JPH09269052A - Controller for automatic transmission - Google Patents

Abstract

PROBLEM TO BE SOLVED: To always and favorably execute, regardless of operating conditions, control by which a turbine rotational change rate and so on during shift action is matched to a target value, by feedback controlling operating pressure. SOLUTION: The control of an up-shift shifting is executed in such a manner that supply of operating pressure to mainly a fastening side frictional element is feedback controlled so that a change rate when a turbine rotational speed is lowered is matched to a target change rate dNt0 . This turbine rotational change rate corresponds to an inertia phase, that is, height ΔT0 to a torque after the shift of a transmission output torque T0 during a period when the turbine rotational speed is changed by a shift is finished, and when this turbine rotational change rate becomes higher than a torque before the shift, shift time is lengthened. Therefore, the target turbine rotational change rate dNt0 corresponding to this height ΔT0 is set to be approximately equal to height before the shift.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an automatic transmission mounted on an automobile, and more particularly to a feedback control for supplying / discharging an operating pressure to / from a friction element during gear shifting.

[0002]

2. Description of the Related Art Generally, an automatic transmission mounted on an automobile combines a torque converter and a transmission gear mechanism,
The power transmission path of the transmission gear mechanism is switched by a selective operation of a plurality of friction elements such as a clutch and a brake to automatically shift to a predetermined gear.
Hydraulic control means such as a duty solenoid valve for supplying and discharging the operating pressure to and from the hydraulic chambers of the friction elements is provided.

In this case, in order to smoothly perform the engaging operation and the releasing operation of the friction element at the time of gear shifting to realize a good speed change feeling, feedback control of supply and discharge of the operating pressure for engaging or releasing the friction element is performed. May
For example, according to Japanese Patent Laid-Open No. 6-11029, by comparing the rate of change of the turbine speed during the gear shifting operation with its target value and performing feedback control of the supply and discharge of the working pressure so as to eliminate the deviation, It is shown that the turbine speed is changed well.

In this feedback control, in the example of the above publication, first, a deviation of the turbine rotation change rate from a target value is obtained, and a feedback operation amount as a correction amount of the working pressure for eliminating the deviation is calculated. This is converted into a control amount such as a duty ratio, and by operating the duty solenoid valve etc. with this control amount,
As a result, the operating pressure is controlled so that the turbine rotation change rate matches the target value. In that case, the response of the control is improved by using a so-called I-PD control or various transfer functions as a calculation formula for calculating the feedback amount from the deviation of the turbine rotation change rate from the target value. Is done.

[0005]

However, no matter what calculation formula is used, the dynamics of the feedback control system are obtained by integrating the characteristics of the change of the turbine speed with respect to the working pressure and the characteristics of the working pressure with respect to the duty ratio. Since the characteristics are not constant depending on the operating region, it is difficult to always realize the optimum control state, and in particular, the operating states such as the turbine speed and the turbine torque change in a wide range. Depending on the operating condition, response delay and deterioration of control accuracy may occur.

In view of this, the present invention makes it possible to always perform good control regardless of the operating state by making feedback control of the operating pressure so that the turbine rotation rate of change, etc., during gear shifting can match the target value. Is an issue.

[0007]

In order to solve the above problems, the present invention uses the following means.

First, the invention of claim 1 of the present application (hereinafter referred to as the first invention)
The invention) refers to a torque converter, a speed change gear mechanism, and a plurality of friction elements that are selectively fastened by supply and discharge of operating pressure to switch the power transmission path of the speed change gear mechanism.
In an automatic transmission having feedback control means for feedback control of supply and discharge of operating pressure to and from the friction element so that the turbine rotation speed or a change rate thereof matches a target value at the time of gear shifting, the turbine rotation speed and the turbine rotation change rate A deviation calculating means for calculating a deviation between at least one of the above and a target value thereof, a detecting means for detecting a predetermined value indicating an operating state, and a detection among a plurality of different calculation formulas set according to the operating state. And a feedback operation amount calculating means for calculating a feedback operation amount according to the deviation using a value corresponding to the calculated value.

The invention of claim 2 (hereinafter referred to as the second invention) is the same as the first invention, and is selectively fastened by the torque converter, the speed change gear mechanism, and the supply and discharge of the operating pressure. A plurality of friction elements for switching the power transmission path of the speed change gear mechanism, and a feedback control means for feedback controlling the supply and discharge of the operating pressure to the friction elements at the time of shifting so that the turbine speed or the change rate thereof matches a target value. In the automatic transmission, the deviation calculation means calculates a deviation between at least one of the turbine rotation speed and the turbine rotation change rate and its target value, and a detection means that detects a predetermined value indicating an operating state. Apply the specified value to the operating state where fuzzy stratification is applied to multiple layers, and use the different formulas for each layer And a plurality of temporary feedback operation amount calculation means for calculating the control operation amount, and fuzzy combination of the temporary feedback operation amounts calculated by these different calculation formulas, and the actual operation when the operating pressure is controlled by the feedback control means. An actual feedback operation amount calculation means for calculating the feedback operation amount is provided.

The invention according to claim 3 (hereinafter, referred to as the third
The invention) is characterized in that, in the first invention or the second invention, the turbine speed is detected by the detecting means, and the invention according to claim 4 (hereinafter referred to as the fourth invention). In the same manner as in the first invention or the second invention, is configured to detect the turbine rotation speed and the turbine torque by the detection means.

According to the above configuration, in any of the inventions of the present application, the feedback operation amount is calculated based on the deviation of the turbine rotation change rate or the like from the target value by using a plurality of calculation formulas set according to the operating state. Therefore, even if the dynamic characteristics of the feedback control system differ depending on the operating conditions such as the turbine speed, by setting the above equations appropriately, the characteristics that always correspond to the operating conditions at that time will be calculated. It becomes possible to perform feedback control under this condition.

In particular, according to the second aspect of the invention, the temporary feedback operation amount calculated by each of the plurality of calculation formulas is weighted according to the driving state, fuzzy combination is performed, and the combined actual feedback operation amount is obtained. Since the operating pressure is feedback-controlled by the feedback control, when the dynamic characteristics of the feedback control system are different in each operating state, it is possible to perform feedback control in a state that better matches the characteristics according to the operating state at that time. Becomes

According to the third aspect of the invention, since the feedback control amount or the temporary feedback control amount is calculated by a plurality of different calculation formulas according to the turbine speed, the dynamic characteristic of the feedback control system changes depending on the turbine speed. In any region of the rotation speed,
Feedback control can be performed based on the dynamic characteristics in that region, and according to the fourth aspect of the present invention, when the dynamic characteristics of the feedback control system also change depending on the turbine torque, the turbine speed and the turbine speed can be changed. Good feedback control is performed in any of the torque regions.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described by dividing them into a mechanical structure, a hydraulic control circuit, and a shift control operation.

Mechanical Structure First, the schematic mechanical structure of the entire automatic transmission 10 according to the present embodiment will be described with reference to the skeleton view of FIG.

The automatic transmission 10 has, as main components, a torque converter 20 and first and second planetary gear mechanisms 30 and 40 arranged adjacent to each other as a speed change gear mechanism driven by the output of the converter 20. It has a plurality of friction elements 51 to 55 such as clutches and brakes for switching the power transmission paths composed of the planetary gear mechanisms 30 and 40, and a one-way clutch 56, and thereby, 1 to 4 speeds in the D range and 1 speed in the S range. The third speed, the first and second speeds in the L range, and the reverse speed in the R range can be obtained.

The torque converter 20 is a pump 2 fixed in a case 21 connected to the engine output shaft 1.
2 and the pump 22
And a stator 25 interposed between the pump 22 and the turbine 23 and supported by the transmission case 11 via a one-way clutch 24 to increase the torque. And a lock-up clutch 26 provided between the case 21 and the turbine 23 and directly connecting the engine output shaft 1 and the turbine 23 via the case 21. And
The rotation of the turbine 23 is output to the planetary gear mechanisms 30 and 40 via a turbine shaft 27.

Here, on the side opposite to the engine of the torque converter 20, the oil pump 12 driven by the engine output shaft 1 through the case 21 of the torque converter 20.
Is arranged.

On the other hand, the first and second planetary gear mechanisms 30,
Reference numeral 40 denotes sun gears 31 and 41, and a plurality of pinions 32 ... 32 meshed with the sun gears 31 and 41.
42 ... 42 and these pinions 32 ... 32, 42 ... 4
2 and pinion carriers 33, 43, and ring gears 34 meshed with the pinions 32,.
44.

The turbine shaft 27 and the first
A forward clutch 51 is provided between the planetary gear mechanism 30 and the sun gear 31, a reverse clutch 52 is provided between the turbine shaft 27 and the sun gear 41 of the second planetary gear mechanism 40, and a turbine shaft 27 is provided with the second planetary gear mechanism. A 3-4 clutch 53 is interposed between the pinion carrier 43 and the pinion carrier 40, and a 2-4 brake 54 for fixing the sun gear 41 of the second planetary gear mechanism 40 is provided.

Further, the ring gear 34 of the first planetary gear mechanism 30 and the pinion carrier 43 of the second planetary gear mechanism 40.
The low reverse brake 55 and the one-way clutch 56 are arranged in parallel between the transmission case 11 and these components, and the pinion carrier 33 of the first planetary gear mechanism 30 and the second planetary gear mechanism Forty ring gears 44 are connected, and the output gear 13 is connected to them.

The output gear 13 is meshed with the first intermediate gear 62 on the idle shaft 61 which constitutes the intermediate transmission mechanism 60, and the second intermediate gear 63 on the idle shaft 61 and the differential device. The input gear 71 of the differential gear 70 meshes with the rotation of the output gear 13 and is input to the differential case 72 of the differential gear 70.
The left and right axles 73, 74 are driven via the zero.

Table 1 below summarizes the relationship between the operating states of the friction elements 51 to 55 such as the above-mentioned clutches and brakes and the one-way clutch 56 and the shift speeds.

The automatic transmission 10 shown in the above-mentioned skeleton diagram
2 is specifically configured as shown in FIG. 2. As shown in this figure, the transmission case 11 is provided with a turbine rotation sensor 305 used for control described later. ing.

[0025]

[Table 1] Hydraulic Control Circuit Next, the configuration of the hydraulic control circuit for supplying and discharging the working pressure to and from the hydraulic chambers provided in the friction elements 51 to 55 shown in FIGS. 1 and 2 will be described with reference to FIG.

Of the above friction elements, the 2-4 brake 54, which is a band brake, has a fastening chamber 54a and a release chamber 54b as hydraulic chambers to which operating pressure is supplied, and operates only in the fastening chamber 54a. 2 when pressure is supplied
-4 When the brake 54 is engaged and operating pressure is supplied only to the release chamber 54b, when operating pressure is not supplied to both chambers 54a and 54b, and when operating pressure is supplied to both chambers 54a and 54b. When 2-4 brake 54
Is to be released. Further, the other friction elements 51 to 53, 55 have a single hydraulic chamber, and the friction elements are engaged when the operating pressure is supplied to the hydraulic chamber.

As shown in FIG. 3, this hydraulic control circuit 10
0, the main components are: a regulator valve 101 for adjusting the discharge pressure of the oil pump 12 to generate a predetermined line pressure; a manual valve 102 for switching the range by manual operation; Reverse valve 103, bypass valve 104, and 3-4 for switching oil passages leading to friction elements 51-55
A shift valve 105, a lock-up control valve 106, first and second ON-OFF solenoid valves (hereinafter referred to as "first and second SV") 111 and 112 for operating these valves 103 to 106, and Solenoid relay valve (hereinafter referred to as “relay valve”) for switching the supply destination of the operating pressure from 1SV111
07, and first to third duty solenoid valves (hereinafter, referred to as “first to third DSVs”) that control generation, adjustment, discharge, and the like of the operating pressure supplied to the hydraulic chambers of the friction elements 51 to 55.
121, 122, 123, etc. are provided.

Here, the first and second SVs 111 and 11 are
Each of the second and first to third DSVs 121 to 123 is a three-way valve, and can obtain a state in which the upper and downstream oil paths are communicated and a state in which the downstream oil path is drained. ing. In the latter case, since the oil passage on the upstream side is shut off, the hydraulic oil from the upstream side is not discharged in the drain state, and the drive loss of the oil pump 12 is reduced.

The first and second SVs 111 and 112 are O
When N, the upper and lower oil passages are connected. Also, the first
-When the third DSVs 121 to 123 are OFF, that is, when the duty ratio (the ratio of the ON time in one ON-OFF cycle) is 0%, the third DSVs 121 to 123 are fully opened, and the upper and downstream oil passages are completely communicated with each other. When the duty ratio is 10
At 0%, the oil path on the upstream side is shut off to cause the oil path on the downstream side to be in a drain state. At an intermediate duty ratio, the hydraulic pressure on the upstream side is used as the original pressure, and the duty ratio on the downstream side is reduced. An oil pressure adjusted to a corresponding value is generated.

The line pressure generated by the regulator valve 101 is supplied to the manual valve 102 via a main line 200, and a solenoid reducing valve (hereinafter referred to as "reducing valve") 108 is also provided. It is supplied to the 3-4 shift valve 105.

The line pressure supplied to the reducing valve 108 is reduced to a constant pressure by the valve 108 and then supplied to the first and second SVs 111 and 112 via lines 201 and 202. .

This constant pressure is supplied to the relay valve 107 via the line 203 when the first SV 111 is ON, and when the spool of the relay valve 107 is located on the right side in the drawing (same below). Is
Further, a pilot pressure is supplied to a control port at one end of the bypass valve 104 via the line 204 to urge the spool of the bypass valve 104 to the left. When the spool of the relay valve 107 is located on the left side, the 3-4 shift valve 105
Is supplied as pilot pressure to the control port at one end of
The spool of the 3-4 shift valve 105 is biased to the right.

When the second SV 112 is ON,
The constant pressure from the reducing valve 108 is supplied to the bypass valve 104 via a line 206, and when the spool of the bypass valve 104 is located on the right side, a lock-up control valve is further provided via a line 207. The control valve 106 is supplied as pilot pressure to a control port at one end of the control valve 106.
Bias the spool to the left. Also, bypass valve 1
When the spool No. 04 is located on the left side, the line 208
Is supplied as a pilot pressure to the control port at one end of the low reverse valve 103 to bias the spool of the low reverse valve 103 to the left.

Further, the constant pressure from the reducing valve 108 is also supplied to the control port 101a of the regulator valve 101 via the line 209. In this case, the constant pressure is adjusted by the linear solenoid valve 131 provided on the line 209 according to, for example, the throttle opening of the engine. Therefore, the line pressure is adjusted by the regulator valve 101 according to the throttle opening and the like. Will be adjusted.

The main line 200 guided to the 3-4 shift valve 105 is connected to the first line via the line 210 when the spool of the valve 105 is located on the right side.
The accumulator 141 communicates with the accumulator 141.
To introduce line pressure.

On the other hand, the line pressure supplied from the main line 200 to the manual valve 102 is D, S, L.
Are introduced into the first output line 211 and the second output line 212 in each forward range, into the first output line 211 and the third output line 213 in the R range, and into the third output line 213 in the N range.

The first output line 211 has a first
It is led to the DSV 121 and supplies the first DSV 121 with a line pressure as a control source pressure. The downstream side of the first DSV 121 is connected to a low reverse valve 1 via a line 214.
03, and when the spool of the valve 103 is located on the right side, a further line (servo apply line)
It is guided to the engagement chamber 54a of the 2-4 brake 54 via 215. When the spool of the low reverse valve 103 is located on the left side, the spool is further guided to the hydraulic chamber of the low reverse brake 55 via a line (low reverse brake line) 216. Here, the line 21
A line 217 is branched from 4 and led to the second accumulator 142.

The second output line 212 has a second
The line pressure is introduced to the DSV 122 and the third DSV 123, and the line pressure as the control source pressure is supplied to these DSVs 122 and 123, and is also introduced to the 3-4 shift valve 105.

The line 212 guided to the 3-4 shift valve 105 is guided to the lock-up control valve 106 via the line 218 when the spool of the valve 105 is located on the left side, and the spool of the valve 106. Is further guided to the hydraulic chamber of the forward clutch 51 via a line (forward clutch line) 219.

Here, the forward clutch line 2
The line 220 branched from 19 is led to the 3-4 shift valve 105. When the spool of the valve 105 is located on the left side, the line 220 communicates with the first accumulator 141 via the aforementioned line 210, and the valve 105 When the spool is located on the right side, it communicates with the release chamber 54b of the 2-4 brake 54 via the line (servo release line) 221.

The downstream side of the second DSV 122 to which the control source pressure is supplied from the second output line 212 is connected to the line 22.
The spool of the relay valve 107 is biased to the left side by being guided to the control port at one end of the relay valve 107 via 2 and supplying pilot pressure to the port. The line 22 branched from the line 222
3 is led to a low reverse valve 103, and the valve 10
When spool 3 is on the right, line 2
Leads to 24.

From this line 224, the orifice 15
1, the line 225 is branched, and the branched line 225 is led to the 3-4 shift valve 105. When the spool of the 3-4 shift valve 105 is located on the left side, the servo Release line 221
Through the release chamber 54b of the 2-4 brake 54.

From the line 224 to the orifice 1
A line 226 is further branched from a line 225 branched through the line 51, and the line 226 is further branched.
Is guided to the bypass valve 104, and is guided to the hydraulic chamber of the 3-4 clutch 53 via the line (3-4 clutch line) 227 when the spool of the valve 104 is located on the right side.

Further, the line 224 is directly led to the bypass valve 104, and when the spool of the valve 104 is located on the left side, it is connected to the line 225 via the line 226. That is, the line 224 and the line 225
Are connected to bypass the orifice 151.

Further, the line 22 is provided on the downstream side of the third DSV 123 to which the control source pressure is supplied from the second output line 212.
8 and is led to the lock-up control valve 106, and when the spool of the valve 106 is located on the right side, it communicates with the forward clutch line 219.
When the spool of the lock-up control valve 106 is located on the left side, it communicates with the front chamber 26a of the lock-up clutch 26 via the line 229.

Further, the third output line 213 from the manual valve 102 is guided to the low reverse valve 103 and supplies the line pressure to the valve 103. When the spool of the valve 103 is located on the left side, it is guided to the hydraulic chamber of the reverse clutch 52 via a line (reverse clutch line) 230.

The line 231 branched from the third output line 213 is guided to the bypass valve 104, and when the spool of the valve 104 is located on the right side, the low reverse valve 103 is controlled via the above-mentioned line 208. Line pressure is supplied to the port as pilot pressure, and the spool of the low reverse valve 103 is biased to the left.

In addition to the above configuration, this hydraulic control circuit 1
00 is provided with a converter relief valve 109. This valve 109 is a regulator valve 10
After the working pressure supplied from 1 through the line 232 is regulated to a constant pressure, this constant pressure is supplied to the lock-up control valve 106 via the line 233. This constant pressure is applied to the lock-up control valve 1
When the spool of the valve 106 is located on the right side, it is supplied to the front chamber 26a of the lock-up clutch 26 via the aforementioned line 229. When the spool of the valve 106 is located on the left side, the constant pressure is applied to the line 234. The air is supplied to the rear chamber 26b via the rear chamber 26b.

The lockup clutch 26 is released when the constant pressure is supplied to the front chamber 26a, and the spool of the lockup control valve 106 is located on the left side, and the operation generated by the third DSV 123 is performed. When the pressure is supplied to the front chamber 26a,
The slip state is controlled according to the operating pressure.

Further, from the manual valve 102, a line 235 leading to the main line 200 in each of the D, S, L, N ranges is guided, and the regulator valve 1
01 is connected to the pressure reducing port 101b, and the line pressure is introduced into the pressure reducing port 101b in each of the above ranges. Has become lower.

Here, the specific structure of the hydraulic actuator of the 2-4 brake 54 will be described. As shown in FIG. 4, the hydraulic actuator includes a transmission case 11 and a cover member 54c fixed to the case 11. A piston 54e is fitted in a servo cylinder 54d constituted by and the above-mentioned fastening chamber 54a and release chamber 54b are formed on both sides thereof. In addition, the piston 54e
Has a band fastening stem 54f attached thereto, the stem 54f is engaged with one end of a brake band 54g wound around a member to be braked (not shown), and the other end of the band 54g. The side is engaged with a fixing stem 54h provided in the case 11, and a piston 54e is further provided in the release chamber 54b.
A spring 54i that urges toward the 4a side, that is, the side on which the brake band 54g is loosened is housed.

Then, the operating pressure is supplied from the control valve unit constituting the hydraulic control circuit 100 to the engagement chamber 54a and the release chamber 54b through the oil hole (not shown), and the brake band is supplied in accordance with the supply state. By tightening or loosening 54g, the 2-4 brake 54 is fastened or released, and in particular,
In this hydraulic actuator, the piston 54
The pressure receiving areas of the fastening chamber 54a side and the release chamber 54b side of e are made substantially equal, and therefore, for example, both chambers 54a, 54
When an operating pressure equal to b is supplied, these pressures cancel each other out, and only the biasing force of the spring 54i acts on the release side.

On the other hand, in the automatic transmission 10, as shown in FIG. 5, the first and second hydraulic control circuits 100 are provided.
SV111, 112, first to third DSVs 121 to 123
And a controller 300 for controlling the linear solenoid valve 131, and the controller 300 includes a vehicle speed sensor 30 for detecting the vehicle speed of the vehicle.
1. In the throttle opening sensor 302 for detecting the throttle opening of the engine, the engine rotation sensor 303 for detecting the engine speed, the shift position sensor 304 for detecting the shift position (range) selected by the driver, and the torque converter 20. Signals from a turbine rotation sensor 305 that detects the rotational speed of the turbine 23, an oil temperature sensor 306 that detects the oil temperature of hydraulic oil, and the like are input, and the operation of the vehicle or engine indicated by the signals from these sensors 301 to 306. Each solenoid valve 1 depending on the condition etc.
The operation of 11, 112, 121 to 123, 131 is controlled. The turbine rotation sensor 3
As for 05, its mounting state is shown in FIG.

Next, the first and second SVs 111 and 112
The relationship between the operating states of the first to third DSVs 121 to 123 and the supply and discharge states of the operating pressure of the friction elements 51 to 55 to and from the hydraulic chamber will be described for each shift speed.

Here, the combinations of the operating states (solenoid patterns) of the first and second SVs 111 and 112 and the first to third DSVs 121 to 123 for each shift stage are set as shown in Table 2 below.

In Table 2, (◯) indicates the first and second SV1s.
ON for 11 and 112, first to third DSV121
Reference numerals 123 to 123 are OFF, and all indicate a state in which the upstream oil passage is communicated with the downstream oil passage and the original pressure is supplied to the downstream as it is. (×) indicates the first and second
OFF for SV111 and 112, 1st to 3rd DS
V121 to V123 are ON.
This shows a state in which the upstream oil passage is shut off and the downstream oil passage is drained.

[0057]

[Table 2] First, in the first gear (excluding the first gear in the L range),
As shown in FIG. 6, only the third DSV 123 operates to generate an operating pressure using the line pressure from the second output line 212 as a source pressure, and this operating pressure is supplied via a line 228 to a lock-up control valve. 106. At this point, the spool of the lock-up control valve 106 is located on the right side,
The operating pressure is the forward clutch line 219.
Is supplied to the hydraulic chamber of the forward clutch 51 as a forward clutch pressure, whereby the forward clutch 51 is engaged.

Here, the forward clutch line 2
19 is connected to the first accumulator 1 via the 3-4 shift valve 105 and the line 210.
Due to the communication with 41, the supply of the forward clutch pressure is performed gently.

Next, in the second speed state, as shown in Table 2 and FIG. 7, in addition to the above first speed state, the first DSV 12
1 also operates, and generates an operating pressure using the line pressure from the first output line 211 as a source pressure. This operating pressure is
4 to the low reverse valve 103,
At this time, since the spool of the low reverse valve 103 is located on the right side, it is further introduced into the servo release line 215, and the engagement chamber 54 of the 2-4 brake 54
a is supplied as servo apply pressure. This allows
In addition to the forward clutch 51, the 2-4 brake 54 is engaged.

Since the line 214 communicates with the second accumulator 142 via the line 217, the supply of the servo apply pressure and the engagement of the 2-4 brake 54 are performed gently. When the spool of the low reverse valve 103 moves to the left when shifting to the first speed in the L range, which will be described later, the hydraulic oil stored in the accumulator 142 is transmitted from the low reverse brake line 216 to the hydraulic pressure of the low reverse brake 55. The room is precharged.

In the third speed state, as shown in Table 2 and FIG. 8, in addition to the above second speed state, the second DS
V122 also operates, and generates an operating pressure using the line pressure from the second output line 212 as a source pressure. This operating pressure is supplied to the low reverse valve 103 via the line 222 and the line 223. At this time, since the spool of the valve 103 is located on the right side, the line 2
24.

Then, this operating pressure is introduced into the line 225 from the line 224 through the orifice 151,
At this point, since the spool of the 3-4 shift valve 105 is located on the left side, the servo is further moved to the release chamber 54b of the 2-4 brake 54 via the servo release line 221. Supplied as release pressure. Thereby, 2-4 brake 5
4 is released.

From the line 224 to the orifice 1
From line 225 branched through 51, line 22
6 is branched, and the operating pressure is guided to the bypass valve 104 by the line 226, and at this time, the spool of the bypass valve 104 is located on the right side, and the line 3 is further connected via the 3-4 clutch line 227. It is supplied to the hydraulic chamber of the 3-4 clutch 53 as 3-4 clutch pressure. Therefore, in the third speed, the forward clutch 51 and the 3-4 clutch 53 are engaged, while the 2-4 brake 54 is released.

In the third speed state, the second DSV 122 generates the working pressure as described above, and this is the line 22.
The spool of the relay valve 107 is moved to the left by being supplied to the control port 107a of the relay valve 107 via 2.

Further, in the state of the fourth speed, as shown in Table 2 and FIG. 9, the third DSV 123 stops generating the operating pressure and the first SV 111 operates in the state of the third speed.

By the operation of the first SV 111, a constant pressure from the line 201 is supplied to the relay valve 107 via the line 203, but as described above, the spool of the relay valve 107 is left side at the 3rd speed. Since the above-mentioned constant pressure is transferred to the line 3-
This is supplied to the control port 105a of the four-shift valve 105, and the spool of the valve 105 moves to the right. Therefore, the servo release line 221 is divided into the line 22 branched from the forward clutch line 219.
0, and the release chamber 54b of the 2-4 brake 54 communicates with the hydraulic chamber of the forward clutch 51.

Then, as described above, the third DSV 123 stops the generation of the operating pressure and puts the downstream side into the drain state, whereby the servo release pressure in the release chamber 54b of the 2-4 brake 54 and the forward clutch 51. Forward clutch pressure in the hydraulic chamber of the third DSV via the lockup control valve 106 and the line 228.
It will be drained at 123.
The brake 54 is engaged again, and the forward clutch 51 is released.

On the other hand, in the first speed in the L range, Table 2 and FIG.
As shown in FIG. 0, the first and second SVs 111 and 112 and the first and third DSVs 121 and 123 operate and the third DSVs 121 and 123 operate.
The operating pressure generated by V123 is 1 such as D range.
Similar to the speed, the hydraulic pressure is supplied to the hydraulic chamber of the forward clutch 51 via the line 228, the lockup control valve 106 and the forward clutch line 219 as the forward clutch pressure, and the forward clutch 51 is engaged. At this time, the operating pressure is introduced into the first accumulator 141 through the line 220, the 3-4 shift valve 105 and the line 210, so that the forward clutch 51 is loosely engaged. The points are the same as those of the first speed such as the D range.

The operation of the first SV 111 also supplies pilot pressure to the control port 104a of the bypass valve 104 via the line 203, the relay valve 107, and the line 204 to move the spool of the valve 104 to the left. Accordingly, the operating pressure from the second SV 112 is reduced by the line 206 and the bypass valve 104.
And is supplied to the control port 103a of the low reverse valve 103 to move the spool of the low reverse valve 103 to the left.

Therefore, the operating pressure generated by the first DSV 121 is supplied as the low reverse brake pressure to the hydraulic chamber of the low reverse brake 55 via the line 214, the low reverse valve 103 and the low reverse brake line 216, whereby the forward pressure is forwarded. In addition to the clutch 51, the low reverse brake 55 is engaged, and the first speed in which the engine brake operates is obtained.

Further, in the R range, as shown in Table 2 and FIG. 11, the first and second SVs 111 and 112 and the first to second SVs 111 and 112 are provided.
The third DSVs 121 to 123 operate. However, the second,
Regarding the third DSVs 122 and 123, the supply of the original pressure from the second output line 212 is stopped, so that no operating pressure is generated.

In this R range, as described above, the first,
Since the second SVs 111 and 112 are operated, the spool of the bypass valve 104 moves to the left and the spool of the low reverse valve 103 also moves to the left as in the case of the first speed in the L range. Then, in this state, the operating pressure is generated by the first DSV 121,
This is supplied to the hydraulic chamber of the low reverse brake 55 as low reverse brake pressure.

On the other hand, in the R range, the manual valve 1
02, a line pressure is introduced into the third output line 213,
This line pressure is supplied as the reverse clutch pressure to the hydraulic chamber of the reverse clutch 52 via the low reverse valve 103 in which the spool has moved to the left side as described above, and the reverse clutch line 230. Therefore, the reverse clutch 52 and the low reverse brake 55 are engaged.

The third output line 213 has N
Since the line pressure is also introduced from the manual valve 102 in the range, when the spool of the low reverse valve 103 is located on the left side, the reverse clutch 52 is set in the N range.
Is concluded.

Control Operation Next, a description will be given of the shift control by the above-mentioned controller 300, especially the characteristic control operation relating to the upshift shift.

It should be noted that the control of the up-shift gear shift is as shown in FIG.
As shown in FIG.
The conversion rate dNt is the target change rate dNt₀To match
The supply of operating pressure mainly to the friction element on the engagement side is
It is performed by controlling the feedback. This turbine
Rotational change rate dNt As shown in FIG. 13,
Phase, that is, the period when the turbine speed changes due to shifting
After the end of the shift of the transmission output torque To during the period
It corresponds to the height ΔTo with respect to the torque.
If the torque becomes higher than that before the speed change, the shift shock will increase.
If it is too low, the shift time will be long. Therefore,
As shown in the figure, make it almost equal to the height before shifting,
Target turbine rotation change rate dN corresponding to this height ΔTo
t₀Is set.

(1) 1-2 Shift Control First, regarding the general operation of the upshift shift, 1-2
A description will be given by taking a shift as an example.

For the 1-2 shift, as is apparent from FIGS. 6 and 7, the operating pressure generated by the third DSV 123 is supplied to the hydraulic chamber of the forward clutch 51 and the clutch 51 is engaged, This is performed by generating a servo apply pressure by the first DSV 121 and supplying this to the engagement chamber 54a of the 2-4 brake 54. In that case, the feedback control of the servo apply pressure by the first DSV 121 is performed.

Here, as described above, the first to third DSVs
121 to 123 are in a drain state in which the operating pressure is not generated at a duty ratio of 100%, and are in a fully open state in which the operating pressure is equal to the original pressure at 0%, and the operating pressure is controlled at an intermediate duty ratio.

The control of the servo apply pressure by the first DSV 121 at the time of the 1-2 shift is performed according to the program shown in FIG. 14, and when the 1-2 shift command is output, first, at steps S1 to S3, the base hydraulic pressure is set. Pb, feedback oil pressure Pfb, and learned oil pressure Pad are calculated. Then, in step S4, these hydraulic pressures Pb, Pf
b and Pad are added to obtain the calculated hydraulic pressure Ps.

Here, as shown in FIG. 15, the base oil pressure Pb is maintained at a constant initial value until the turbine rotation speed starts to decrease after the output of the gear shift command, that is, until the inertia phase indicated by the symbol A is started. The value is held at Pb 'and
It is set so as to rise at a constant rate from the start of the inertia phase, and its specific setting operation will be described later.

Further, the feedback oil pressure Pfb is set so that the turbine rotation change rate dNt during the inertia phase from the time when the predetermined time T1 has elapsed from the start of the inertia phase coincides with the target change rate dNt _0. The calculation of the feedback oil pressure Pfb will also be described in detail later. Even if the inertia phase is started, the feedback oil pressure Pfb is not calculated until the predetermined time T1 elapses. That is, the turbine rotation change rate dNt, which is the basis of the feedback oil pressure calculation, cannot be accurately calculated at the start of the inertia phase. Because.

Further, the learning hydraulic pressure Pad is the previous 1-2.
After the shifting operation at the time of shifting, the learning hydraulic pressure Pad is set based on the inertia phase state at that time and is used at the current shifting. The calculation of the learning hydraulic pressure Pad will also be described in detail later.

Next, in step S5 of the above program,
It is determined based on the value of the precharge flag Fp whether or not the control period of the precharge performed when the shift command is output.

This precharge control is set to 2 at the start of gear shifting.
-4 for quickly filling the oil passage leading to the engagement chamber 54a of the brake 54 with hydraulic oil to improve the responsiveness of the gear shifting operation, and when Fp = 1, that is, set by a program described later. During the pre-charge period, in step S6, a signal having a duty ratio of 0% is output to the first DSV 121 to bring the first DSV 121 into a fully open state.

When Fp = 0, that is, when the precharge period ends, it is further determined in step S7 whether the 1-2 shift has ended. The determination of the end of the shift is that the turbine rotation change rate dNt has changed from negative to positive, that the absolute value of the turbine rotation change rate dNt has decreased to less than half of the value during the shift, and the turbine speed Nt is at the start of the shift. It is performed when any one of the following conditions is satisfied: the number of revolutions is reduced to the number of revolutions at the end of the shift calculated from the number of revolutions.

Before the end of the shift, that is, after the end of the precharge control and before the end of the shift, in step S8, a signal of the duty ratio corresponding to the calculated hydraulic pressure Ps obtained as described above is output to the first DSV 121. The first DSV
121, the duty ratio, that is, the calculated hydraulic pressure Ps.
The servo apply pressure according to the above is generated and supplied to the engagement chamber 54a of the 2-4 brake 54. After the shift is completed, in steps S9 and S10, the duty ratio is reduced at a constant rate and output until the duty ratio becomes 0%.

As a result, the servo apply pressure as shown in FIG. 15 is obtained, and the turbine rotation change rate dNt during the inertia phase is controlled so as to match the target change rate dNt ₀ .

(2) Calculation of base hydraulic pressure Among the hydraulic pressures constituting the calculated hydraulic pressure Ps, the calculation of the base hydraulic pressure Pb is performed as follows according to the program shown in FIG.

First, in step S11, the target turbine rotation change rate dNt ₀ during shifting is calculated, and then in step S12, the oil pressure Pi corresponding to this target turbine rotation change rate dNt ₀ is calculated based on the map. This map is, as shown in FIG. 17, the target turbine rotation change rate dNt.
_The smaller the value of ₀ (the larger the absolute value), the larger the value.

Further, in steps S13 and S14, the hydraulic pressure Pt according to the target turbine torque Tt ₀ at the time of shifting and the hydraulic pressure Pt2 corresponding to the square of the target turbine torque Tt ₀ are shown in FIGS. 18 and 19, respectively. It is calculated based on the map set as shown, and these hydraulic pressures Pt and Pt2 are calculated in step S15 by the target turbine rotation change rate dNt.
The initial value Pb ′ of the base hydraulic pressure is calculated by adding the hydraulic pressure Pi corresponding to ₀ .

Here, the target turbine torque Tt ₀ is obtained by multiplying the turbine torque before the gear shift by the down ratio of the engine output torque during the gear shift, and the corresponding turbine oil pressure Pt, Pt2 is the target turbine rotation change rate. By correcting the hydraulic pressure Pi corresponding to dNt ₀ , the fluctuation of the transmission output torque during the shift is further suppressed.

Then, in step S16, it is determined whether or not the actual turbine rotation change rate dNt has become smaller than a predetermined value K1. This is to determine when the turbine speed has started to decrease due to the start of the inertia phase (see reference numeral A in FIG. 15), and the base oil pressure Pb is set to the above initial value in step S17 until dNt <K1. Value P
When held at b ′ and dNt <K1, step S18
Then, the value obtained by multiplying the elapsed time t from that time point by the predetermined value K2 is added to the initial value Pb 'to raise the base oil pressure Pb at a constant rate. As a result, the base oil pressure Pb as shown in FIG. 15 is obtained.

(3) Calculation of Feedback Hydraulic Pressure In the feedback control of the operating pressure as described above, the feedback hydraulic pressure Pfb is calculated as follows according to the program shown in FIG. The feedback hydraulic pressure Pfb is calculated using a fuzzy control method in order to cope with the fact that the dynamic characteristics of the feedback control system differ depending on the operating state such as the turbine speed Nt.

First, in step S21, the deviation Ed of the turbine rotation change rate dNt from the target change rate dNt _{0 is} calculated.
While calculating (t), in step S22, the region for the turbine speed Nt is fuzzy stratified into a plurality of regions, and three membership functions that take different grade values from 0 to 1 depending on these strata Mn1, Mn
2. Set Mn3.

Here, the subscript (t) indicates the value obtained in this control cycle. Further, the above-mentioned membership functions Mn1, Mn2, Mn3 are defined as shown in Expressions 1 to 3, respectively, and shown in FIG. 21.

[0097]

(Equation 1)

[0098]

(Equation 2)

[0099]

(Equation 3) Next, in step S23, three calculation formulas in which coefficients and the like are set so as to respectively correspond to the three regions of the turbine rotation speed Nt having different dynamic characteristics are used to calculate the deviation Ed (t) and the like obtained in step S1. According to the feedback operation amount Fb
1 (t), Fb2 (t), and Fb3 (t) are calculated.

Here, the three formulas are, in general form,
It is expressed by the functions F1, F2, and F3 as shown in the following Expressions 4 to 6. The subscript (ti) indicates the value obtained in the control cycle i times before.

[0101]

(Equation 4)

[0102]

(Equation 5)

[0103]

(Equation 6) These expressions are the deviations Ed (t) and Ed (t-i) obtained in the control cycle of this time and the control cycles of the time before the previous time.
And by substituting the feedback operation amounts Fb1 (t-i) to Fb3 (t-i) obtained in the control cycle before the previous time in the equation into a predetermined function, the current feedback operation amount Fb1 (t) ~ Fb3 (t) is obtained.

Then, in step S24, these feedback manipulated variables Fb1 (t) to Fb3 (t) are converted into the grade values Mn1 (Nt) of the membership functions Mn1, Mn2, Mn3 at the current turbine speed Nt. ，
The final feedback manipulated variable Fb (t) is calculated by fuzzy synthesis using Mn2 (Nt) and Mn3 (Nt) according to the following expression 7.

[0105]

[Formula 7] This final feedback operation amount Fb (t) is the feedback oil pressure Pfb in the program of FIG.
In this way, the feedback oil pressure Pfb is the feedback operation amount Fb1 (t) to Fb3 (t) obtained using the calculation formulas corresponding to the three regions of the turbine rotation speed Nt in which the dynamic characteristics of the feedback control system are different. This feedback oil pressure Pf is calculated by weighting and combining according to the region of the turbine speed Nt.
By using b, even when the dynamic characteristics of the feedback control system such as the characteristics of the change of the turbine speed with respect to the working pressure and the characteristics of the working pressure with respect to the duty ratio differ depending on the region of the turbine speed Nt, the region is always kept in that region. Feedback control is performed based on the dynamic characteristics of.

It should be noted that the feedback manipulated variables Fb1 (t) to Fb3 expressed in the general form as the above expressions 4 to 6 are given.
Specifically, the following equations are used as the three calculation equations of (t).

[0107]

(Equation 8)

[0108]

[Equation 9]

[0109]

(Equation 10) The equations 8 to 10 are feedback operation amounts Fb1.
(T) to Fb3 (t) are obtained in a so-called transfer function form. In these equations, A1 _{0 to} A1 ₆ , B1 _{1 to} B1 ₆ ,
_{A2 0 ~A2 6, B2 1 ~B2} 6, A3 0 ~A3 6, B3 1 ~
B3 ₆ is a coefficient as the transfer function, the set of these coefficients so as to correspond respectively to the dynamic characteristics of the three areas it is being set to different values.

The following equations 11 to 13 are so-called IP
Feedback control amount Fb1 (t) to Fb in D control format
3 (t).

[0111]

[Equation 11]

[0112]

(Equation 12)

[0113]

(Equation 13) Here, C1 _{1 to} C1 ₃ , C2 _{1 to} C2 ₃ , and C3 _{1 to} C3 ₃ are a set of coefficients used in each formula, and each formula is different as in the case of the above formulas 8 to 10. Set to the value.

Next, according to the dynamic characteristics of the feedback control system, the operating region is fuzzy classified into a turbine rotational speed Nt region and a turbine torque Tt region, and a calculation formula corresponding to each of these layers is used. An example of calculating the final feedback control input Fb (t) by fuzzy synthesis will be described.

In this example, first, the membership functions Mn1, M with the turbine speed Nt as a parameter are set.
n2 and membership functions Mt1 and Mt2 having the turbine torque Tt as a parameter are defined as shown in Expressions 14 to 17. The membership functions Mn1, Mn2, Mt1, and Mt2 are shown in FIG.
2, as shown in FIG.

[0116]

(Equation 14)

[0117]

(Equation 15)

[0118]

(Equation 16)

[0119]

(Equation 17) Next, four regions Z11, Z12, which have the turbine speed Nt and the turbine torque Tt shown in FIG. 24 as parameters,
The four calculation formulas shown in Formulas 18 to 21 set according to Z21 and Z22 are used, and the deviation Ed is added to these formulas.
(T), the turbine rotation change rate dNt (t), etc. are substituted, and the feedback manipulated variable Fb11 is calculated from the respective equations.
(T), Fb12 (t), Fb21 (t), Fb22
(T) is calculated.

[0120]

(Equation 18)

[0121]

(Equation 19)

[0122]

(Equation 20)

[0123]

(Equation 21) The coefficients D1 _{1 to} D1 ₃ and D2 ₁ to
_{D2 3, D3 1 ~D3 3,} D4 1 ~D4 3 also, depending on the dynamic characteristics of the respective regions Z11, Z12, Z21, the feedback control system in the Z22, the feedback manipulated variable F
b11 (t), Fb12 (t), Fb21 (t), Fb
22 (t) is set to be calculated.

Then, the feedback manipulated variables Fb11 (t), Fb12 (t), F determined by these calculation formulas.
b21 (t), Fb22 (t) are the grade values Mn1 (Nt), Mn2 (Nt) of the membership functions Mn1, Mn2 at the current turbine rotational speed Nt, and the membership functions Mt1, Mt2 at the present time. Turbine torque Tt grade values Mt1 (Tt), Mt2 (T
The final feedback manipulated variable Fb (t) is calculated by fuzzy combining according to the following equation 22 using t).

[0125]

(Equation 22) According to this example, the final feedback operation amount Fb (t)
Is the region of turbine speed Nt and turbine torque Tt
Since it is set in consideration of the difference in dynamic characteristics depending on the region, the feedback control is performed in conformity with each operating state regardless of the operating state of the turbine rotation speed Nt and the turbine torque Tt. Will be done.

(4) Calculation of learning hydraulic pressure At the start of the shift of the 1-2 shift, the initial value Pb 'of the base hydraulic pressure Pb is supplied to the engagement chamber 54a of the 2-4 brake 54 after the completion of the precharge. The torque phase is realized by, but in reality, the torque phase shown in FIG.
As shown in steps S3 and S4 of the program, the operating pressure obtained by adding the learned hydraulic pressure Pad calculated at the previous 1-2 shift is supplied to the base hydraulic pressure Pb.

This learning hydraulic pressure Pad is set when the gear shifting operation is completed, by detecting how the feedback control is performed during the inertia phase of the gear shifting operation, and is set according to the state of the feedback control. 25. Specifically, it is set according to the program shown in FIG.

First, in step S31, it is determined whether or not the shift is completed. When the shift is completed, in step S32, the turbine rotation change rate dNt that first occurs in the inertia phase defined as shown in FIG. 26 is set. The magnitude of the peak (absolute value) dNtp and the time of occurrence Tp are detected.

In step S33, membership functions Mp1 and Mp with the peak occurrence time Tp as a parameter are set.
p2 is set according to Equations 23 and 24.

[0130]

(Equation 23)

[0131]

(Equation 24) Here, the value of the peak occurrence time Tp indicates the number of control cycles from the start of the inertia phase. Further, when these membership functions Mp1 and Mp2 are illustrated, FIG.
become that way.

Then, in step S34, equations 25 and 26 for calculating the correction amounts Pxp1 and Pxp2 according to the peak occurrence time Tp are used, and the peak size dN is added to these equations.
The correction amounts Pxp1 and Pxp2 are calculated by substituting tp.

[0133]

(Equation 25)

[0134]

(Equation 26) These equations are for obtaining the correction amounts Pxp1 and Pxp2 proportional to the difference between the peak size dNtp of the turbine rotation change rate dNt and the target change rate dNt _0, and the coefficients E1 and E2 are the peak generation timing Tp. Correction amount Px according to
Different values are set so that p1 and Pxp2 can be obtained.

Next, in step S35, the average value Mfb of the feedback operation amount (feedback hydraulic pressure Pfb) during the inertia phase is calculated, and in step S36, the membership functions Mf1, Mf2 having the average value Mfb as a parameter are calculated. Expression 2 to Expression 2 for Mf3
Set as shown in 9.

[0136]

[Equation 27]

[0137]

(Equation 28)

[0138]

(Equation 29) The membership functions Mf1 to Mf3 are shown in FIG. 28.

Then, in step S37, the correction amount Pxf1, is calculated according to the average value Mfb of the feedback operation amounts.
Using Equations 30 to 32 for calculating Pxf2 and Pxf3,
By substituting the average value Mfb into these equations, the correction amounts Pxf1, Pxf2, Pxf3 corresponding to the average value Mfb are calculated.

[0140]

[Equation 30]

[0141]

(Equation 31)

[0142]

(Equation 32) These expressions are for obtaining the correction amounts Pxf1 and Pxf2 proportional to the average value Mfb of the feedback operation amount, and the coefficients F1 and F2 are such that the correction amounts Pxf1 and Pxf2 corresponding to the average value Mfb are obtained. It is set to a different value. The correction amount Pxf3 is always 0.

[0143] Further, in step S38, the to calculate the average value Med of deviations Ed from the target change rate dNt ₀ of turbine speed change rate dNt during the inertia phase, in step S39, membership to the average value Med parameters Functions Me1, Me2, Me3
Is set according to equations 33-35.

[0144]

(Equation 33)

[0145]

(Equation 34)

[0146]

(Equation 35) The membership functions Me1 to Me3 are shown in FIG. 29.

Then, in step S40, the correction amounts Pxe1, Pxe2 and Pxe are calculated according to the average value Med of the deviations.
Using Equations 30 and 36 to 38 for calculating 3, the average values Med are substituted into these equations to calculate the correction amounts Pxe1, Pxe2, and Pxe3 corresponding to the average values Med.

[0148]

(Equation 36)

[0149]

[Equation 37]

[0150]

(Equation 38) These equations, to determine the average value Med of deviations Ed of the turbine speed change rate dNt and the target change rate dNt ₀ during the inertia phase, the correction amount Pxe1, Pxe2, Pxe3 proportional to the said target rate of change dNto Therefore, the values and signs of the coefficients G1 and G2 are set to different values so that the correction amounts Pxe1, Pxe2, and Pxe3 corresponding to the average value Med are obtained. The correction amount Pxe3 is always 0.

Then, the correction amount P obtained by the above equations
xp1, Pxp2, Pxf1 to Pxf3, Pxe1 to P
xe3 is the membership function Mp corresponding to these
1, Mp2, Mf1 to Mf3, Me1 to Me3, using the grade values at the respective parameter values, the following equation 39
By performing fuzzy synthesis according to
Calculate d.

[0152]

(Equation 39) In this way, the learning hydraulic pressure Pad is calculated as the final correction amount, and this is added to the base hydraulic pressure Pb at the next same-type gear shift to set the operating pressure in the torque phase. In this case, the learned hydraulic pressure Pad is the feedback control state in the inertia phase during the previous similar gear shift as described above, specifically,
The peak size dNtp of the turbine rotation change rate dNt that first occurs in the inertia phase and the timing T at which it occurs
p, the average value Mfb of the feedback operation amount (feedback hydraulic pressure Pfb) during the inertia phase, and the average value Med of the deviation Ed of the turbine rotation change rate dNt with respect to the target change rate dNt ₀ during the inertia phase. Since the correction amount is obtained by fuzzy composition, the operating pressure obtained by adding the learning hydraulic pressure Pad to the base hydraulic pressure Pb is supplied as the operating pressure in the torque phase at the time of the next similar gear shift. The feedback control of the inertia phase at the time of the next same kind of gear shift is favorably performed, and it is possible to reduce the peak of the turbine rotation change rate dNt, and to reduce the feedback hydraulic pressure Pfb and the deviation Ed. Therefore, during the inertia phase, the turbine rotation change rate dNt is equal to the target change rate dNt.
It will match ₀ well.

Here, the learning hydraulic pressure Pad is calculated for each type of shift and used at the time of the next same type of shift, but even if the same type of shift is used, the learned hydraulic pressure Pad is stored according to the magnitude of the turbine torque. By using the same type of gear shift only in the gear shift of the same kind of turbine torques, the control of the operating pressure in the torque phase and the feedback control in the inertia phase can be performed more accurately.

The calculation of the base oil pressure Pb, the feedback oil pressure Pfb, and the learning oil pressure Pad described above are similarly performed at the time of shifts other than the 1-2 shift.

(5) Working Pressure Correction Control in the Initial Phase of Inertia Phase In the inertia phase at the time of 1-2 shift, the feedback control of the working pressure is carried out by using the feedback manipulated variable calculated as described above, whereby the turbine rotation While the rate of change dNt is made to coincide with the target rate of change dNt ₀ , the number of revolutions Nt is reduced to the number of revolutions after the shift is completed. For example, the operating pressure in the torque phase, that is, the initial value of the base oil pressure Pb shown in FIG. Since Pb 'is not appropriate, the feedback control may not be performed well after the shift to the inertia phase.

For example, when the initial value Pb 'is too high, the operating pressure in the initial phase of the inertia phase also becomes high due to the delay of the operation in the direction of lowering the operating pressure at the start of the feedback control, which is 2 If the initial value Pb ′ is too low, the operation of increasing the operating pressure at the start of the feedback control is delayed due to the delay of the operation. The inertia phase takes a long time, and as a result, a good shift feeling cannot be obtained in any case.

Therefore, in this embodiment, the feedback control state at the start of the inertia phase is detected, and the correction control is performed in accordance with the detected state, so that the feedback control in the subsequent inertia phase is satisfactorily performed. It is designed to let you.

The correction control in the initial phase of the inertia phase is performed as follows according to the program shown in FIG.
Note that this program is executed in parallel with the program of FIG. 14 for the 1-2 shift, and the feedback oil pressure Pfb calculated in step S2 of this program is executed.
Is to correct.

[0159] First, when a 1-2 shift command is output, in step S51, as initialization, clears the integral value of the turbine speed change rate dNt SDNT, and an integrated value SDNT ₀ of the target change rate dNt _0. Then, in step S52, it is determined whether the torque phase has ended. This determination is made by detecting the time point (see symbol A in FIG. 31) at which the turbine rotation change rate dNt changes from a positive value to a negative value.

Next, when the torque phase ends and the phase shifts to the inertia phase, a predetermined time T2 (for example, 75 ms when one control cycle is 25 ms: see FIG. 31) has elapsed from that point in accordance with steps S53 to S55. Until the turbine rotation change rate dNt and the target change rate dN
t ₀ is integrated, and each integrated value Sdnt (= Sdnt
+ DNt) and Sdnt ₀ (= Sdnt ₀ + dNt ₀ ) are calculated.

When the predetermined time T2 has elapsed, the
In step S56, the integrated value S of the turbine rotation change rate dNt
Target change rate of dnt dNt₀Integration value of Sdnt₀Against
Deviation Es (= Sdnt -Sdnt₀) Is calculated and
In step S57, the absolute value of this deviation Es is larger than the predetermined value K3.
Judge whether it is good or not. Here, the absolute value of the deviation Es is
This corresponds to the area shown by the hatched portion in FIG.

The absolute value of the deviation Es is the predetermined value K.
When it is larger than 3, in other words, the turbine rotation change rate d
If it is considered that the deviation of Nt from the target change rate dNt ₀ is large and there is little possibility that the subsequent feedback control will be favorably performed, then in step S58, the deviation Es
1 is calculated using the correction amount Px (= Es × K4: K4 is a constant) according to FIG.
Feedback hydraulic pressure P in step S2 of the program of FIG. 4 or step S24 of the program of FIG.
Correct fb (Pfb = Pfb + Px).

Here, when the deviation Es of the integrated values becomes a negative value as in the case shown in FIG. 31, it means that the operating pressure is too high. In this case, as shown by the chain line a in the figure,
The absolute value of the turbine rotation change rate dNt is the target change rate dNt.
_It becomes larger than the absolute value of ₀ , and the turbine speed Nt sharply decreases, but at this time, the negative correction amount Px is added to the feedback oil pressure Pfb, so that the feedback oil pressure Pfb is changed as shown in FIG. As indicated by the symbol C, it will be temporarily and forcibly lowered. As a result, when the feedback control is restarted next, as shown by the solid line d, the turbine rotation change rate dN
t quickly converges to the target change rate dNt ₀ . Even when the deviation Es has a positive value, the turbine rotation change rate dNt similarly quickly converges to the target change rate dNt ₀ .

Incidentally, the correction control in the initial phase of the inertia phase is similarly performed as needed at the time of a shift other than the 1-2 shift.

(6) Setting of Precharge Period Next, the setting of the precharge flag Fp whose value is determined in step S5 of the program of FIG. 14, that is, the setting control of the precharge period at the start of gear shifting will be described.

This control is performed in accordance with the program of FIG. 32. This program is executed in parallel with the control program of the first DSV 121 shown in FIG. 14 when the shift command is output. S61
Then, for initialization, set the total flow rate Qt to 0,
Then, in step S62, based on the map set as shown in FIG.
The valve passage flow rate, that is, the base flow rate Q when the SV 121 is fully opened (duty ratio 0%) is obtained.

In this case, in the above map, the base flow rate Q is set so that the higher the line pressure is, the more the base flow rate Q is set. This is because Q changes depending on the line pressure at that time, and the flow rate Q increases as the line pressure increases.

Next, in step S63, the oil temperature correction coefficient K5 is read from the map set as shown in FIG. In this oil temperature correction coefficient map, the correction coefficient K5 is set to become smaller than 1 as the temperature of the hydraulic oil decreases. Then, in step S64, the base flow rate Q is multiplied by the correction coefficient K5 to calculate the flow rate correction value Qx (= Q × K5).

As a result, when the temperature of the hydraulic oil is low and therefore the viscosity is high, the flow rate through the valve is reduced from the standard state even with the same line pressure, and is calculated according to the actual situation. The flow rate is also reduced, and the base flow rate Q (corrected flow rate Qx) that always matches the actual flow rate is calculated.

Further, in step S65, the corrected flow rate Qx is integrated according to the following equation 40 to calculate the total flow rate Qt from the start of control to the present time. Where the subscript (t
-1) indicates that it is the value obtained in the previous control cycle.

[0171]

(Equation 40) Next, in step S66, it is determined whether or not the total flow rate Qt exceeds a predetermined value K6. Until it exceeds the predetermined value K6, the precharge flag Fp is set to 1 and the predetermined value K6 is reached in step S67. When it exceeds, the flag Fp is set to 0 in step S68.

In this case, the predetermined value K6 is the oil path from the valve in the hydraulic control circuit 100 to the hydraulic chamber of the friction element, that is, the first DS in the 1-2 shift.
It is set to a value corresponding to the volume of the oil passage from V121 to the engagement chamber 54a of the 2-4 brake 54. Therefore, when Q> K6, the oil passage is filled with hydraulic oil, and at this time, the flag Fp is set to 0 to end the precharge control.

Then, using the value of the precharge flag Fp thus set, while Fp = 1, the duty ratio of the first DSV 121 is controlled to 0% in step S6 of the program of FIG. By this, 2-
The oil passage leading to the engagement chamber 54a of the 4 brake 54 is quickly filled with the hydraulic oil.

The precharge control is not limited to the 1-2 shift, but is performed at other shifts as needed.

(7) 2-3 Shift Control Next, control at 2-3 shift will be described as another example of the upshift shift.

In the 2-3 shift, basically, in addition to the state of the 2nd speed, the 3-4 clutch pressure and the servo release pressure are generated by the second DSV 122, and the 3-4 clutch 5 is generated.
3 to the hydraulic chamber and the 2-4 brake 54 release chamber 54b to engage the 3-4 clutch 53 and simultaneously
4 Brake 54 is released. At this time, feedback control is performed on the hydraulic pressure in the inertia phase during engagement of the 3-4 clutch 53, that is, the height of the shelf pressure, and the 3-4 clutch 53 is appropriately slipped to set the turbine rotation change rate dNt as a target. Rotational change rate d
Although it is made to match Nt ₀ , this shelf pressure control is performed not by the second DSV 122 that generates the 3-4 clutch pressure but by the control of the servo apply pressure by the above-mentioned first DSV 121.

That is, in the hydraulic control circuit 100,
As shown in FIG. 3, the line 225 leading to the servo release line 221 and the line 226 leading to the 3-4 clutch line 227 both communicate with the line 224 led from the second DSV 122. Since the orifice 151 is provided in the servo release line 2 when the hydraulic oil is being supplied and discharged.
21 and the 3-4 clutch line 227 are hydraulically separated from the upstream second DSV 122.

On the other hand, the release chamber 54b of the 2-4 brake 54
The servo release pressure is supplied to the 3-4 clutch 53 communicating with the release chamber 54b while the piston 54e shown in FIG. 4 makes a stroke in the cylinder 54d.
It is difficult to control the hydraulic pressure in the hydraulic chamber of the 2-4 brake 54, but as shown in FIG.
Since b is a structure partitioned by the piston 54e, the hydraulic pressure in the release chamber 54b is directly influenced by the hydraulic pressure in the fastening chamber 54a, and therefore communicates with the release chamber 54b. The operating pressure in the hydraulic chamber of the 3-4 clutch 53, that is, the 3-4 clutch pressure, is set to the first DSV1.
It becomes possible to control by controlling the servo apply pressure by 21.

Then, the second DSV 122 is connected to the hydraulic chamber of the 3-4 clutch 53 via the orifice 151.
The flow rate of the hydraulic oil supplied to the release chamber 54b of the -4 brake 54 is adjusted, whereby the holding time of the shelf pressure in the inertia phase when the 3-4 clutch 53 is engaged is controlled. .

Therefore, in the 2-3 shift control, the first DSV 121 controls the height of the shelf pressure when the 3-4 clutch 53 is engaged, and the holding time of the shelf pressure is controlled by the second DSV 122. Now, the specific control operation of the first and second DSVs 121 and 122 will be described.

The control operation of the servo apply pressure by the first DSV 121 at the time of 2-3 shift is performed according to the program shown in FIG. 35. Steps S71 to S74 in this program are the steps at the time of 1-2 shift shown in FIG. Step S of program showing control of 1DSV121
The operation is the same as 1 to S4, and the base oil pressure Pb,
The feedback hydraulic pressure Pfb and the learned hydraulic pressure Pab are calculated according to the same programs as the above-mentioned programs, respectively, and then added to obtain the calculated hydraulic pressure Ps.

Next, in step S75, the lower limit oil pressure Pg corresponding to the turbine torque Tt is read from the preset map as shown in FIG. 36 and set. Then, in step S76, it is determined whether or not the gear shifting operation is completed, and until the gear shifting operation is completed, in step S77, the calculated hydraulic pressure Ps set as described above and the lower limit hydraulic pressure Ps are compared and calculated. When the hydraulic pressure Ps is higher than the lower limit hydraulic pressure Pg, the duty ratio corresponding to the calculated hydraulic pressure Ps is output in step S78, and when the calculated hydraulic pressure Ps is lower than the lower limit hydraulic pressure Pg, the duty ratio corresponding to the lower limit hydraulic pressure Pg is output in step S79. Output.

Note that the pre-charge control is not performed because the duty ratio of the first DSV 121 before shifting during the 2-3 shift is 0% and the servo apply pressure is being supplied.

When the shifting operation is completed, the duty ratio is reduced at a constant rate according to steps S80 and S81, and the control is completed when the duty ratio becomes 0%.

As a result, the signal of the duty ratio changing as shown in FIG. 38 is output, and accordingly, as shown in FIG. 38, the signal gradually decreases from the predetermined value, and then again reaches the predetermined value via the shelf pressure state. The servo apply pressure that rises to the value will be obtained. Then, while the servo apply pressure is in the shelf pressure state, the 3-4 clutch pressure and the servo release pressure are
As indicated by reference numeral E in the figure, the pressure is controlled to a shelf pressure state corresponding to the servo apply pressure.

When the servo apply pressure immediately after the gear change command is output and the pressure falls below the lower limit hydraulic pressure Pg, the servo apply pressure is set to the lower limit hydraulic pressure Pg as shown by the reference symbol in FIG. Although it will be set to Pg, this point will be described in detail later.

On the other hand, the control of the second DSV 122 is shown in FIG.
First, step S9 is performed according to the program shown in FIG.
At 1, the timer count value Tr is set to a predetermined time Tr ₀ as an initial value, and then at step S92, the timer count value Tr is decremented by 1. Then, in step S93, whether or not the precharge flag Fp set by the program similar to the program shown in FIG. 32 is 1 or the timer count value Tr is greater than 0, that is, the shift command After the output, it is determined whether or not the predetermined time Tr ₀ has passed, and when the precharge period is in progress (Fp = 1) or when the predetermined time Tr ₀ has not passed, step S94. With the duty ratio of the second DSV 122 set to 0%, precharge control is performed to quickly fill the hydraulic passage of the 3-4 clutch 53 and the release chamber 54b of the 2-4 brake 54 with hydraulic oil.

After that, the precharge period elapses (Fp
= 0) and the timer count value Tr becomes 0 after the lapse of the predetermined time Tr ₀ , in step S95, as shown in FIG.
First DSV output in step S78 of the program
A signal having the same duty ratio as the duty ratio of 121 is output to the second DSV 122. This allows the hydraulic chamber of the 3-4 clutch 53 and the 2-4 to pass through the orifice 151.
The flow rate of the hydraulic oil supplied to the release chamber 54b of the brake 54 is reduced compared to during the precharge control and is suppressed to a predetermined amount.

Here, the point that the end of the precharge control is judged not only by the value of the precharge flag Fp but also by the elapsed time from the start of the shift command will be described in detail later.

In particular, the duty ratio of the second DSV 122 is set to be the same as the duty ratio of the first DSV 121, so that the fastening chamber 54a of the 2-4 brake 54 is made.
The servo apply pressure and the servo release pressure having the same hydraulic pressure are supplied to the release chamber 54b. In that case, as shown in FIG. 4, both chambers 54a and 54b are
Since the pressure receiving areas of the pistons 54e are substantially equal to each other, the pistons 54e stroke in the releasing direction only by the urging force of the springs 54i, and the movement thereof takes a relatively long time. Thereafter, if it is determined in step S96 that the control of the first DSV 121 has ended, the control of the second DSV 122 also ends.

As a result, the shelf pressure time during the engagement of the 3-4 clutch 53 is sufficiently secured, and the inertia phase is surely completed during that time. For example, the shelf pressure period ends before the completion of the inertia phase. The occurrence of a large shift shock due to a sudden increase in the operating pressure is avoided.

(8) Control Regulation for Decreasing Operating Pressure During 2-3 Gear Shift As described above, during 2-3 gear shift, the 3-4 clutch pressure is indirectly controlled by the servo apply pressure. At this time, in order to smoothly start the control of the 3-4 clutch pressure in the inertia phase, the servo apply pressure of the relatively high pressure supplied in the second speed state is temporarily reduced at the time of outputting the shift command, The torque phase is realized with.

In this case, the calculated hydraulic pressure Ps in this torque phase is the base hydraulic pressure Pb corrected by the learned hydraulic pressure Pad.
When the inertia phase is started, the feedback control of the servo apply pressure is started on the basis of this initial value Pb '. However, this initial value Pb' is for 1-2 shifts. As I explained,
The oil pressure Pi corresponding to the target turbine rotation change rate dNt ₀
Is a hydraulic pressure Pt according to the target turbine torque Tt ₀ and a hydraulic pressure Pt2 according to the square of the target turbine torque Tt _0.
It can be obtained by correcting with.

Therefore, for example, when the 2-3 gear shift is performed in the low rotation range by a manual operation by the driver or the like, the initial value P is accompanied by the low hydraulic pressure Pi.
b ', that is, the servo apply pressure in the torque phase is also relatively low, but if such a shift is performed in a high load state with a large throttle opening, the servo is applied to the input torque to the 2-4 brake 54. The apply pressure becomes insufficient, so that the slippage of the 2-4 brake 54 occurs before the start of the engagement operation of the 3-4 clutch 53 in the inertia phase, and the engine blowout phenomenon occurs.

Therefore, as described above, in step S75 of the program of FIG. 35, the lower limit oil pressure Pg is set according to the turbine torque Tt which is the input torque to the transmission gear mechanism, and the calculated oil pressure Ps is less than or equal to this lower limit oil pressure Pg. In this case, in step S79 of the above program, the calculated hydraulic pressure Ps
Instead, the duty ratio signal corresponding to the lower limit oil pressure Pg is output to the first DSV 121.

As a result, the servo apply pressure in the torque phase is prevented from falling below the pressure corresponding to the input torque to the 2-4 brake 54 at that time, and the 2-4 brake 54 makes the 3-4 clutch. The idling phenomenon of the engine due to slipping before the start of the fastening operation of 53 is prevented.

When the servo apply pressure is reduced at the time of outputting the shift command, the pressure is made equal to the reference pressure of the feedback control in the inertia phase, and the torque phase is changed to the inertia phase as described above. It is desirable that the feedback control is started smoothly when the shift is made, but as shown by the reference character in FIG. 39, even if the pressure is lowered to an intermediate pressure between the pressure before the shift and the pressure in the inertia phase. Well again
As indicated by the symbol C in FIG. 40, it is possible to gradually reduce the pressure before the shift until the start of the inertia phase.

In any case, when the servo apply pressure during this torque phase is to drop below the lower limit oil pressure Pg corresponding to the turbine torque Tt, it is prevented from falling below the lower limit oil pressure Pg. As a result, the idling phenomenon of the engine due to the slippage of the 2-4 brake 54 is prevented.

(9) Pre-charge control during 2-3 shifts Also, during 2-3 shifts, as described above, the second DSV1
22 release chamber 54b of 2-4 brake 54 and 3-
The period for precharging the hydraulic chamber of the 4-clutch 53 is determined not only by the value of the precharge flag Fp determined by the program of FIG. 32, but also by the elapsed time from the start of the shift command, This point is different from the precharge control for the engagement chamber 54a of the 2-4 brake 54 during the 1-2 shift.

Next, precharge control for the release chamber 54b of the 2-4 brake 54 and the hydraulic chamber of the 3-4 clutch 53 during the 2-3 shift will be described.

Generally, at the time of upshift gear shifting, FIG.
As shown in Fig. 5, when the working pressure such as the 3-4 clutch pressure is supplied to the hydraulic chamber of the engaged friction element, when the piston strokes a predetermined amount, the working pressure increases and the torque increases as indicated by the symbol The phase is started, but at this time, as indicated by the symbol U, a torque pull-in phenomenon in which the output torque To temporarily decreases occurs. Then, when the input torque is large, this phenomenon is one of the causes of increasing the shift shock.

To solve this problem, the time of the above-mentioned pull-in phenomenon or the time of the torque phase in which this phenomenon occurs is shortened, or the increase rate of the operating pressure in the torque phase is increased, resulting in that torque phase being increased. It is conceivable to reduce the adverse effect of the pull-in phenomenon on the shift feeling by shortening the time. Therefore, in this embodiment, the time for the torque phase is shortened by appropriately controlling the precharge control.

That is, as described above, in step S91 of the program of FIG. 37, the count value Tr of the timer is set to a predetermined time Tr ₀ as an initial value, and then in step S92, the timer count value Tr is incremented by one. At the same time as the subtraction, it is determined in step S93 whether the precharge flag Fp is 1 or whether the timer count value Tr is greater than 0. Then, when the precharge flag Fp becomes 0, the timer count value Tr becomes 0, and the predetermined time Tr ₀ has elapsed after the output of the gear shift command, the precharge control is finished for the first time, and the second DSV1
The control shifts to the supply control of the calculated hydraulic pressure Ps by 22.

In this case, the predetermined time Tr ₀ as the initial value of the timer count value Tr is set so as to increase as the engine throttle opening θ increases, as shown in FIG. 42. When the input torque from the engine is large, precharging is performed even after the oil passage is filled with hydraulic oil and shifts to the torque phase. For example, as shown by the symbol A in FIG. It will be done until the transition to.

As a result, the rate of increase of the operating pressure in the torque phase shown by the symbol K in FIG. 41 increases, and the time of the torque phase or the time of the torque pull-in phenomenon in this torque phase shortens accordingly.
This adversely affects the shift feeling, that is, shift shock is reduced.

During the 2-3 shift, as described above, the rack pressure is controlled when the 3-4 clutch 53, which is the friction element on the engagement side, is engaged by the engagement of the 2-4 brake 54 by the first DSV 121. The second DSV is performed by controlling the servo apply pressure supplied to the chamber 54a.
Even if the precharge control is performed by the 122 until the start of the inertia phase as described above, the control of this inertia phase, that is, the turbine speed Nt is reduced while the turbine speed change rate dNt is set to the target change rate dNt ₀ . The shift shock in the torque phase is suppressed while maintaining good control in the inertia phase without affecting the control.

As shown in FIG. 42, when the throttle opening θ is equal to or less than the predetermined value θ ₀ , the predetermined time Tr ₀ is set to 0. Therefore, in the region where the input torque is small, it is the same as in other gear shifting. In addition, the end of precharge is determined only by the value of the precharge flag Fp. Therefore, the input torque is small, and as shown in FIG. 43, the torque pull-in phenomenon and the torque push-up phenomenon occurring immediately after the torque phase transition to the inertia phase are not remarkable, and the output torque To changes gently. At the time of gear shifting, this gently changing state is maintained, so that a new gear shifting shock caused by increasing the rate of increase in operating pressure is avoided.

In the above description, the precharge control is performed from the time of outputting the shift command, but the output torque To is detected by, for example, a torque sensor or the like, and the output torque To starts to decrease. It is also possible to precharge from the beginning.

As shown in FIG. 44, when the precharge time is constant and the input torque is large, the duty ratio of the second DSV 122 is set to 0%, while when the input torque is small, the duty ratio is larger than 0. By setting the value, the flow rate of the hydraulic oil passing through the second DSV 122 per unit time may be increased as the input torque increases, and the precharge time and the flow rate (duty rate) may be increased. Both of them may be changed according to the input torque.

[0210]

As described above, according to the present invention, in the automatic transmission configured to feedback control the operating pressure based on the deviation of the turbine rotation change rate from the target value during the gear shifting operation, The feedback operation amount according to the deviation is calculated using a plurality of different calculation formulas according to the operating condition, or the value calculated by the plurality of different calculation formulas is calculated according to the operating condition such as the turbine speed and the turbine torque. It is calculated by performing fuzzy synthesis after weighting, and since the operating pressure is feedback-controlled by the calculated feedback operation amount, even if the dynamic characteristics of the feedback control system differ depending on the operating state such as the turbine speed, It is possible to always perform feedback control based on the characteristics according to the operating state at that time.

As a result, the optimum feedback control can always be performed in the entire operating range, and the control of the operating pressure with high responsiveness and accuracy can be realized, and as a result, the shift speed of this kind of automatic transmission can be controlled. The ring will improve.

[Brief description of drawings]

FIG. 1 is a skeleton diagram showing a mechanical configuration of an automatic transmission according to an embodiment of the present invention.

FIG. 2 is a sectional view showing a configuration of a transmission gear mechanism of the automatic transmission.

FIG. 3 is a circuit diagram of a hydraulic control circuit.

FIG. 4 is a sectional view showing a configuration of a hydraulic actuator of a 2-4 brake.

FIG. 5 is a control system diagram for each solenoid valve in the hydraulic control circuit.

6 is a main part enlarged circuit diagram showing a state of a first speed of the hydraulic control circuit of FIG. 3;

FIG. 7 is a main part enlarged circuit diagram showing a state of the second speed in the same manner.

FIG. 8 is an enlarged main part circuit diagram showing a state of the third speed in the same manner.

FIG. 9 is an enlarged circuit diagram of a main part showing a state of the fourth speed in the same manner.

FIG. 10 is a main part enlarged circuit diagram showing the state of the L range first speed.

FIG. 11 is an enlarged circuit diagram of a main part showing a state of a reverse speed in the same manner.

FIG. 12 is an explanatory diagram of a turbine rotation change rate as a control target at the time of an upshift.

FIG. 13 is an explanatory diagram of a torque waveform during an upshift.

FIG. 14 is a flowchart showing an operation of a first DSV at the time of a 1-2 shift.

FIG. 15 is a time chart showing changes in various data during the same gear shift.

FIG. 16 is a flow chart showing a base oil pressure calculation operation.

FIG. 17 is a map of hydraulic pressure according to a target turbine rotation change rate used in the same calculation operation.

FIG. 18 is also a map of hydraulic pressure according to a target turbine torque.

FIG. 19 is a map of hydraulic pressure corresponding to the square of the target turbine torque.

FIG. 20 is a flowchart showing a feedback hydraulic pressure calculation operation at the time of 1-2 shift.

FIG. 21 is an explanatory diagram of a membership function used in the same calculation operation.

FIG. 22 is an explanatory diagram of a membership function regarding a turbine rotation speed used in another example of the same calculation operation.

FIG. 23 is an explanatory diagram of a membership function regarding turbine torque.

FIG. 24 is an explanatory diagram of a region similarly classified by fuzzy layers.

FIG. 25 is a flowchart showing a learning hydraulic pressure calculation operation during 1-2 shift.

FIG. 26 is an explanatory diagram of data used in the same calculation operation.

FIG. 27 is an explanatory diagram of a membership function regarding a peak of the turbine rotation change rate used in the same calculation operation.

FIG. 28 is also an explanatory diagram of a membership function related to the average value of feedback manipulated variables.

FIG. 29 is an explanatory diagram of a membership function regarding the average value of deviations.

FIG. 30 is a flowchart showing the operation of initial working pressure correction control in the inertia phase during 1-2 shift.

FIG. 31 is a time chart showing changes in each data according to the control operation.

FIG. 32 is a flowchart showing an operation of precharge control at the time of 1-2 shift.

FIG. 33 is a map of a base flow rate used in the control operation.

FIG. 34 is also a map of oil temperature coefficient.

FIG. 35 is a flowchart showing an operation of the first DSV during 2-3 shift.

FIG. 36 is a map of a lower limit hydraulic pressure used during the same gear shift.

FIG. 37 is a flowchart showing the operation of the second DSV during the same gear shift.

FIG. 38 is a time chart showing changes in various data during the same gear shift.

FIG. 39 is a time chart showing another example of control of the servo apply pressure during the same gear shift.

FIG. 40 is a time chart showing still another example.

FIG. 41 is a time chart for explaining precharge control during 2-3 shift.

FIG. 42 is an explanatory diagram of maps used in the control.

FIG. 43 is a time chart showing a change in output torque when the input torque is small in the control.

FIG. 44 is a time chart showing another example of precharge control at the time of 2-3 shift.

[Explanation of symbols]

 10 Automatic Transmission 30, 40 Transmission Gear Mechanism 51-55 Friction Element 100 Hydraulic Control Circuit 121-123 Duty Solenoid Valve 300 Controller

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shuji Hikita 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Motor Corporation

Claims (4)

[Claims] 1. A torque converter, a speed change gear mechanism,
A plurality of friction elements that are selectively fastened by supply and discharge of operating pressure to switch the power transmission path of the speed change gear mechanism, and supply and discharge of operating pressure to and from the friction elements at the time of speed change, with the turbine rotation speed or its change rate being a target value. Is a control device for an automatic transmission having feedback control means for performing feedback control so as to match with, and deviation calculating means for calculating a deviation between at least one of the turbine speed and the turbine rotation change rate and a target value thereof. And a feedback operation according to the above-mentioned deviation by using a detection means for detecting a predetermined value indicating the driving state and one corresponding to the detected value among a plurality of different calculation formulas set according to the driving state. A control device for an automatic transmission, comprising: feedback operation amount calculation means for calculating an amount. 2. A torque converter, a speed change gear mechanism,
A plurality of friction elements that are selectively fastened by supply and discharge of operating pressure to switch the power transmission path of the speed change gear mechanism, and supply and discharge of operating pressure to and from the friction elements at the time of speed change, with the turbine rotation speed or its change rate being a target value. Is a control device for an automatic transmission having feedback control means for performing feedback control so as to match with, and deviation calculating means for calculating a deviation between at least one of the turbine speed and the turbine rotation change rate and a target value thereof. And a detection means for detecting a predetermined value indicating the operating state, and applying the detected predetermined value to the operating state in which the layers are fuzzy stratified into a plurality of layers, and using a plurality of different calculation formulas corresponding to each layer, A plurality of temporary feedback operation amount calculation means for calculating the temporary feedback operation amount according to the deviation, and the temporary feedback operation amounts calculated by these different calculation formulas. To feedback manipulated variable by the fuzzy synthesis control apparatus for an automatic transmission and having an actual feedback control input calculation means for calculating the actual feedback operation amount when controlling the operating pressure in the feedback control means. 3. The control device for an automatic transmission according to claim 1, wherein the detection means detects a turbine rotation speed. 4. The control device for an automatic transmission according to claim 1, wherein the detection means detects a turbine speed and a turbine torque.