the target position. By turning it on, the current is cut off. In addition, the Z point is the point where the synchro meshing device ends the synchro area and moves to the outside synchro area, and the motor current during shift operation is measured, and in the process of decreasing the current, the current decreases to a predetermined stable state. This is the point where it has shifted to Therefore, by memorizing the current value Z' at point Z and the shift stroke as learning values, the transition from the synchronized area to the non-synchronized area during a shift operation can be determined by measuring the motor current. FIG. 4 is a process flow diagram showing an example of the operation of this embodiment. Next, the shift-in control process will be explained with reference to FIG. In step 1, it is checked whether there is a learning value in the synchronization area in the memory of the controller 5, and if the learning value is stored, the process proceeds to step 2;
The motor 11 is driven by performing predetermined duty control. In step 3, the shift stroke is read based on the signal from the stroke sensor 14, and in step 4 it is checked whether the shift stroke is in the X region of the synchronization region, and if it is in the X region, steps 2.3 are repeated. If it is determined in step 4 that the current is outside the X region, then in step 5 the motor 11 is driven by duty control with the current value of Z' as the upper limit. Next, in step 6, the shift stroke value is read based on the signal from the shift stroke sensor 14, and whether or not it has changed is checked in step 7. If the shift stroke has reached the set value,
Since the keyaki shift position has been reached, the flow ends. In this case, since the electric power value is limited by duty control in step 5, it is possible to prevent unnecessary shock from being applied to the transmission mechanism at the time of shift-in. If there is no synchro pirate learning value in step 1, the process proceeds to step 9 and the motor 11 is driven by predetermined duty control. In step 10, the motor current is read by the voltage drop across the resistor R1 or R2, and the initial motor current and current current are compared in step 11. If the current current is decreasing, the process proceeds to step 17. A predetermined current value and a motor current value are compared. When the motor current is small, the shift stroke is read in step 18 based on the signal from the shift stroke sensor 14, and in step 19 it is determined whether the read shift stroke value is between two preset values. is checked, and if it is between the set values, the stroke value is stored in the RAM as a learned value (step 20). Thereafter, the set duty control is performed to drive the motor (step 21), and then it is checked whether the shift stroke value has reached the set target value (step 22). If the shift stroke value is greater than or equal to the set value, the process proceeds to step 16 and the motor drive is stopped. Step! ! If the motor current value read in is not smaller than the initial current value, the current value is stored in the memory and the shift stroke is read based on the signal from the shift stroke sensor 14 (step 12.13), and the shift stroke is The value is compared with a predetermined set value in step 14, and if it is less than this set value, steps 10 to 14 are repeated. Further, if the shift stroke value is equal to or greater than the set value in step 14, a backup value is substituted as a learning value for the synchronization area in step 15, and then, in step 16, the drive of the motor is stopped. FIG. 5 is a process flow diagram regarding learning of each neutral position N1, N2, N3N4 in the shift pattern of FIG. 1(b). In the selection operation, the encoder 42 is controlled by the number of pulses of the rotary encoder 45, so the encoder output is initialized at the N1 position. First, it is determined whether the select lever is in the neutral position based on the signal from the select sensor 51 (step 31).
, the signal from the vehicle speed sensor 53 determines whether the vehicle speed is 0 (
Step 32) and whether the select learning flag is on (
Check step 33). Here, when the select lever position is neutral and the vehicle speed is 0, but the select learning flag is off, first the select actuator 4 is driven in the N1 direction (step 44), and the number of pulses of the rotary encoder 45 is (step 35), and if there is a change, repeat step 34 until there is no change. If the number of pulses of the rotary encoder 45 does not change in step 35, that is, if the lower end 23 of the internal lever 2 hits the shift block 31, check whether the set time has elapsed.Step 36) If so, the generated pulse counter value of the encoder 45 is initialized to zero (step 37).
). Next, in steps 38 to 41, learning of the neutral N4 position is performed. The motor 42 is driven in the direction of the N4 position (step 38), and when the lower end of the internal lever 2 hits the shift block 34 and the number of pulses of the encoder 45 stops changing (step 39), the set time has elapsed. (step 40), and select N4
When the switch is on, the generated pulse counter value of the encoder 45 is stored in the RAM as a learned value at the N4 position (step 41). Furthermore, in steps 42 to 44, neutral N2,
Learn the N3 position. The neutral N2 and N5 positions are calculated proportionally from the learned value of the N4 position. Assume that the N2 and N3 positions are equally divided between N1 and N4, and the learned value of N2 (= 1/3 x N4 learned value) is Calculate and store in RAM (Z step 42),
The learning value of N5 = 2/3 x N 4 learning value is calculated and stored in the RAM (step 43), and when learning is completed, the select learning flag is turned on (step 44). Note that the above learning is performed only in the neutral position, so if the vehicle is not in neutral in step 31, the select learning flag is cleared (step 45).
. As described above, according to the present invention, the rotational speed of the electric motor constituting the select actuator is detected, the rotational position of the electric motor corresponding to each select position is determined by learning, and selection control is performed based on this learned value. As a result, it is possible to easily deal with changes in the select position of each transmission that occur due to variations in manufacturing dimensions of the transmission mechanism or wear due to use, and it is possible to always perform highly accurate selection control. can. Although the present invention has been described above with reference to the illustrated embodiments, the present invention is not limited to only those shown in the embodiments, and various modifications can be made within the scope of the gist of the present invention. They are not excluded from the scope of the invention. (3) Figure 1 (a) of the drawing is corrected as shown in the attached sheet. Figure 1 Ca>

Claims (2)

[Claims] (1) In a transmission control device that controls a transmission mechanism by driving an internal lever of the transmission using a shift lever and a select lever, the motor drives a select actuator that operates the transmission mechanism in a select direction, and The present invention is characterized by comprising a detection means for detecting the amount of drive of the select lever, a learning means for storing and learning a signal from the detection means, and a control means for controlling the motor in accordance with the learned value. Transmission control device. (2) The detection means is an encoder that detects the motor rotation speed as a pulse number, and includes calculation means for calculating an intermediate selection position from the full stroke value in the selection direction stored by the learning means. A speed change control device according to claim (1).