JPH0535295B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention controls the tilting angle of a power roller that rolls into contact between an input disk and an output disk based on speed change control information such as throttle opening and vehicle speed. The present invention relates to a speed change control device for a toroidal continuously variable transmission that performs step change.

[Conventional technology]

As a conventional speed change control device for a toroidal type continuously variable transmission, there is one disclosed in, for example, Japanese Patent Laid-Open No. 58-54262.

This device moves the roller support by operating the main control valve according to the depression position of the accelerator pedal and the negative pressure from the manifold, and mechanically feeds back the movement position to the main control valve using a precess cam. It is configured to obtain a desired gear ratio by tilting the power roller to a desired position.

[Problem that the invention seeks to solve]

However, the conventional speed change control device for the toroidal continuously variable transmission described above is configured to control the speed ratio by mechanically transmitting the amount of depression of the accelerator pedal and the negative pressure from the manifold to the main control valve. As a result, the control mechanism becomes large and complex, and it is not possible to perform complex control based on various speed change control information, making it impossible to perform optimal speed change control depending on the driving condition. Since the control is carried out, the gear ratio fluctuates due to changes in oil pressure due to changes in oil temperature, making it impossible to perform gear shifting operations with high precision.In addition, the basic control is to keep the engine speed constant, so it is not always possible to The problem was that it was not comfortable.

[Means for solving problems]

In order to solve the above problems, the present invention, as shown in the basic configuration diagram of FIG.
A pair of trunnions that rotatably and tiltably support each power roller to perform a speed change operation, a control valve that controls the fluid pressure for the speed change operation of the trunnion, and a drive that drives the control valve according to the amount of the speed change operation. A toroidal type fluid pressure drive mechanism including at least a mechanical feedback system that mechanically feeds back the speed change operation amount of the motor and the trunnion to the control valve, and a control device that controls the drive motor of the fluid pressure drive mechanism. In a speed change control device for a continuously variable transmission, the control device includes a speed change control information detection means for detecting speed change control information such as a throttle opening command signal, and sampling based on the speed change control information from the speed change control information detection means. a sampling period selection means for selecting a period; and a sampling period selection means that reads the speed change control information from the speed change control information detection means at the sampling period of the sampling period selection means and refers to a speed change control information-shift operation amount conversion storage table based on the read speed change control information. A shift operation amount selection means for selecting a shift operation amount, and a shift control means for operating the drive motor and controlling the shift of the continuously variable transmission based on the shift operation amount selected by the shift operation amount selection means. It is characterized by

[Effect]

This invention sets a sampling period by a sampling period selection means based on the speed change control information from a speed change control information detection means that detects speed change control information such as a throttle opening command signal, and selects a speed change operation amount for each sampling period. reads the shift control information, refers to the memory table based on this information, selects the shift operation amount, operates the drive motor in accordance with this shift operation amount, and controls the shift operation of the trunnion using the fluid pressure drive mechanism. The toroidal continuously variable transmission is electronically controlled to perform fine-grained speed change control with high responsiveness depending on vehicle driving conditions such as slow acceleration or sudden acceleration, making the overall configuration more compact and improving ride comfort. This system is designed to improve the speed and perform highly accurate speed change control.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIGS. 2 to 5 are diagrams showing an embodiment of the present invention.

First, to explain the configuration, in FIGS. 2 and 3, T is a toroidal continuously variable transmission as a continuously variable transmission, and C is a control device.

The toroidal continuously variable transmission T has an input disk 2 and an output disk 3 coaxially opposed to each other and rotatably held in a housing 1. The input disk 2 and the output disk 3 have the same shape and are arranged line-symmetrically, and are formed into toroidal surfaces so that their opposing surfaces cooperate to form a semicircle when viewed in axial cross section. And input disk 2
A pair of power rollers 4 and 5 are rotatably disposed in a toroidal cavity formed by the toroidal surface of the output disk 3, and are in rolling contact with both the disks 2 and 3. In this case, the power rollers 4 and 5 are rotatably held by trunnions 6 and 7, and supported so as to be tiltable about a pivot axis O that is the center of the toroidal surfaces of the input disk 2 and output disk 3.

A viscous material with a large traction coefficient is applied to the contact surfaces between the input disk 2 and output disk 3 and the power rollers 4 and 5, so that the rotational force input to the input disk 2 is transferred to the power rollers 4 and 5. The change in the transmission ratio, that is, the gear ratio, causes the trunnions 6, 7 to move to the pivot shaft O-
Move the power rollers 4, 5 by a small distance in the O direction.
This is done by changing the tilt angle θ. In this case, the movement of the trunnions 6 and 7 is carried out by hydraulic cylinders 9a to 9 provided at both ends of the trunnions 6 and 7, respectively.
d, a spool control valve 10 that controls hydraulic pressure supply to these hydraulic cylinders 9a to 9d, and a precess cam 11 formed integrally with the trunnion 6.

The spool control valve 10 includes a valve body 10e having an inlet port to which the fluid supply pipe 10a is connected, an outlet port to which the distribution pipes 10b and 10c are connected, and a discharge port to which the fluid discharge pipe 10d is connected;
This valve body 10e has a vertically slidable spool 10f inside the valve body 10e, and the valve body 10e is a support 10 implanted on the outer surface of the housing 1 of the continuously variable transmission T.
g is biased upward by a return spring 10h, and is arranged to be slidable in the vertical direction by rotationally driving a screw 13 parallel to the column.

Further, the spool 10f is engaged with the cam surface of the precess cam 11 via the engagement roller 10i, and is moved up and down in accordance with the rotation of the trunnion 6. The trunnion 6, precess cam 11, and spool 10f constitute a mechanical feedback means.

Further, the distribution pipe 10b is connected to the fluid pressure cylinder 9b.
and 9c, the distribution pipe 10c is a fluid pressure cylinder 9a
and 9d, respectively.

Then, the spool control valve 10 is connected to the valve body 1
0e is connected to the pulse motor 12 via a transmission means 13 such as a screw that converts rotational force into linear driving force, and the valve body 10 is connected to the pulse motor 12 in accordance with the rotation of the pulse motor 12.
It is controlled by moving e up and down against the return spring 10h.

Note that 14 is a vehicle speed detector that detects the rotational speed of the output disk 3 and outputs a detection signal corresponding to the vehicle speed.

Further, 15 is a throttle opening detector that outputs a detection signal U according to the throttle opening, 16 is a powerful economy mode selection switch, 17 is a shift position detector that outputs a detection signal S according to the shift position, and 18 and 19 is the precess cam 11
This is a limit position detector that detects the speed increasing side limit position and the decelerating side limit position of the power roller 4 placed close to the power roller 4, and when both limit positions are detected, it outputs detection signals BL and AL of logical value "1", for example. Output.

The control device C includes an input amplifier 20 to which various detection signals as shift control information serving as a reference for selecting a gear ratio are supplied, a sampling period selection means 21, a shift operation amount selection means 22, a shift operation amount determination means 23,
It is composed of a motion amount correction means 24, a drive speed selection means 25, and a control means 26.

The specific configuration of this control device C, as shown in FIG. 3, includes the input amplifier 20, the sampling period selection means 21, the speed change operation amount selection means 22,
Shift operation amount determination means 23, operation amount correction means 24,
A microcomputer 27 constituting the drive speed selection means 25 and the control means 26, and the pulse motor 1
2, and a pulse distribution circuit 28 for driving the pulse generator 2.

The input amplifier 20 is supplied with a throttle opening detection signal U from the throttle opening detector 15, which serves as a reference for speed ratio selection, and a detection signal V from the vehicle speed detector 14 of the toroidal continuously variable transmission T as shift control information. are amplified to a predetermined value and output.

The microcomputer 27 includes, for example, at least an interface circuit 29, an arithmetic processing device 30, and a storage device 31, and executes predetermined arithmetic processing based on the input signal supplied to the interface circuit 29 to obtain a target operation. Calculate the quantity L _N ,
The rotational speed of the drive motor is selected to be the optimum speed according to the target operation amount, the number of driving pulses is calculated according to this, and this is distributed into pulses to drive the pulse motor 12.
A drive control signal CS for driving is output from the interface circuit 29.

The interface circuit 29 has A/D conversion and D/A conversion functions, and has on its input side a shift position detection signal S from the shift position detector 17, a selection signal M from the powerful economy mode selection switch 16, The output signal OA of the input amplifier 20 and the detection signals AL and BL of the speed increase side and deceleration side limit detectors 18 and 19 that detect the amplification side limit position and the deceleration side limit position of the power rollers 4 and 5, respectively, are supplied, Further, a pulse distribution circuit 28 for driving the pulse motor 12 is connected to the output side.

The arithmetic processing unit 30 includes an interface circuit 29
storage device 31 in advance based on an input signal supplied to
The pulse motor 1 executes arithmetic processing according to a predetermined processing program stored in the , and finally drives the trunnions 6 and 7 of the toroidal continuously variable transmission T.
2 drive control signal CS is output.

The storage device 31 stores a processing program necessary for the arithmetic processing of the arithmetic processing device 30, and also stores various constants required in the processing process of the arithmetic processing device 30.
The processing results of the processing process are sequentially stored.

Next, the processing procedure of the arithmetic processing unit 30 will be explained with reference to FIG.

That is, the standard setting value τ that determines the preset sampling period is read in the step and is temporarily stored in the sampling period storage area of the storage device 31.

Next, the process moves to step and the vehicle speed detector 1 is detected.
4 vehicle speed detection signal V and throttle opening detector 1
After reading the detection signals U of 5 and storing them in a predetermined storage area of the storage device 31 as the vehicle speed detection value V and the throttle opening detection value U, the process advances to step It is determined whether or not the vehicle speed exceeds the set value V _S1 , and if V>V _S1 , the process moves to step.

In this step, it is determined whether the detected vehicle speed value V is greater than or equal to the vehicle speed set value V _S2 which is higher than the vehicle speed set value V _S1 , and if V≧V _S2 , the process moves to step.

In this step, the throttle opening detection value U
It is determined whether or not is greater than or equal to a predetermined set value U _S1 .
The determination in this case is to determine whether or not the vehicle is in a cruising state at a high speed.
When U≧U _S1 , it is determined that the vehicle is in a cruising state and the process moves to step.

In this step, the set value 2τ, which is twice the standard set value τ, is temporarily stored as the sampling cycle set value τ _S in the sampling cycle set value storage area of the storage device 31, and then the process moves to the step.

In this step, the sampling period setting value τ _S stored in the sampling period setting value storage area is multiplied by a predetermined time (1 msec) to calculate the timer interrupt period Tm for sampling, and this is calculated as the timer interrupt period Tm in the storage device 31. After storing it in the periodic storage area, proceed to step. In this step, it is determined whether or not to end the control. If the control is to be continued, the process returns to the step. For example, when the ignition switch is turned off, the process is ended.

Further, when the determination result in step is V≦V _S1 , the process moves to step and it is determined whether or not the throttle opening detection value U is greater than or equal to a predetermined set value U _S2 . The determination in this case is to determine whether the vehicle is in a rapid acceleration state or a kickdown state at a low vehicle speed. If U≧U _S2 , the process moves to step (10) and the standard setting value is set. The set value 1/2·τ, which is 1/2 times τ, is temporarily stored in the sampling cycle set value storage area of the storage device 31 as the sampling cycle set value τ _S , and then the process moves to step.

Furthermore, when the step determination result is V<V _S2 and the step determination result is U<U _S2 , the state is determined to be a normal acceleration/deceleration state, and the step is shifted to the standard setting value. Store τ as the sampling period setting value τ _S in the storage device 3.
After storing it in the sampling period setting value storage area of No. 1, the process moves to step.

As a result, as shown in Fig. 6, based on the vehicle speed V and throttle opening U, the area A _H is selected for sudden acceleration or kickdown, the area A _L is selected for high-speed cruising, and the area A _M is selected for normal acceleration/deceleration. The timer interrupt period Tm is changed according to the driving condition.

Here, the processing from step to step corresponds to the sampling period selection means 21.

Then, the speed change control processing program shown in FIG. 5 is executed every timer interrupt period selected by the above sampling period setting process.

That is, in the step, various detection signals, shift position effect signal S, etc. from the input amplifier 20 are read as shift control information, and these are stored in the shift control information storage area.

Next, the process proceeds to step, in which a predetermined shift control information-shift operation amount conversion storage table stored in advance in the storage device 31 is used to calculate the shift operation amount for controlling the gear ratio to a predetermined gear ratio based on the shift control information. select.

Next, the process moves to step and calculates the gear change target value Er with reference to the selected storage table.

Next, proceeding to step, the operating amount L _N of the pulse motor 12 is calculated from the target value Er and the current position of the pulse motor 12, and this is stored in the storage device 31.
After updating and storing the motion amount in the motion amount storage area, the process moves to step.

In this step, it is determined whether the target value Er is the maximum deceleration position B, and if Er=B, the process moves to step.

In this step, the maximum deceleration position detector 19
The detection signal BL is read, and it is determined whether or not it has a logical value of "1". When it is a logical value of "1", it is determined that the deceleration position is at the maximum deceleration position, and the process proceeds to step.

In this step, the operating amount L _N of the pulse motor 12 is set to zero, and this is updated and stored in the operating amount storage area of the storage device 31 .

Next, move to the step and start the pulse motor 1.
The maximum deceleration position B of No. 2 is updated and stored as the current position P in the current value storage area of the storage device 31, and then the process moves to step a, which will be described later.

On the other hand, if the judgment result of the step is the detection signal
When BL is the logical value "0", the process moves to step a and the pulse motor 12 is driven to set the maximum deceleration direction Bmax to the maximum deceleration position B as the operating amount.
After updating and storing it in the operation amount storage area of the storage device 31 as _LN , the process moves to step.

In the step, the absolute value of the operation amount L _N |L _N
It is determined whether | is greater than or equal to a preset operating amount setting value L _K. The determination in this case is to determine whether or not the amount of movement of the trunnions 6 and 7, that is, the amount of tilting angle variation of the power rollers 4 and 5, per one shift operation, such as during kickdown, is large. When L _N |<L _K , the process moves to step.

In the step, it is determined whether the absolute value |L _N | of the motion amount L _N is greater than or equal to a motion amount set value L _L that is smaller than the motion amount set value L _K that is set in advance. The determination in this case is, for example, to determine whether the amount of motion is greater than that during general acceleration/deceleration, and when |L _N |< _LL , the process moves to step.

In this step, a large drive pulse interval _PWS is selected so as to drive the pulse motor 12 at a low speed, and this is stored in the drive pulse interval storage area of the storage device 31 before proceeding to the speed change process after step 〓〓. do.

Further, when the determination result of the step is |Ln|≧L _K , the process moves to step a, and a small drive pulse interval PW _H is selected so as to drive the pulse motor 12 at high speed, and this is stored in the memory. 31
Then, the operation amount division processing is skipped and the shift processing directly proceeds from step 〓〓.

Furthermore, the step judgment result is |Ln|≧L _L
If so, proceed to step b, select an intermediate drive pulse interval _PWM to drive the pulse motor 12 at an intermediate speed, and store this in the storage device 3.
After storing the drive pulse interval in the drive pulse interval storage area No. 1, the shift processing starts from step 〓〓.

In step 〓〓, it is determined whether the absolute value |L _N | of the motion amount L _N | stored in the motion amount storage area of the storage device 31 is greater than or equal to a preset motion amount setting value _LS . In this case, the operating amount setting value L _S is such that when the operating amount of the trunnions 6 and 7 per one shift operation, that is, the amount of change in the tilt angle of the power rollers 4 and 5 becomes large, a shift shock occurs and the responsiveness decreases. Therefore, the maximum value is preselected to eliminate these shift shocks and improve responsiveness. At this time, if L _N > L _S , the process moves to step and the operation amount set value L _S is changed to the shift operation amount L.
After updating and storing it in the operation amount storage area of the storage device 31, the shift processing starts from step 〓〓.
When L _N ≦ L _S , the process moves to step 〓〓, where the target operation amount L _N is updated and stored in the operation amount storage area of the storage device 31 as the shift operation amount L, and then the shift is performed from step 〓〓 onward. Move to processing.

In step 〓〓, the current position of the pulse motor 12 is
P _P is read from the storage device 31, the operation amount L is added thereto to calculate the target position P ₀ , and this is stored in the current position storage area of the storage device 31 before proceeding to step 〓〓.

In this step, the number of operation pulses of the pulse motor 12 is calculated by referring to the memory table based on the operation amount L stored in the operation amount storage area, and this is temporarily stored in a predetermined storage area of the storage device 31. After that, the process moves to step 〓〓, where the number of operation pulses is loaded into the operation pulse counter 31a formed in a predetermined storage area of the storage device 31.

Next, the process proceeds to step <<> to reset the distribution counter in the pulse distribution circuit 28, and then proceeds to step <<> to output the operating pulse to the pulse distribution circuit 28.

Next, the process moves to step, where the operating direction of the trunnions 6, 7 is determined, and if this is the speed increasing direction, the process moves to step.

In this step, the detection signal AL from the speed-increasing side limit detector 18 is read, and this is the logical value "1".
By determining whether or not the power rollers 4 and 5 have reached the limit position on the speed increasing side, it is determined whether or not the power rollers 4, 5 have reached the limit position on the speed increasing side. If the limit position has not been reached, the process moves to step.

In this step, the operation pulse number counter 31a is counted down by "1", and then the process moves to step 〓〓, where the operation pulse number counter 31a is
Determine whether the count value of a is zero. The determination in this case is to determine whether or not the trunnions 6 and 7 have reached _{the target position P 0 calculated} in the step 〓〓. Return, the pulse interval PW _H selected in steps a and b above,
The next drive pulse CS is outputted so that PW _S and PW _M are reached, and when the target position P ₀ is reached, the process is ended and the process returns to the main program.

Also, if the step judgment result is trunnion 6,
7 in the deceleration direction,
Shifting to step 〓〓, the detection signal BL of the deceleration side limit detector 19 is read, and it is determined whether or not the trunnions 6 and 7 have reached the deceleration side limit position.If the trunnions 6 and 7 have not reached the limit position, When the limit position is reached in the step described above, the process moves to step ⓓ, where the pulse motor 12 is brought to an emergency stop, the interrupt processing is ended, and the main program is returned.

Further, when the determination result of the step reaches the limit position, the process moves to the step 〓〓.

Here, the processing from step to step corresponds to the shift operation amount selection means 22, the processing from step to step corresponds to the control origin correction means in the control means 26, and the processing from step to step corresponds to the shift operation amount determination means. Corresponding to 23, step,
The processes of a and b correspond to the shift speed selection means 25, the processes of step and 〓 correspond to the operation amount correction means 24, and the processes of steps 〓〓 to 〓〓 correspond to the shift control means 26. .

Next, the effect will be explained. Assuming that the vehicle is now in a stopped state and the ignition switch is in the OFF state, in this state the processing shown in FIG. 4 is not executed in the arithmetic processing unit 30 of the control device C, and does not perform gear shifting operation.

When the ignition switch is turned on in this stopped state, the arithmetic processing unit 30 first performs the following operations.
The process shown in FIG. 4 is executed to determine the sampling period for performing the speed change control based on each detection signal as the speed change control information.

That is, in the step, a preset standard setting value τ for determining the sampling period is read and stored in a predetermined storage area of the storage device 31.

Next, the process moves to step and the vehicle speed detection signal V
and the throttle opening detection signal U are read and stored in a predetermined storage area of the storage device 31 as a vehicle speed detection value and a throttle opening detection value, respectively.

Next, the process moves to step to determine whether or not V>V _S1 , and in this stopped state, V≦V _S1.
Therefore, we move on to step.

In this step, the throttle opening detection value U
It is determined whether or not is greater than or equal to a predetermined value setting value _US2 . At this time, since the vehicle is in a stopped state, the accelerator pedal is not depressed and U>U _S2 , so the process moves to step and stores the standard setting value τ as it is in the sampling period setting value storage area. Then, the process moves to step and multiplies the standard setting value τ stored in the sampling period setting storage area by a predetermined time to calculate the timer interrupt cycle Tm for performing speed change control based on the speed change control information, and then moves to step. If the control is to be continued, the process returns to the step and the above process is repeated while the control is continued.

Thereafter, every time the timer interrupt period Tm selected in the sampling period selection process arrives, the fifth
The timer interrupt process shown in the figure is executed.

At this time, since the vehicle is in a stopped state, the engine is in an idling state, and the clutch is in an OFF state, so engine rotational force is not transmitted to the input disk 2 of the continuously variable transmission T. In the device 30, since the vehicle speed is zero in the interrupt process shown in FIG. 5, the target value is set to zero.

Then, when the vehicle is started from a stopped state by selecting, for example, a drive range, depressing the accelerator pedal, and leaving the clutch in a half-engaged state, the vehicle speed detection signal V and throttle opening detection signal U at that time are Based on this, the sampling period selection process shown in FIG. 4 is executed, and a reading period of the detection signal corresponding to the driving state of the vehicle is selected. In other words, in a slow start state, the sampling period is set to the standard setting value τ, but in a sudden start state, the sampling period is set to the setting value 1/2·τ, which is 1/2 times the standard setting value τ. The processing cycle of the timer interrupt processing in FIG. 5 is half of that in the standard state, and frequent processing is executed to improve responsiveness.

Therefore, for each selected reading cycle, the fifth
When the timer interrupt processing shown in the figure is executed, first, in step, the shift position detection signal S and the powerful
An economy mode selection signal M, a throttle opening detection signal U caused by pressing the accelerator pedal,
The rotation speed detection signal V of the output disk 3 of the continuously variable transmission T is read and stored in the shift control information storage area of the storage device 31 as shift control information TC.

Next, the process moves to step 31 to store the storage device 31.
A predetermined shift control information-shift operation amount conversion storage table is selected based on the shift control information TC stored in .

Next, with reference to the selected memory table, the trunnions 6 and 7 are moved and the power rollers 4 and 5 are moved.
A shift target value Er for controlling the tilt angle θ of the vehicle is calculated (step).

Next, proceeding to step, a predetermined pulse motor operation amount L _N is calculated based on the difference value between the target value Er and the current value P _P stored in the current position storage area, and this is calculated as the operation amount in the storage device 31. Update and store in storage area.

Next, the process moves to step and it is determined whether the target value Er is the maximum deceleration position B or not. At this time, if the vehicle is in a slow start state, a quick shift to overdrive is required, so the shift target value Er becomes a value other than the maximum deceleration position, and the shift goes directly to the step, where it is stored in the operation amount storage area. It is determined whether the stored shift operation amount L _N exceeds a predetermined set value L _K. At this time, since the vehicle is in the starting state, the shift operation amount L _N is set to the preset operation amount setting value.
It is determined that L _N is larger than L K, that is, L _N ≧ L _K , and step a
Then, the drive pulse interval PW _H for driving the pulse motor 12 at high speed is selected and stored in the pulse interval storage area.

Next, the divisional operation process from step 〓〓 to step 〓 is skipped and the process goes directly to step 〓〓, and the target position P ₀ is determined from the sum of the operation amount L _N and the current position _PP .
is calculated and stored in the current position storage area of the storage device 31 as current position information P _P .

Next, the process moves to step 〓〓, and the amount of operation is
The number of pulses to be output to the pulse motor 12 is calculated based on L _N , and then this is preset in the counter 31a formed in the storage device 31 (Step 〓〓), and the counter in the pulse distribution circuit 28 is reset (Step 〓〓). The pulse driving signal CS is outputted to the pulse distribution circuit 28 so as to operate the pulse motor 12 by moving from step 〓〓 to step 〓〓.

Next, in step, it is determined whether the tilting direction of the power rollers 4, 5, that is, the continuously variable transmission T is on the speed increase side or the deceleration side. Then, it is determined whether the speed increasing side limit position has been reached or not, and if it is before the speed increasing side limit operating position, the process moves to step 31a, counts down the counter 31a by "1", and then moves to step 〓〓. , it is determined whether the operation of the pulse motor 12 has ended or not by determining whether or not the count content of the counter 31a is zero. At this time, since the counter 31a has just been set, the process returns to the step 〓〓. , the above operation is repeated so that the pulse interval becomes the driving pulse interval PW _H. As a result, the pulse motor 12 is driven with a short pulse interval PW _H , so the rotational speed of the pulse motor 12 becomes high, and one shift operation is performed at high speed.

When the count value of the counter 31a becomes zero, it is determined that the operation of the pulse motor 12 has ended in step <<>, the timer interrupt process is ended, and the process returns to the main program.

In this way, when the pulse motor 12 is rotated by a predetermined amount by the drive pulse signal CS, the spool control valve 10 is rotated by the return spring 10 in accordance with the rotation.
h, and according to the movement, the fluid supply pipe 10a and the distribution pipe 10b are communicated with each other, whereby hydraulic fluid is supplied to the hydraulic cylinders 9b and 9c, and the trunnions 6 and 7 are moved up and down by a predetermined amount, respectively. Moving. Due to this movement of the trunnions 6, 7, the power rollers 4, 5 start tilting toward the speed increasing side. With the tilting of the power rollers 4 and 5, the trunnions 6 and 7
Since the control valve roller 10i also rotates, the precess cam 11 rotates, the control valve roller 10i descends, and the spool 10f descends accordingly. And power roller 4,
5 rotates to the predetermined tilt angle θ position, the spool 1
0f, the distribution pipes 10h and 10c and the fluid supply pipe 10a are cut off, and the trunnions 6, 7
movement is stopped. However, since the moving positions of the trunnions 6 and 7 are shifted from the neutral position, the power rollers 4 and 5 are further tilted in the speed increasing direction, and in this state, the spool 10f is further lowered. Therefore, the fluid supply pipe 10a and the distribution pipe 10c communicate with each other to supply working fluid to the hydraulic cylinders 9a and 9d, and the trunnions 6 and 7 move up and down in the opposite direction. Then, when the trunnions 6, 7 return to the predetermined neutral position, the tilting of the power rollers 4, 5 is stopped, and the spool 10f at this time is in a position that communicates the fluid supply pipe 10a and the distribution pipe 10b. , the trunnions 6 and 7 move beyond the neutral position to the deceleration side, and accordingly, the power rollers 4 and 5
is tilted toward the deceleration side, and the spool 10f is lowered via the precess cam 11. As a result, the trunnion 6, the precess cam 11, and the spool 10f form a mechanical feedback means, so that the tilt angle of the power rollers 4 and 5 is θ is controlled according to the operating position selected by the valve body 10e.

In addition, when starting suddenly, it is necessary to perform low-geared control and rotate the engine to high speeds, so the amount of movement L selected in the step is less than the preset amount of movement L _K , and the Then, the process moves from step to step, and since the operating amount L is selected according to the throttle opening at that time, the process moves to step (or step b) and the pulse motor 12 is activated according to the throttle opening. Select a drive pulse interval _PWS (or _PWM ) for driving at a low speed (or intermediate speed), store this in the pulse interval storage area, and drive the pulse motor 12 in the speed change control process from step 〓〓 onwards. The pulse interval of the drive control signal CS is longer than in the slow start state, and a relatively slow speed change operation is performed.

Furthermore, when the vehicle shifts from the slow or sudden start state to a relatively high-speed cruising state, changes in vehicle speed and throttle opening at that time become smaller, so when the timer interrupt process shown in FIG. Shift operation amount from step to step
Calculate L _N. At this time, the value of the shift operation amount L _N is
Since the pulse interval is relatively small, the process moves to step 〓〓 through step 〓〓, selects the drive pulse interval _PWS for driving the pulse motor 12 at a low speed, and stores it in the pulse interval storage area as the drive pulse interval.
It is updated and stored instead of PW _H (or _PWS , _PWM ).

Next, the process moves to step 〓〓, where it is determined whether the absolute value |L _N | of the shift operation amount is greater than or equal to a predetermined set value _LS . At this time, as mentioned above, the value of the shift operation amount L _N is relatively small in the high-speed cruising state, so
The process moves to step 〓〓, where the shift operation amount _LN is stored in the shift operation amount storage area, and then shifts to the shift control process of step 〓〓.

For this reason, in the speed change control processing of the step 〓〓 transition, the drive control signal for driving the pulse motor 12 is
The CS pulse interval becomes longer, a relatively slow speed change operation is performed, and the power rollers 4 and 5 are tilted by a predetermined amount. Therefore, in this case, ride comfort is ensured by suppressing engine speed fluctuations and torque fluctuations at the expense of some responsiveness.

Furthermore, when the cruising state shifts to an acceleration/deceleration state in which normal acceleration or deceleration is performed instead of sudden acceleration or deceleration, the value of the target movement amount L _N at that time becomes relatively large. Moving to step b, the pulse motor 12
A drive pulse interval PW _M for driving at an intermediate speed is selected, and this is updated and stored in the pulse interval storage area in place of the drive pulse interval _PWS . Next, the process moves to step 〓〓, where the shift operation amount L _N reaches the predetermined set value.
Determine whether it is greater than or equal to L _S. At this time, since it is in the acceleration/deceleration state, the value of the shift operation amount L _N becomes large, and L _N ≧ L _S , so the process moves from step 〓〓 to step, and the operation amount set value L _S is changed to the shift operation amount L
After updating and storing the motion amount in the operation amount storage area, the shift control process moves to step 〓〓.

Therefore, in the speed change control process after step 〓〓, the drive control signal for driving the pulse motor 12 is
The pulse interval of CS becomes slightly shorter, a relatively fast speed change operation is performed, and the power rollers 4 and 5 are tilted by a predetermined amount, and the speed change operation amount L prevents a speed change shock and improves responsiveness. Operation amount L _S
selected. Therefore, in this case, it is possible to improve responsiveness, suppress engine rotational speed fluctuations and torque fluctuations, and perform a shift operation that is optimal for acceleration/deceleration driving.

That is, as shown in FIG. 7a, when the shift operation amount L _N calculated with reference to the memory table is larger than the operation amount set value L _S as shown by the dotted curve _l1 , the steps change from step 〓〓 to step 〓〓. Move to
Storage device 3 stores the operation amount setting value L _S as the shift operation amount L.
After storing it in the operation amount storage area 1, proceed to step 〓〓, calculate the target position based on the operation amount set value L _S , and perform the same operation as above to move the power rollers 4 and 5 to the predetermined shift position. to control. Therefore,
As shown in FIG. 7a, the shift operation amount L _N calculated with reference to the storage table is indicated by the dotted curve _l1 , and the operation amount set value L _S is selected and stored in the shift operation amount storage area. Updated and memorized. Therefore, in the steps after step 〓〓, the number of driving pulses of the pulse motor 12 is set based on the operation amount set value L _S , and the pulse motor 12 is thereby driven to a predetermined position and the trunnion ons 6 and 7 are moved. , the power rollers 4 and 5 are tilted at an angle θ according to the operating amount set value M _S
tilt into position. Then, at the time _t1 when one tilting operation is completed, the interrupt processing is completed, and thereafter the above operation is repeated every timer interrupt period Tm by the sampling period selection process. When the above operation is repeated three times and reaches time _t3 , as is clear from Figure 7a,
Since the target shift operation amount L _N calculated in step is less than the predetermined shift operation amount setting value L _S , the process moves from step 〓〓 to step 〓〓 where the target operation amount L _N is set as the shift operation amount L and the storage device 31 is operated. The pulse motor 12 is operated based on this target shift operation amount L _N to tilt the power rollers 4 and 5 to a tilt angle θ that is the final target shift position.

In this way, when the target shift operation amount L _N is greater than or equal to the operation amount set value L _S , if the shift operation is performed based on the operation amount set value L _S , the fluctuation in engine speed will be as shown by the solid line in Figure 7b. As shown in the figure, it is extremely small and does not cause any deterioration in the driving sensation caused by the shift operation, and various detection signals are read every time the shift operation is performed according to the operation amount setting value L _S , and the target shift is performed based on these. Since the operation amount L _N is calculated, it is possible to improve response characteristics accompanying changes in shift control information.

Incidentally, as shown by the dotted line in _FIG .
As shown by the dotted line in Figure 7b, the engine speed will drop significantly in response to the fluctuating operation.
In addition to deteriorating the driving sensation of the vehicle, it is not possible to read the detection signals of the various detectors that determine the gear shifting operation while the gear shifting operation is being performed, and it is not possible to deal with changes in the amount of gear shifting operation during that time. ,
There was a problem that responsiveness decreased.

Furthermore, when a kick-down state occurs in which the gear ratio is lowered and the acceleration is accelerated, such as when overtaking from a cruising state, the value of the target movement amount L _N becomes equal to or greater than the movement amount setting value L _K , as in the slow start state. Therefore, the process moves from step to step a, and the drive pulse interval for driving the pulse motor 12 at high speed is changed.
Select PW _H and use the pulse motor 12 accordingly.
drive at high speed. As a result, although ride comfort deteriorates to some extent, responsiveness can be greatly improved and maneuverability under rapid acceleration can be ensured.

Also, when the vehicle is shifted from the running state to the stopped state, the shift target value Er at that time is the maximum deceleration position B.
Therefore, the process moves from step to step, and it is determined whether or not the maximum deceleration position detector 19 outputs a detection signal BL having a logical value of "1".
At this time, when the detection signal BL of logical value "0" is output from the maximum deceleration position detector 19,
Move to step a and set the maximum deceleration amount Bmax
is stored in the motion amount storage area, and then the process moves to the step where the maximum deceleration position B (=0) is stored in the current value storage area.
Remember. Next, move to step a,
The drive pulse interval PW _H for driving the pulse motor 12 at high speed is selected, and then the process proceeds to the speed change control process after step 〓〓, the pulse motor 12 is driven at high speed, and from step 〓〓 to step 〓〓. At the point in time, the pulse motor 12 is brought to an emergency stop and the control origin adjustment in open loop control is performed. In this way, when the vehicle comes to a halt, the process moves from step to step, and after setting the movement amount in the movement amount storage area to zero, the process moves to step, and the control origin adjustment state is maintained.

In the above embodiment, the case where the power rollers 4 and 5 of the toroidal continuously variable transmission T are tilted is explained using a spool valve and a pulse motor, but a DC motor may be used instead of the pulse motor. In this case, the rotational speed of the DC motor can be detected by a speed detector such as a tachometer generator, and this can be compared with the rotational speed command value to control the rotational speed according to the amount of operation. Well, in addition, apply the screw instead of the spool valve,
The trunnions 6 and 7 may be moved by rotationally driving this with a pulse motor or a DC motor.

〔Effect of the invention〕

As explained above, according to the present invention, a sampling period is selected by the sampling period selection means based on the speed change control information, and the movement amount selection means reads the speed change control information for each sampling period to perform a single speed change operation. The change control means electronically controls the drive motor that performs the speed change operation of the toroidal continuously variable transmission. The toroidal continuously variable transmission can be precisely controlled according to the vehicle's needs, improving responsiveness, maintaining good ride comfort and driving sensation, and simplifying and downsizing the overall configuration. You can get the effect that you can.

[Brief explanation of the drawing]

FIG. 1 is a basic configuration diagram showing an overview of this invention, FIG. 2 is a schematic configuration diagram showing a first embodiment of this invention, and FIG. 3 is a block diagram showing an example of a control device applicable to this invention. , FIGS. 4 and 5 are flowcharts showing the processing procedure of the control device, and FIGS. 6 and 7 respectively.
Each figure is a graph for explaining the operation of the present invention. 1...Housing, 2...Input disk, 3...
...Output disk, 4, 5...Power roller, 6,
7... Trunnion, T... Toroidal continuously variable transmission, C... Control device, 10... Spool control valve,
11... Precess cam, 12... Pulse motor,
14... Vehicle speed detector, 15... Throttle opening detector, 16... Shift position detector, 20... Input amplifier, 21... Sampling period selection means, 2
2... Gear shift operation amount selection means, 23... Gear shift operation amount determination means, 24... Operation amount correction means, 25... Driving speed selection means, 26... Control means, 27... Microcomputer, 28... Pulse distribution circuit,
29...Interface circuit, 30...Arithmetic processing unit, 31...Storage device.

Claims (1)

[Claims] 1. An input disk and an output disk forming a toroidal cavity, a pair of power rollers in rolling contact between them, a pair of trunnions that rotatably and tiltably support each power roller to perform a speed change operation, and the trunnion. The control valve includes at least a control valve that controls a fluid pressure for a speed change operation, a drive motor that drives the control valve according to a speed change operation amount, and a mechanical feedback system that mechanically feeds back the speed change operation amount of the trunnion to the control valve. In a speed change control device for a toroidal continuously variable transmission that includes a fluid pressure drive mechanism and a control device that controls a drive motor of the fluid pressure drive mechanism, the control device receives speed change control information such as a throttle opening command signal. a shift control information detection means for detecting the shift control information; a sampling cycle selection means for selecting a sampling cycle based on the shift control information from the shift control information detection means; Shifting operation amount selection means for reading the shifting control information from and selecting the shifting operation amount by referring to the shifting control information-shifting operation amount conversion storage table based on this, and the shifting operation selected by the shifting operation amount selection means. A speed change control device for a toroidal continuously variable transmission, comprising: a speed change control means for controlling the speed change of the continuously variable transmission by operating the drive motor based on the amount of the drive motor.