KR102484102B1 - Device and method for determining position of parking mode of position lever detent so that motor-integrated controller learns the position of gear stage - Google Patents

Abstract

The present invention relates to an apparatus for determining a position of a P-stage of a position lever detent so that a motor-integrated controller learns a position of a reference shift stage, and a method thereof. According to embodiments, the method of the present invention comprises the following steps of: obtaining a rotational position of a current shift stage of the position lever detent and a control current of a motor which causes the position lever detent to rotate in the direction of the P-stage, while the position lever detent rotates in the P-stage direction, through a position sensor and a current sensor; and determining an absolute rotational position of the P-stage of the position lever detent based on the rotational position of the current shift stage of the position lever detent and the control current of the motor. Provided are the apparatus for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage regardless of an installation axis of a motor/rotation shaft, and the method thereof.

Description

Apparatus and method for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage OF GEAR STAGE}

Embodiments of the present application relate to an apparatus and method for determining the position of the P-stage of a position lever detent so that the motor-integrated controller learns the position of a reference gear shift.

In the conventional rod-shaped mechanical lever, the driver manipulates the gear lever to physically move the position of the transmission to P, R, N, and D to determine the driving mode of the vehicle.

In recent years, as automobiles have been electrified and self-driving functions have been advanced, automobile gears tend to be changed from conventional mechanical gears to electronic gears. In order to increase the utilization of interior space and support remote parking, unmanned parking, and unmanned autonomous driving functions, technology that electronically controls the position of the gear lever is essential.

1 is a schematic diagram of a separate electronic shift control system in which a position sensor is externally installed according to a conventional embodiment, and FIGS. 2A and 2B are schematic diagrams illustrating the position sensor of FIG. 1 .

Referring to FIG. 1 , the electronic shift control system includes a lever sensor unit that detects a driver's manipulation command for a gear lever, receives a detection result of the lever sensor unit, and shifts a shift stage of a detent plate through a motor to a shift stage of the gear lever. and a position sensor that checks whether the shift stage of the detent plate is properly controlled to the position desired by the user. Such a control unit is implemented as a shift by wire control unit (SCU) or the like.

In the conventional electronic shift control system, the position sensor of FIG. 2A is installed outside the SCU. As shown in FIG. 2B, the position sensor of FIG. 2A may be installed between the SCU and the base plate.

Under a normal assembly process, the electronic shift control system may have some errors mechanically when the position sensor is installed externally, but it will be assembled within the preset normal assembly range, so from the SCU receiving the signal from the position sensor, You can absolutely trust this signal 100% and use it to control the gear stages of the detent plate via the motor.

In order to reduce the cost of vehicle systems, automobile companies are actively introducing motor-integrated controllers by integrating SCUs and motors that previously existed separately. This integrated, simplified management strategy requires a motor-integrated controller with an integrated position sensor inside, which eliminates the position sensor outside the SCU and implements the function of detecting the position of the gear lever inside the controller.

3 is a schematic diagram of an electronic shift control system in which a position sensor is integrated therein according to another conventional embodiment.

Referring to FIG. 3 , unlike the separate structure of FIG. 1 , the motor-integrated controller has a motor, a control unit, and a position sensor integrated into one mechanical unit.

4 is a schematic diagram of a position sensor integrated into the motor-integrated controller of FIG. 3 .

Referring to FIG. 4 , the motor-integrated controller 20 of FIG. 3 includes a motor 200, a position sensor 210, a magnetic body 220, and a reducer 260.

The reducer 260 is used to increase the rotational torque of the motor 200. For example, when the motor 200 rotates N times, the actual motor shaft may rotate once.

The motor-integrated controller 20 is connected to the position lever detent through a rotating shaft 230, and when the motor 200 is driven, the rotating shaft 230 rotates to change the position of the shift stage of the position lever detent. The controller 20 needs to know the exact location of the P stage so that it can control to another location after that.

However, when the position detection function is integrated inside the controller 20, the rotational position of the rotation shaft 230 detected by the position sensor 210 is not the actual absolute angle of the detent plate, but simply the rotation angle of the rotation shaft 0 to 360 degrees. indicates In the motor-integrated controller 20, as shown in FIG. 4, a position sensor 210 for detecting a change in the rotation axis of the motor is installed separately from the hall sensor or encoder sensor 250 for motor control. The sensor 250 measures the position of the current actual position lever detent according to the rotation of the motor.

However, when the position detection function is integrated inside the controller 20, the rotational position of the rotation shaft 230 detected by the position sensor 210 is not the actual absolute angle of the detent plate, but simply the rotation angle of the rotation shaft (0°). to 360°).

If the internal Hall sensor or encoder sensor 250 is not included, since there is no external position sensor that detects an absolute position value, the motor/rotation shaft 200, 230 of the motor-integrated controller 20 may be installed depending on how the The position value of the shift stage of the tent plate is different, and there is a limit in not knowing the absolute position of each shift stage.

Japanese Registered Patent Publication JP 2008-215436 "Shift-by-Wire System"

In order to solve the above problems, embodiments of the present application are a device for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage regardless of the installation axis of the motor/rotation shaft, and We want to provide a way.

A method for determining the position of a shift stage for learning of a motor-integrated controller having a position detection function of a shift stage integrated therein according to an aspect of the present application may be performed by a computing device linked to the motor-integrated controller. Here, the integrated motor-integrated controller includes a motor, a rotation shaft of the motor, a position sensor for sensing rotation of the rotation shaft, and a current sensor for sensing a control current of the motor, and one end of the rotation shaft of the motor is a position lever detent is connected to, and the position lever detent includes a plurality of shift stages including a P stage.

The method may include obtaining, in the computing device, a rotational position of a current shift stage of a position lever detent and a control current of a motor that causes the position lever detent to rotate in the direction of P-range through the position sensor and the current sensor. The acquired rotational position and control current value are obtained while the motor is driven so that the position lever detent is rotatable in the P-range direction, and the current rotational position of the position lever detent is determined by the computing device. , determining the absolute rotational position of the P stage of the position lever detent based on the control current of the motor.

In one embodiment, when the motor is driven, a position lever detent connected through a rotating shaft rotates, and the position lever detent is configured such that the current shift stage does not deviate from the P stage when the position lever detent rotates in the direction of the P range. The rotation range of the position lever detent in the P-direction is based on the side structure of the position lever detent and the coupling structure with the rotating shaft, and the motor-integrated controller is configured to increase the control current value when the motor is driven. It could be.

In one embodiment, the determining may include the rotational position of the current shift stage of the position lever detent in which a relationship between a change in the rotational position of the current shift stage of the position lever detent and an increase in control current of the motor is unsynchronized. An absolute rotational position of the P stage of the position lever detent may be determined based on .

In one embodiment, the current shift stage of the position lever detent is a shift stage to which pressure is applied by a detent spring. When the position lever detent continues to rotate in the direction of the P-range in a state where the shift stage is currently in the P-range, the detent spring may be installed such that a side structure corresponding to the P-range of the position lever detent is caught to limit rotation. .

In one embodiment, the step of determining the absolute rotational position of the P-stage of the position lever detent based on the rotational position of the current shift stage of the position lever detent that is not synchronized may include: In a state where the driving of the motor is stopped after the relationship between the change in the rotational position of the motor and the increase in the control current of the motor is unsynchronized, the current shift stage of the position lever detent in which the rotational position change due to the stopping of the motor is stopped It may be to determine the rotational position of the absolute rotational position of the P stage.

In an embodiment, the method may further include learning the motor-integrated controller with the determined absolute rotational position of the P-stage so that the determined absolute rotational position of the P-stage is stored in the motor-integrated controller.

In one embodiment, the method may further include a step of checking whether a valid rotational position of the P stage has been stored in advance. Learning of the motor-integrated controller may be performed when it is confirmed that the effective rotational position of the P stage is not stored in advance.

In one embodiment, the validity of the stored rotational position of the P stage may be based on whether or not the motor-integrated controller is replaced.

A computer readable recording medium according to another aspect of the present application may record a program for performing the method according to the above-described embodiments.

According to another aspect of the present application, a device for determining the position of a shift stage for learning of a motor-integrated controller in which a position detection function of a shift stage is integrated is interlocked with the motor-integrated controller. The integrated motor-integrated controller includes a motor, a rotating shaft of the motor, a position sensor for sensing rotation of the rotating shaft, and a current sensor for sensing a control current of the motor, and one end of the rotating shaft of the motor is connected to the position lever detent. And, the position lever detent may include a plurality of shift stages including the P stage.

The device, while the position lever detent rotates in the P-range direction, the current rotational position of the position lever detent and the motor that causes the position lever detent to rotate in the P-range direction through the position sensor and the current sensor. A data acquisition unit configured to obtain a control current, and a position setting unit configured to determine an absolute rotational position of the P-stage of the position lever detent based on the current rotational position of the shift stage of the position lever detent and the control current of the motor. do.

The positioning device according to one aspect of the present application accurately determines the rotational position of the P-stage of the position lever detent regardless of the installation axis value of the motor/rotational axis in the motor-integrated controller in which the position detection function of the shift stage is integrated therein, Using this, the motor-integrated controller can be learned.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

In order to more clearly describe the technical solutions of the embodiments of the present invention or the prior art, drawings necessary in the description of the embodiments are briefly introduced below. It should be understood that the drawings below are for the purpose of explaining the embodiments of the present specification and not for the purpose of limitation. In addition, for clarity of explanation, some elements applied with various modifications, such as exaggeration and omission, may be shown in the drawings below.
1 is a schematic diagram of a separate electronic shift control system in which a position sensor is installed outside according to a conventional embodiment.
2a and 2b are schematic diagrams illustrating the position sensor of FIG. 1;
3 is a schematic diagram of an electronic shift control system in which a position sensor is integrated therein according to another conventional embodiment.
4 is a schematic diagram of a position sensor integrated into the motor-integrated controller of FIG. 3 .
5 is a schematic diagram of a device for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage according to an aspect of the present application.
6A and 6B are diagrams illustrating an implementation of a positioning function in an electronic shift control system interlocked with the positioning device of FIG. 5 .
7 is a schematic diagram of a shift stage of the position lever detent 30 having a side structure that changes according to rotation of a rotation shaft connected thereto according to an embodiment of the present application.
8 is a flowchart of a method for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage according to another aspect of the present application.
9 illustrates a change in motor current according to a shift stage change according to an embodiment of the present application.
10 is a schematic diagram of the position lever detent 30 rotated at maximum in the P-end direction according to an embodiment of the present application.

Hereinafter, with reference to the drawings, look at the embodiments of the present application in detail.

However, it should be understood that this disclosure is not intended to limit the disclosure to specific embodiments, and includes various modifications, equivalents, and/or alternatives of the embodiments of the disclosure. . In connection with the description of the drawings, like reference numerals may be used for like elements.

In this specification, expressions such as “has,” “may have,” “includes,” or “may include” refer to corresponding characteristics (eg, numerical values, functions, operations, steps, parts, elements, and/or components). elements), and does not preclude the presence or addition of additional features.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Expressions such as "first", "second", "first" or "second" used in various embodiments may modify various elements regardless of order and/or importance, and define the elements. I never do that. The above expressions may be used to distinguish one component from another. For example, the first element and the second element may represent different elements regardless of order or importance.

As used herein, the expression “configured (or configured) to” means, depending on the circumstances, for example, “suitable for,” “having the capacity to” ," "designed to," "adapted to," "made to," or "capable of." The term "configured (or set) to" may not necessarily mean only "specifically designed to" hardware. Instead, in some contexts, the phrase "device configured to" may mean that the device is "capable of" in conjunction with other devices or components. For example, the phrase "a processor configured (or set) to perform A, B, and C" may include a dedicated processor (eg, an embedded processor) to perform those operations, or one or more software programs stored in a memory device that executes By doing so, it may mean a general-purpose processor (eg, CPU or application processor) capable of performing corresponding operations.

5 is a schematic diagram of a device for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage according to an aspect of the present application.

Referring to FIG. 5 , a device for determining the position of the P-stage of the position lever detent (hereinafter referred to as a position determination device 100) is interlocked with an electronic shift control system so that the motor-integrated controller learns the position of a reference shift stage.

The electronic shift control system includes a shift lever 10, a lever sensor 11, and a motor-integrated controller 20 in which a position detection function of a shift stage is integrated. In some embodiments, the electronic shift control system interlocked with the positioning device 100 may be the same as or similar to the conventional electronic shift control system shown in FIGS. 1 to 4 . For example, the motor-integrated controller 20 of the electronic shift control system of FIG. 5 may include some or all of the same components as the motor-integrated controller 20 of FIG. 3 .

6A and 6B are diagrams illustrating an implementation of a positioning function in an electronic shift control system interlocked with the positioning device of FIG. 5 .

In the electronic shift control system interlocked with the positioning device of FIG. 5, the positioning function is implemented inside the controller 20 of FIG. 6a.

The motor-integrated controller 20 of FIG. 6A is a component that controls a transmission according to an input signal input through a button or lever. The motor-integrated controller 20 may be a variety of controllers incorporating a function of detecting the rotational position of the shift stage of the position lever detent 30 therein. The motor-integrated controller 20 may be implemented as a shift by wire control unit (SCU) or the like.

6B is an internal schematic diagram of the controller 20 in the electronic shift control system in which the positioning device of FIG. 5 is interlocked.

Referring to FIG. 6B , the motor-integrated controller 20 is connected to the position lever detent 30 through the rotating shaft 230 of the motor 200 . The motor-integrated controller 20 of FIG. 6B includes a motor 200, a position sensor 210, a magnetic body 220, and a current sensor therein.

The position sensor 210 is a sensor that includes a semiconductor material having a current magnetic effect in which an output is changed when a magnetic field is applied perpendicular to the direction of current, and obtains rotation information of the rotating shaft 230 using the current magnetic effect. . Since the rotation of the rotation shaft 230 corresponds to the rotation of the position lever detent 30, the rotation information obtained from the position sensor 210 is relative rotation information of the position lever detent 30 with respect to the magnetic body 220. indicate The rotation information may include a rotation angle and a rotation direction.

The current sensor measures the control current that the controller 20 supplies to the motor 200 through a processor and a driver.

The controller 20 does not include a separate position sensor for detecting absolute position information such as the Hall sensor 250 therein, and a component for detecting relative position information (e.g., the position sensor of FIG. 6B ( 210)), and based on the rotation information of the rotation shaft 230 obtained from the position sensor 210, the rotation position of the current shift stage of the position lever detent 30, that is, the absolute rotation angle may be checked. .

7 is a schematic diagram of a shift stage of the position lever detent 30 having a side structure that changes according to rotation of a rotation shaft connected thereto according to an embodiment of the present application.

Referring to FIG. 7 , the position lever detent 30 includes a plurality of shift stages. For example, the position lever detent 30 may include P, R, N, and D stages.

Each shift stage has a side structure formed to be more concave in the direction of the rotation shaft 230 than the other side surfaces, and may include a concave portion and a convex portion. The convex portion refers to a side portion formed farther from the axis of rotation than the concave portion. Adjacent gear stages may share a convex portion.

One end of the rotation shaft 230 is connected to the controller 20 and the other end of the rotation shaft 230 is connected to the position lever detent 30. The rotating shaft 230 may be implemented as a shaft, but is not limited thereto.

The position lever detent 30 is coupled with the rotation shaft 230 so that the rotation shaft 230 extends on one surface. When the motor 200 is driven, the position lever detent 30 may rotate clockwise or counterclockwise according to the rotation of the rotating shaft 230 of the motor 200 . The position lever detent 30 may rotate clockwise or counterclockwise to change the current shift stage.

The current shift stage of the position lever detent 30 is a shift stage to which the pressure of the detent spring 40 is applied among a plurality of shift stages of the position lever detent 30 . The detent spring 40 includes a detent ball 41 formed at one end. The detent spring 40 has an elastic force toward the rotation shaft 230 connected to the position lever detent 30 . The detent spring 40 is installed so that the detent ball 41 contacts the side surface of the position lever detent 30 by this elasticity.

The detent ball 41 may be located in the concave portion of the current shift stage of the position lever detent 30 . For example, when the detent ball 41 is located in the concave portion of the P-range, the current shift stage of the position lever detent 30 is treated as the P-range.

The detent ball 41 of the detent spring 40 controls the change of the current shift stage of the position lever detent 30 according to the rotation of the rotating shaft 230 more precisely.

In this specification, the P-range direction refers to a direction in which the current shift range (eg, D-range) is changed to the P-range. In FIG. 6, the P end direction refers to a counterclockwise direction in which the detent spring 40 contacts the P end. The D-end direction is a rotation direction opposite to the P-end direction, and refers to a clockwise direction in FIG. 7 . The P-end direction is not to be construed as referring to the top direction (ie, clockwise direction) in which the P-end is located.

In one embodiment, the position lever detent 30 is configured to be rotatable in the range from P to D. The position lever detent 30 may be installed in the electronic shift control system so that the current shift range does not deviate from the P range when the position lever detent rotates in the P range direction.

The rotation range of the position lever detent in the P-direction or the rotation range in the one-direction is based on a side structure of the position lever detent and a coupling structure with a rotation shaft. In FIG. 5 , rotation of the position lever detent 30 is mechanically limited even when the rotation shaft 230 is controlled so that the position lever detent 30 rotates upward more than the P stage. This is because it is caught by the detent spring 40 at the upper convex portion of the P stage of the rotating position lever detent 30 .

The P end of the position lever detent 30 is formed in a linear structure from the upper convex portion H _P to the middle concave portion L _P . Even when a rotational force in the direction of the P stage is applied to the position lever detent 30, the detent ball 41 is caught on the convex part H _P of the rotating position lever detent 30 at the P stage, and eventually the position lever The detent 30 cannot rotate more in the P-end direction than the corresponding rotational position. In this way, the rotational position applied to the detent ball 41 is the position where the position lever detent 30 is rotated as much as possible in the P-end direction immediately before the rotational force is removed.

Turning below D gear is likewise restricted.

Current must be supplied to drive the motor 200 . The current sensor acquires a value of current for driving control of the motor 200 (hereinafter referred to as motor control current).

The controller 20 converts the value of the rotational position of the position lever detent 30 obtained through the position sensor 210 and the value of the control current of the motor 200 obtained through the current sensor into the positioning device 100. ) can also be supplied.

The positioning device 100 may be configured to transmit/receive information with the motor-integrated controller 20 through wired/wireless electrical communication. In addition, the positioning device 100 may include at least one processor capable of processing data and a memory for storing received or processed data.

Memory includes Hard Disk Drive (HDD), Solid State Drive (SSD), Compact Disc (CD), Random Access Memory (RAM), Read Only Memory (ROM), and various other storage devices that permanently, semi-permanently, or temporarily store data. may also include

The processor may include a central processing unit (CPU) or a neuromorphic processor designed to be advantageous for the operation of an artificial neural network by simulating nerve cells and synapses in a human brain.

The positioning device 100 may be, for example, a laptop computer, a notebook computer, other computing devices, tablets, cellular phones, smart phones, smart watches, smart glasses, head mounted displays (HMDs), other mobile devices, and other wearable devices. It could be.

In certain embodiments, the position determination device 100 may include a control unit 110, a data acquisition unit 130 and a location setting unit 150.

The control unit 110 controls the data acquisition unit 130 and the position setting unit 150 so that the motor-integrated controller 20 integrated with the position detection function of the shift stage learns the position of the reference shift stage. Controls the overall operation of the positioning device 100 to perform the method of determining the position of the P-end of the tent.

The data acquisition unit 130 may transmit/receive information to/from the motor-integrated controller 20 through wired/wireless electrical communication. The data acquisition unit 130 may receive the rotational position of the current shift stage of the position lever detent 30 acquired from the motor-integrated controller 20 and the current control value of the motor 200 .

In one embodiment, in order to learn the absolute position of the P-range, the positioning device 100 rotates the current shift stage of the position lever detent 30 where the detent ball 41 is positioned in the direction of the P-range. A motor driving command for driving the motor 200 may be generated and transmitted to the motor-integrated controller 20 through the data acquisition unit 130 . In addition, the positioning device 100 may generate a motor stop command for stopping the motor 200 rotating in the P-direction and transmit it to the data acquisition unit 130 .

The received value of the rotational position of the position lever detent 30 and the value of the control current of the motor 200 are supplied to the position setting unit 150 .

The position setting unit 150 is configured to determine the absolute rotational position of the P stage of the position lever detent 30 based on the value of the rotational position of the position lever detent 30 and the control current value of the motor 200. do.

The operation of the positioning device 100 will be described in more detail with reference to FIG. 8 below.

8 is a flowchart of a method for determining the position of the P-stage of the position lever detent so that the motor-integrated controller learns the position of the reference shift stage according to another aspect of the present application.

Before learning the absolute position of the P-range, the controller 20 is in a state of not knowing whether the current shift stage is the P-range.

Referring to FIG. 8 , a method for determining the position of the P-stage of the position lever detent (hereinafter, a position determination method) so that the motor-integrated controller learns the position of the reference shift stage is the position lever detent by the controller 20. (30) includes a step (S620) of driving the motor 200 to be rotatable in the P-end direction.

In step S620, the motor 200 is driven to rotate the rotating shaft 230. Then, the connected position lever detent 30 is also rotated in the P-range direction so that the current shift stage is changed to the P-range.

In step S620, the fact that the current shift range is rotatable in the P-range direction includes that the position lever detent 30 continues to attempt rotation even when the current shift range is actually located at the P-range. . In step S620, the motor 200 continues to drive the motor 200 even when the current shift stage of the position lever detent 30 is actually located at the P range and has been changed to the P range, thereby providing rotational force through the rotational shaft 230 to the position lever. It is delivered to the detent 30. The position lever detent 30 may be additionally rotated in the direction of P-range as long as there is no mechanical limit by continuously receiving rotational force even if the current shift stage is actually located at the P-range (S620).

In some embodiments, the positioning device 100 may transmit a motor driving command to the controller 20 in step S620. Upon receiving this motor driving command, the controller 20 drives the motor 200 so that the current shift stage of the position lever detent 30 rotates in the P-range direction.

In addition, the position determination method obtains the rotational position of the current shift stage of the position lever detent 30 while the position lever detent 30 rotates in the P-range direction (S630), and determines the position lever detent (S630). 30) obtains the control current of the motor 200 that rotates in the P-end direction (S640).

The rotational position value of the current shift stage of the position lever detent 30 in step S630 is obtained through the position sensor 210 .

The control current value of the motor 200 in step S640 is obtained through a current sensor.

In step S640, the data acquisition unit 130 may acquire the rotational position and the value of the control current through the position sensor 210 and the current sensor. Here, the values of the rotational position and control current acquired by the data acquisition unit 130 are values obtained while the motor is being driven so that the position lever detent can rotate in the P-stage direction.

The values of the rotational position and control current obtained in step S640 are the rotational position and control current obtained while the current gearshift stage has not yet been changed to the P-range and the motor 200 is driven while the rotational position of the current gearshift stage is also changed. It includes the value of , the rotational position according to the continuous driving of the motor 200 even when the current shift stage is actually changed to the P range, and the value of the control current.

9 illustrates a change in motor current according to a shift stage change according to an embodiment of the present application.

Referring to FIG. 9 , in a state in which the detent ball 41 is in contact with a specific shift stage (ie, in a state where the position of the current shift stage is designated), the controller 20 moves the position lever detent 30 into one gear. The motor 200 and the rotating shaft 230 may be rotated so as to change by the shift stage.

In one example, when the controller 20 changes the position lever detent 30 whose current shift range is the P-range by one shift range in the direction of the D-range, the detent ball 41 controls while changing to the next shift range. Current is applied to the motor 200 to rotate the rotating shaft 230 . While the detent ball 41 passes over the convex portion between the current shift stage and the other peripheral shift stages, the value of the control current of the motor 200 gradually increases. Subsequently, when the detent ball 41 is positioned at the next shift stage, the control current of the motor 200 gradually decreases, so that the rotation of the motor 200 and the rotary shaft 230 stops. Then, the control current may be obtained as shown in FIG. 8 in a section in which the current gear shift is changed from P to R, a section in which the current gear shift is changed from R to N, and a section in which the current shift is changed from N to D.

In this way, if the position lever detent 30 is not caught by the detent ball 41 while rotating in the P-range direction or the D-range direction, the current shift stage of the position lever detent 30 until the next shift stage is reached. The rotational position of is continuously changed. In this process, the control current of the motor 200 includes a continuously increasing portion. That is, if the position lever detent 30 is not caught on the detent ball 41 while rotating in the P-range direction or the D-range direction, the position lever detent 30 changes the rotational position of the current shift stage and the motor ( 200) includes a synchronization part.

On the other hand, the controller 20 is configured to check the rotation direction based on the control current of the motor 200 and the limits of the mechanical aspect. The controller 20 determines that the current shift range of the position lever detent 30 is changed from the P range when the current shift range is not changed to the next shift range even when a control current equal to or greater than a preset threshold value is applied to the motor 200 . You can also check whether additional rotation occurs in the P-stage direction.

As shown in FIG. 9, the threshold value is set to a value higher than the value of the control current required to change from the P stage to the R stage, from the R stage to the N stage, or from the N stage to the D stage. The controller 20 may check whether the motor 200 is controlled to rotate the position lever detent 30 in the P-stage direction using this threshold value.

In addition, the position determination method is based on the rotational position of the current shift stage of the position lever detent 30 obtained in steps S630 and S640 by the position setting unit 150 and the control current of the motor 200. A step of determining an absolute rotational position of the P stage of the position lever detent 30 (S650) is included.

The position setting unit 150 determines the position when the position of the current shift stage of the position lever detent 30 is not changed even though a control current is continuously applied to the motor 200 so that the motor 200 rotates. The absolute rotational position of the P stage of the position lever detent 30 may be determined based on the current rotational position of the lever detent 30 (S650).

10 is a schematic diagram of the position lever detent 30 rotated at maximum in the P-end direction according to an embodiment of the present application.

Referring to FIG. 10 , the motor 200 and the rotary shaft 230 may be additionally rotated so that the position lever detent 30 at the actual shift stage is changed by one shift stage in the direction of the P range. . When the position lever detent 30 rotates in the P-end direction as much as possible, the position lever detent 30 cannot rotate in the P-end direction any longer by the detent ball 41 . In this state, even if the motor 200 and the rotating shaft 230 additionally rotate, the rotational position of the current shift stage of the position lever detent 30 is fixed at the P-range, and the position sensor value does not change.

Since the rotational position of the current shift stage of the position lever detent 30 is not changed due to structural limitations according to the structure of the position lever detent 30, it is irrelevant to the driving of the motor 200. Even after the position lever detent 30 rotates in the P-direction as much as possible, the control current applied to the motor 200 continues to be measured, but the rotational position of the position lever detent 30 detected by the sensor 210 changes I never do that.

In one embodiment, the position setting unit 150 is a position lever detent in which a relationship between a change in the rotational position of the current shift stage of the position lever detent 30 and an increase in the control current of the motor 200 is not synchronized. The absolute rotational position of the P end of the position lever detent 30 may be determined based on the rotational position of the tent 30 (S650). The location setting unit 150 may more accurately determine the absolute location of stage P by using an asynchronous point.

As shown in FIG. 9, when a control current is applied to additionally rotate the motor 200 in a state where the position lever detent 30 is actually located at the P stage, the position-control current graph of the position lever detent 30 The relationship between the change in the rotational position of the current shift stage and the increase in the control current of the motor 200 is synchronized with the sub-period P1 and the change in the rotational position of the current shift stage of the position lever detent 30 and the motor 200 ) includes a sub-period P2 in which the relationship between the increase in the control current is unsynchronized.

As shown in FIG. 10, the P end portion of the position lever detent 30 has an inclined surface formed from the convex part H _P to the concave part L _P when viewed from the cross section of the position lever detent 30. . When the rotation shaft 230 additionally rotates while the detent ball 41 is located at the P-stage concave portion L _P , the detent ball 41 is caught in the P-stage convex portion H _P Since the position lever detent 30 rotates until the rotation of the motor 200, the initial portion, which occupies a very small portion of the entire period of additional rotation of the motor 200, is changed according to the rotation of the motor 200. Due to this, when the position lever detent 30 whose current shift stage is the P stage additionally rotates, the synchronization portion P1 is measured.

However, although the control current is still supplied to the motor 200 so that the motor 200 supplies rotational force to the rotating shaft 230, the position lever detent 30 and the detent spring 40 are coupled to the positioning structure. The lever detent 30 cannot rotate. As a result, when the position lever detent 30 additionally rotates in the P-end direction, the unsynchronized portion P2 after the synchronized portion p1 is measured.

Then, the position setting unit 150 sets the position lever detent 30 in which the relationship between the change in the rotational position of the current shift stage of the position lever detent 30 and the increase in the control current of the motor 200 is unsynchronized. The absolute rotational position of the P stage of the position lever detent 30 may be determined based on the rotational position of (S650).

In some embodiments, the position setting unit 150 determines that the relationship between the change in the rotational position of the current shift stage of the position lever detent 30 and the increase in the control current of the motor 200 is asynchronous and the motor 200 In a state in which the driving is stopped, the rotational position of the current shift stage of the position lever detent 30 in which the rotational position change due to the motor 200 is stopped may be determined as the absolute rotational position of the P-range (S650).

When the motor 200 stops driving after the position lever detent 30 is maximally rotated in the P-stage direction, the rotational force for rotating the position lever detent 30 is also removed. Then, only the pressure by the detent spring 40 is applied to the position lever detent 30 . Then, the detent ball 41 positioned close to the convex portion H _P naturally moves to the concave portion LP along the inclined surface, and the position lever detent 30 additionally rotates in the D-end direction. After additional rotation in the D-range direction, the position lever detent 30 may subsequently additionally rotate in the P-range direction and/or in the D-range direction until the rotational energy of the position lever detent 30 is consumed. This additional rotation and subsequent additional rotation may be continued until the rotational energy of the position lever detent 30 is exhausted and the detent ball 41 is positioned at the concave portion L _P of the P stage.

The position setting unit 150 may determine a position at which additional rotation of the position lever detent 30 according to the elasticity of the detent spring 40 stops after the motor 200 stops driving as the absolute rotation position of the P stage. .

The position determination method includes a step (S660) of learning the controller 20 with the absolute rotational position of the P stage determined in step (S650).

The absolute rotational position of stage P learned in step S660 may be stored in the controller 20 . In addition, in step S660, the sensing values of the position sensor and the current sensor corresponding to the absolute rotational position of the P stage may also be stored in the controller 20.

In some embodiments, the position determination method may further include checking whether a valid rotational position of the P stage of the position lever detent 30 is stored in advance (S610). Step S610 may be performed by the positioning device 100 or the controller 20.

When the absolute rotational position of the shift stage of the P stage is not stored in the controller 20 in step S610, steps S620 to S660 are performed. When the ignition key of the controller 20 is turned on, if the absolute rotation position value of the P stage stored in the EEPROM of the controller 20 is not stored, the controller 20 drives the motor in the P stage direction (S620). Even if the motor 200 is further driven, the control current increases, but if the rotational position value does not change any more, the position of the shift stage is determined as the rotational position of the P range, and the rotational position and corresponding sensing value are stored in the EEPROM. and use it as a valid value.

After that, when the ignition key is turned on, the effective P-stage rotation position and sensing value are stored in the EEPROM, so the above learning may not be performed.

In step S610, when the absolute rotational position of stage P is not stored in the controller 20, the positioning device 100 may perform operations of steps S620 to S660.

In some embodiments, the validity of the absolute rotational position of stage P may be based on whether or not the controller 20 is replaced. When the controller 20 is newly replaced, the positioning device 100 or the controller 20 may determine that a valid P-stage rotational position value is not stored. When the controller 20 is newly replaced in the same vehicle, since the rotational position value of the P stage is not stored in the memory, it is treated as having no effective rotational position value. Then, the operations of steps S620 to S660 proceed.

Meanwhile, the validity of the absolute rotational position of the P stage is not based on whether or not the transmission is replaced. When the motor-integrated controller 20 is not replaced and only the transmission is newly replaced, the positioning device 100 or the controller 20 stores the rotational position value of the effective P stage when the controller 20 is newly replaced judge that there is Then, the service center or the like applies the command “clear rotation position learning value of stage P” through the interface tool of the input device to delete the existing value stored in the motor-integrated controller 20, and the operation of steps S620 to S660 can also be performed.

It will be apparent to those skilled in the art that the device 100 may include other components not described herein. For example, it may further include a data input device, an output device such as display and/or printing, a network, a network interface, and a protocol.

The device for determining the position of the P-stage of the position lever detent so that the motor-integrated controller according to the embodiments learns the position of the reference shift stage is entirely hardware, entirely software, or partially hardware and partially software. can For example, the system may collectively refer to hardware equipped with data processing capability and operating software for driving the hardware. In this specification, terms such as “unit”, “module”, “apparatus”, or “system” are intended to refer to a combination of hardware and software driven by the hardware. For example, the hardware may be a data processing computing device including a Central Processing Unit (CPU), a Graphic Processing Unit (GPU), or another processor. Also, software may refer to a running process, an object, an executable file, a thread of execution, a program, and the like.

In the case of implementing the embodiments of the present invention using hardware, application specific integrated circuits (ASICs) or digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable programmable PLDs (PLDs) configured to perform the embodiments of the present application. logic devices), field programmable gate arrays (FPGAs), etc. may be included in the components of the present application.

The operation of the apparatus and method for determining the position of the P-stage of the position lever detent so that the motor-integrated controller according to the embodiments of the present application described above learns the position of the reference shift stage is at least partially implemented as a computer program, It can be recorded on a computer-readable recording medium. For example, implemented together with a program product consisting of a computer-readable medium containing program code, which may be executed by a processor to perform any or all steps, operations, or processes described.

The computer-readable recording medium includes all types of recording devices in which data readable by a computer is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. In addition, computer-readable recording media may be distributed in computer systems connected through a network, and computer-readable codes may be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing this embodiment may be easily understood by those skilled in the art to which this embodiment belongs.

Although the present invention reviewed above has been described with reference to the embodiments shown in the drawings, this is only exemplary, and those skilled in the art will understand that various modifications and variations of the embodiments are possible therefrom. However, such modifications should be considered within the technical protection scope of the present invention. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

20: motor integrated controller
30: position lever detent
40: detent spring
41: detent ball
210: position sensor
220: magnetic body
230: axis of rotation

Claims (10)

A method for determining the position of a shift stage for learning of a motor-integrated controller, wherein a position detection function of a shift stage is performed by a computing device linked to a motor-integrated controller integrated therein,
The integrated motor-integrated controller includes a motor, a rotating shaft of the motor, a position sensor for sensing rotation of the rotating shaft, and a current sensor for sensing a control current of the motor, and one end of the rotating shaft of the motor is connected to the position lever detent. The position lever detent includes a plurality of shift stages including a P stage,
The method,
Obtaining, in the computing device, a rotational position of the current shift stage of the position lever detent and a control current of a motor that causes the position lever detent to rotate in the direction of P-range through the position sensor and the current sensor - Obtained rotational position , The value of the control current is a value obtained while the motor is driving so that the position lever detent can rotate in the P-direction.
determining, by the computing device, an absolute rotational position of the P-stage of the position lever detent based on a current rotational position of the shift stage of the position lever detent and a control current of the motor;
checking whether a valid rotational position of the P stage has been stored in advance; and
Learning the motor-integrated controller with the determined absolute rotational position of the P-stage so that the determined absolute rotational position of the P-stage is stored in the motor-integrated controller;
Characterized in that the learning of the motor-integrated controller is performed when it is confirmed that the effective rotational position of the P stage is not previously stored.
method. According to claim 1,
When the motor is driven, the position lever detent connected through the rotating shaft rotates,
The position lever detent is configured so that the current shift stage does not deviate from the P range when the position lever detent rotates in the P range direction, and the rotation range of the position lever detent in the P range direction is the side surface of the position lever detent. It is based on the structure and the coupling structure with the rotation axis,
Characterized in that the motor-integrated controller is configured to increase the control current value when the motor is driven.
method.
According to claim 2,
The determining step is
P-range of the position lever detent based on the rotational position of the current shift stage of the position lever detent in which the relationship between the change in the rotational position of the current shift stage of the position lever detent and the increase in the control current of the motor is unsynchronized. Characterized in determining the absolute rotational position,
method.
The method according to claim 3, wherein the current shift stage of the position lever detent is a shift stage to which pressure is applied by a detent spring,
When the position lever detent continues to rotate in the P-range direction in a state where the shift stage is currently in the P-range, the side structure corresponding to the P-range of the position lever detent is caught on the detent spring to restrict rotation. to do,
method.
The method of claim 3, wherein the determining of the absolute rotational position of the P-stage of the position lever detent based on the rotational position of the current shift stage of the unsynchronized position lever detent comprises:
After the relationship between the change in the rotational position of the current shift stage of the position lever detent and the increase in the control current of the motor is out of synch, in a state where the driving of the motor is stopped, the rotational position change due to the stopping of the driving of the motor is stopped. Characterized in that the rotational position of the current shift stage of the position lever detent is determined as the absolute rotational position of the P stage.
method.
delete delete According to claim 1,
Characterized in that the effectiveness of the stored rotational position of the P stage is based on whether or not the motor-integrated controller is replaced.
method.
A computer-readable recording medium on which a program for performing the method according to any one of claims 1 to 5 and claim 8 is recorded.
In the device for determining the position of the shift stage for learning of the motor-integrated controller interlocked with the motor-integrated controller having a position detection function of the shift stage integrated therein,
The integrated motor-integrated controller includes a motor, a rotating shaft of the motor, a position sensor for sensing rotation of the rotating shaft, and a current sensor for sensing a control current of the motor, and one end of the rotating shaft of the motor is connected to the position lever detent. The position lever detent includes a plurality of shift stages including a P stage,
The device,
While the position lever detent rotates in the P-range direction, the current rotational position of the position lever detent and the control current of the motor that causes the position lever detent to rotate in the P-range direction are obtained through the position sensor and the current sensor. A data acquisition unit configured to do so, and
A position setting unit configured to determine an absolute rotational position of the P-stage of the position lever detent based on a rotational position of a current shift stage of the position lever detent and a control current of a motor;
By the device or the motor-integrated controller, check whether the effective rotational position of the P stage has been stored in advance,
The motor-integrated controller learns the determined absolute rotational position of the P-stage so that the determined absolute rotational position of the P-stage is stored in the motor-integrated controller,
Characterized in that the learning of the motor-integrated controller is performed when it is confirmed that the effective rotational position of the P stage is not previously stored.
Device.

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