WO2010125672A1 - ベルト式無段変速機の制御装置と制御方法 - Google Patents
ベルト式無段変速機の制御装置と制御方法 Download PDFInfo
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- WO2010125672A1 WO2010125672A1 PCT/JP2009/058468 JP2009058468W WO2010125672A1 WO 2010125672 A1 WO2010125672 A1 WO 2010125672A1 JP 2009058468 W JP2009058468 W JP 2009058468W WO 2010125672 A1 WO2010125672 A1 WO 2010125672A1
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- belt
- control
- belt slip
- hydraulic pressure
- continuously variable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
- F16H61/662—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings with endless flexible members
- F16H61/66272—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings with endless flexible members characterised by means for controlling the torque transmitting capability of the gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
- F16H61/662—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings with endless flexible members
Definitions
- the present invention relates to a control device and a control method for a belt-type continuously variable transmission that performs belt slip control for slipping a belt stretched around a pulley at a predetermined slip rate.
- the present invention has been made paying attention to the above problems, and when the estimation accuracy of the belt slip state is high, when the estimation accuracy of the belt slip state is low while ensuring the reduction of the driving energy consumed due to the reduction of the belt friction, It is an object of the present invention to provide a control device and a control method for a belt type continuously variable transmission that can prevent the belt from slipping greatly during belt slip control.
- a primary pulley input from a drive source, a secondary pulley output to a drive wheel, and the primary pulley and the secondary pulley are stretched over. And controlling a primary hydraulic pressure to the primary pulley and a secondary hydraulic pressure to the secondary pulley, thereby controlling a gear ratio based on a ratio of a pulley winding diameter of the belt.
- the belt slip state is detected by exciting the secondary hydraulic pressure and monitoring the phase difference between the vibration component included in the actual secondary hydraulic pressure and the vibration component included in the actual transmission ratio.
- a belt slip control means for performing control to reduce the actual secondary oil pressure so as to maintain a predetermined belt slip state based on the estimation, and a shift speed that is a change rate of the speed ratio is less than a predetermined value
- Belt slip control permission determining means for permitting belt slip control by the belt slip control means.
- the belt slip control means determines the belt by the belt slip control means when the speed change rate which is the change rate of the speed ratio is less than a predetermined value.
- Slip control is allowed.
- the belt slip state is estimated using the vibration component due to vibration included in the actual gear ratio, and therefore the gear shift speed, which is the change rate of the gear ratio, is used to extract the vibration component due to vibration. affect. That is, when the shift speed is less than a predetermined value, it is possible to distinguish between a gear ratio variation due to shift and a vibration component due to vibration.
- the vibration component included in the actual transmission ratio disappears, and the transmission ratio fluctuation due to the shift and the vibration component due to the excitation cannot be separated.
- the belt slip control since the belt slip control is permitted when the shift speed with high estimation accuracy of the belt slip state is less than the predetermined value, the belt friction is reduced by reducing the pulley hydraulic pressure, and the transmission driving load is kept low.
- the belt slip control since the belt slip control is not permitted when the shift speed with a low estimated accuracy of the belt slip state exceeds a predetermined value, the belt slips greatly as in the case where the belt slip control is permitted regardless of the shift speed. It is prevented.
- FIG. 1 is an overall system diagram showing a drive system and a control system of a vehicle equipped with a belt type continuously variable transmission to which a control device and a control method of Example 1 are applied. It is a perspective view which shows the belt-type continuously variable transmission mechanism to which the control apparatus and control method of Example 1 were applied. It is a perspective view which shows a part of belt of the belt-type continuously variable transmission mechanism to which the control apparatus and control method of Example 1 are applied.
- FIG. 3 is a control block diagram illustrating line pressure control and secondary hydraulic control (normal control / belt slip control) executed by the CVT control unit 8 according to the first embodiment.
- 3 is an overall flowchart illustrating a belt slip control process executed by the CVT control unit 8 according to the first embodiment. It is a flowchart which shows a torque limit process among the belt slip control processes performed in the CVT control unit 8 of Example 1.
- FIG. It is a flowchart which shows the vibration and correction process of secondary hydraulic pressure among the belt slip control processes performed in the CVT control unit 8 of Example 1.
- FIG. 3 is an overall flowchart illustrating a return process from belt slip control to normal control executed by the CVT control unit 8 according to the first embodiment.
- FIG. 6 is a flowchart illustrating a shift restriction process in a return process to a normal control executed by the CVT control unit 8 according to the first embodiment.
- 6 is a time chart showing an actual gear ratio characteristic and a target gear ratio characteristic when a gear change with a small gear change rate is performed during belt slip control.
- 6 is a time chart showing an actual gear ratio characteristic and a target gear ratio characteristic when a gear change with a large gear change rate is performed during belt slip control.
- FIG. 1 is an overall system diagram showing a drive system and a control system of a vehicle equipped with a belt-type continuously variable transmission to which the control device and the control method of Embodiment 1 are applied.
- FIG. 2 is a perspective view showing a belt type continuously variable transmission mechanism to which the control device and the control method of the first embodiment are applied.
- FIG. 3 is a perspective view illustrating a part of the belt of the belt-type continuously variable transmission mechanism to which the control device and the control method of the first embodiment are applied.
- the system configuration will be described below with reference to FIGS.
- the drive system of the vehicle equipped with a belt type continuously variable transmission includes an engine 1, a torque converter 2, a forward / reverse switching mechanism 3, a belt type continuously variable transmission mechanism 4, and a final reduction mechanism 5.
- the engine 1 can control the output torque by an engine control signal from the outside, in addition to the output torque control by the accelerator operation by the driver.
- the engine 1 includes an output torque control actuator 10 that performs output torque control by a throttle valve opening / closing operation, a fuel cut operation, and the like.
- the torque converter 2 is a starting element having a torque increasing function.
- the torque converter 2 includes a turbine runner 23 connected to the engine output shaft 11 via a converter housing 22, a pump impeller 24 connected to the torque converter output shaft 21, and a stator 26 provided via a one-way clutch 25. And are the components.
- the forward / reverse switching mechanism 3 is a mechanism that switches the input rotation direction to the belt type continuously variable transmission mechanism 4 between a forward rotation direction during forward travel and a reverse rotation direction during reverse travel.
- the forward / reverse switching mechanism 3 includes a double pinion planetary gear 30, a forward clutch 31, and a reverse brake 32.
- the double pinion planetary gear 30 has a sun gear connected to the torque converter output shaft 21 and a carrier connected to the transmission input shaft 40.
- the forward clutch 31 is fastened during forward travel, and directly connects the sun gear of the double pinion planetary gear 30 and the carrier.
- the reverse brake 32 is fastened during reverse travel, and fixes the ring gear of the double pinion planetary gear 30 to the case.
- the belt-type continuously variable transmission mechanism 4 is a continuously variable transmission that continuously changes a gear ratio, which is a ratio of the input rotational speed of the transmission input shaft 40 and the output rotational speed of the transmission output shaft 41, by changing the belt contact diameter. It has a function.
- the belt type continuously variable transmission mechanism 4 includes a primary pulley 42, a secondary pulley 43, and a belt 44.
- the primary pulley 42 is composed of a fixed pulley 42 a and a slide pulley 42 b, and the slide pulley 42 b is slid by the primary hydraulic pressure guided to the primary hydraulic chamber 45.
- the secondary pulley 43 is composed of a fixed pulley 43 a and a slide pulley 43 b, and the slide pulley 43 b is slid by the primary hydraulic pressure guided to the secondary hydraulic chamber 46.
- the belt 44 is stretched over sheave surfaces 42 c and 42 d forming a V shape of the primary pulley 42 and sheave surfaces 43 c and 43 d forming a V shape of the secondary pulley 43.
- the belt 44 is formed by two sets of stacked rings 44a and 44a in which a large number of annular rings are stacked from the inside to the outside and a punched plate material, and is sandwiched between the two sets of stacked rings 44a and 44a.
- the element 44b has sheave surfaces 42c and 42d of the primary pulley 42 and flank surfaces 44c and 44c that contact the sheave surfaces 43c and 43d of the secondary pulley 43 at both side positions.
- the final reduction mechanism 5 is a mechanism that decelerates transmission output rotation from the transmission output shaft 41 of the belt-type continuously variable transmission mechanism 4 and transmits it to the left and right drive wheels 6 and 6 while providing a differential function.
- the final reduction mechanism 5 is interposed in the transmission output shaft 41, the idler shaft 50, and the left and right drive shafts 51, 51, and has a first gear 52, a second gear 53, a third gear 54 having a reduction function. And a fourth gear 55 and a gear differential gear 56 having a differential function.
- the control system of the vehicle equipped with a belt type continuously variable transmission includes a transmission hydraulic pressure control unit 7 and a CVT control unit 8.
- the transmission hydraulic pressure control unit 7 is a hydraulic pressure control unit that generates a primary hydraulic pressure led to the primary hydraulic chamber 45 and a secondary hydraulic pressure led to the secondary hydraulic chamber 46.
- the shift hydraulic pressure control unit 7 includes an oil pump 70, a regulator valve 71, a line pressure solenoid 72, a shift control valve 73, a pressure reducing valve 74, a secondary hydraulic solenoid 75, a servo link 76, a shift command valve 77, Step motor 78 is provided.
- the regulator valve 71 is a valve that regulates the line pressure PL using the discharge pressure from the oil pump 70 as a source pressure.
- the regulator valve 71 has a line pressure solenoid 72 and adjusts the pressure of the oil pumped from the oil pump 70 to a predetermined line pressure PL in response to a command from the CVT control unit 8.
- the shift control valve 73 is a valve that regulates the primary hydraulic pressure guided to the primary hydraulic chamber 45 using the line pressure PL generated by the regulator valve 71 as a source pressure.
- a spool 73a is connected to a servo link 76 constituting a mechanical feedback mechanism, and a shift command valve 77 connected to one end of the servo link 76 is driven by a step motor 78. Feedback of the slide position (actual pulley ratio) is received from the slide pulley 42b of the primary pulley 42 connected to the other end.
- the step motor 78 when the step motor 78 is driven in response to a command from the CVT control unit 8 at the time of shifting, the step motor 78 supplies / discharges the line pressure PL to / from the primary hydraulic chamber 45 by the displacement of the spool 73a of the shift control valve 73.
- the primary hydraulic pressure is adjusted so that the target gear ratio commanded at the drive position is obtained.
- the spool 73a is held in the closed position in response to the displacement from the servo link 76.
- the pressure reducing valve 74 is a valve that adjusts the secondary hydraulic pressure guided to the secondary hydraulic chamber 46 by the pressure reduction control using the line pressure PL generated by the regulator valve 71 as a source pressure.
- the pressure reducing valve 74 includes a secondary hydraulic solenoid 75 and reduces the line pressure PL in accordance with a command from the CVT control unit 8 to control it to the command secondary hydraulic pressure.
- the CVT control unit 8 outputs a control command for obtaining a target speed ratio corresponding to the vehicle speed, throttle opening, etc. to the step motor 78, and a control command for obtaining a target line pressure corresponding to the throttle opening, etc.
- Line pressure control to be output to the pressure solenoid 72
- secondary hydraulic control to output a control command for obtaining the target secondary pulley thrust according to the transmission input torque, etc. to the secondary hydraulic solenoid 75, engagement / release of the forward clutch 31 and the reverse brake 32
- forward / reverse switching control for controlling, lockup control for controlling engagement / release of the lockup clutch 20, and the like are performed.
- the CVT control unit 8 includes a primary rotation sensor 80, a secondary rotation sensor 81, a secondary oil pressure sensor 82, an oil temperature sensor 83, an inhibitor switch 84, a brake switch 85, an accelerator opening sensor 86, other sensors and switches 87, and the like. Sensor information and switch information are input. Further, torque information is input from the engine control unit 88 and a torque request is output to the engine control unit 88.
- FIG. 4 is a control block diagram showing line pressure control and secondary hydraulic control (normal control / belt slip control) executed by the CVT control unit 8 of the first embodiment.
- the hydraulic control system of the CVT control unit 8 includes a basic hydraulic pressure calculation unit 90, a line pressure control unit 91, a secondary hydraulic pressure control unit 92, and a sine wave excitation control unit 93.
- a secondary hydraulic pressure correction unit 94 is provided in the hydraulic control system of the CVT control unit 8 according to the first embodiment.
- the basic hydraulic pressure calculation unit 90 includes an input torque calculation unit 90a that calculates transmission input torque based on torque information (engine speed, fuel injection time, etc.) from the engine control unit 88 (see FIG. 1), and an input.
- a basic secondary thrust calculation unit 90b that calculates a basic secondary thrust (belt clamping force required for the secondary pulley 43) from the transmission input torque obtained by the torque calculation unit 90a, and a differential thrust (primary pulley 42 and secondary pulley required for shifting) 43) (difference in belt clamping force of 43), a required difference thrust calculating unit 90c for shifting, a correcting unit 90d for correcting the calculated basic secondary thrust based on the required differential thrust during shifting, and the corrected secondary thrust as the target secondary hydraulic pressure
- a secondary hydraulic pressure conversion unit 90e for converting to Furthermore, a basic primary thrust calculation unit 90f that calculates a basic primary thrust (a belt clamping force necessary for the primary pulley 42) from the transmission input torque obtained by the input torque calculation unit 90a, and the calculated basic primary thrust
- the line pressure control unit 91 compares the target primary hydraulic pressure output from the primary hydraulic pressure conversion unit 90h with the indicated secondary hydraulic pressure obtained from the secondary hydraulic pressure control unit 92, and when the target primary hydraulic pressure ⁇ the indicated secondary hydraulic pressure, A target line pressure determining unit 91a that sets the target line pressure to the same value as the commanded secondary hydraulic pressure when the line pressure is set to the same value as the target primary hydraulic pressure and the target primary hydraulic pressure is less than the commanded secondary hydraulic pressure; A hydraulic-current converter 91b that converts the target line pressure determined in 91a into a current value to be applied to the solenoid and outputs the converted command current value to the line pressure solenoid 72 of the regulator valve 71.
- the secondary hydraulic pressure control unit 92 obtains an instruction secondary hydraulic pressure by feedback control using the actual secondary hydraulic pressure detected by the secondary hydraulic pressure sensor 82 during normal control, and open control that does not use the actual secondary hydraulic pressure during belt slip control.
- the multiplier 92f that multiplies the integral gain from the integral gain determination unit 92e and the deviation from the deviation switching unit 92d, the integrator 92g that integrates the FB integral control amount from the multiplier 92f, and the secondary hydraulic pressure conversion unit 90e.
- a limiter 92i to be obtained.
- a vibration adder 92j that applies a sinusoidal vibration command to the basic secondary hydraulic pressure
- a hydraulic pressure corrector 92k that corrects the excited basic secondary hydraulic pressure with a secondary hydraulic pressure correction amount to obtain an instruction secondary hydraulic pressure
- a hydraulic-current conversion unit 92m that converts the command secondary hydraulic pressure into a current value to be applied to the solenoid, and outputs the converted command current value to the secondary hydraulic solenoid 75 of the pressure reducing valve 74.
- the secondary hydraulic pressure correction unit 94 includes an actual transmission ratio calculation unit 94a that calculates an actual transmission ratio Ratio based on a ratio between the primary rotational speed Npri from the primary rotational sensor 80 and the secondary rotational speed Nsec from the secondary rotational sensor 81, and a secondary hydraulic sensor.
- the first bandpass filter 94b that extracts the vibration component from the signal that represents the actual secondary hydraulic pressure Psec acquired by 82
- the second bandpass filter 94c that extracts the vibration component from the calculation data acquired by the actual gear ratio calculation unit 94a. And having.
- a secondary hydraulic pressure correction amount determination unit 94f that determines a secondary hydraulic pressure correction amount, a zero correction amount setting unit 94g that sets a secondary hydraulic pressure zero correction amount, and a correction that selects and switches between the secondary hydraulic pressure correction amount and the zero correction amount
- step S1 normal control of the belt-type continuously variable transmission mechanism 4 is performed following start by key-on, determination of BSC disapproval in step S2, or normal control return processing in step S5, and the process proceeds to step S2.
- the BSC operation flag 0 is set during normal control.
- step S2 following the normal control in step S1, it is determined whether or not all of the following BSC permission conditions are satisfied. If YES (all BSC permission conditions are satisfied), the process proceeds to step S3 and belt slip control ( BSC). If NO (there is a condition that does not satisfy even one of the BSC permission conditions), the process returns to step S1 to continue normal control.
- BSC permission condition is shown below.
- (1) The transmission torque capacity of the belt type continuously variable transmission mechanism 4 is stable (the rate of change of the transmission torque capacity is small).
- This condition (1) is, for example, a.
- the estimation accuracy of the input torque to the primary pulley 42 is within a reliable range.
- the condition (2) is determined based on, for example, torque information (estimated engine torque) from the engine control unit 88, the lock-up state of the torque converter 2, the operation state of the brake pedal, the range position, and the like.
- (3) Continue the permission states (1) and (2) above for a predetermined time. In step S2, it is determined whether or not all of the above conditions (1), (2), and (3) are satisfied.
- step S3 following the BSC permission determination in step S2 or the BSC continuation determination in step S4, the input to the belt 44 of the belt type continuously variable transmission mechanism 4 is reduced, and the belt 44 is not slipped.
- Belt slip control (FIGS. 6 to 8) for maintaining a smooth slip state is performed, and the process proceeds to step S4.
- the BSC operation flag is set to 1.
- step S4 following the belt slip control in step S3, it is determined whether or not all the following BSC continuation conditions are satisfied. If YES (all the BSC continuation conditions are satisfied), the process returns to step S3, and the belt slip control Continue (BSC). If NO (there is a condition that does not satisfy even one of the BSC continuation conditions), the process proceeds to step S5, and normal control return processing is performed.
- BSC continuation condition is shown below.
- (1) The transmission torque capacity of the belt type continuously variable transmission mechanism 4 is stable (the rate of change of the transmission torque capacity is small).
- This condition (1) is, for example, a.
- the estimation accuracy of the input torque to the primary pulley 42 is within a reliable range.
- the condition (2) is determined based on, for example, torque information (estimated engine torque) from the engine control unit 88, the lock-up state of the torque converter 2, the operation state of the brake pedal, the range position, and the like. It is determined whether or not both of the above conditions (1) and (2) are satisfied. That is, the difference between the BSC permission condition and the BSC continuation condition is that the BSC continuation condition does not have the continuation condition (3) among the BSC permission conditions.
- step S5 following the determination that one of the BSC continuation conditions in step S4 does not satisfy one of the conditions, a normal control return process for preventing the belt 44 from slipping when returning from belt slip control to normal control ( 9 to 11) are performed, and after the process is completed, the process returns to step S1 and shifts to the normal control.
- FIG. 6 is an overall flowchart showing a belt slip control process executed by the CVT control unit 8 of the first embodiment.
- FIG. 7 is a flowchart showing the torque limit process in the belt slip control process executed by the CVT control unit 8 of the first embodiment.
- FIG. 8 is a flowchart showing the secondary oil pressure excitation / correction process in the belt slip control process executed by the CVT control unit 8 according to the first embodiment.
- step S31 the feedback control prohibition process for obtaining the command secondary hydraulic pressure using the actual secondary hydraulic pressure
- step S32 A torque limit process in preparation for returning to the control
- step S33 a secondary oil pressure excitation / correction process for belt slip control
- step S31 during the belt slip control in which the BSC continuation determination is maintained from the BSC permission determination, feedback control for obtaining the command secondary hydraulic pressure using the actual secondary hydraulic pressure detected by the secondary hydraulic pressure sensor 82 is prohibited. That is, when obtaining the command secondary oil pressure, the feedback control during the normal control is prohibited and the control is switched to the open control using the zero deviation during the belt slip control. When the belt slip control is shifted to the normal control, the control returns to the feedback control again.
- step S32 the torque limit process of FIG. 7 is performed during the belt slip control in which the BSC continuation determination is maintained from the BSC permission determination. That is, in the flowchart of FIG. 7, in step S321, “torque limit request from belt slip control” is set as the driver request torque.
- step S33 during the belt slip control in which the BSC continuation determination is maintained from the BSC permission determination, the secondary hydraulic pressure is oscillated and corrected in FIG.
- step S33 each step of the flowchart of FIG. 8 will be described.
- step S331 the command secondary hydraulic pressure is vibrated. That is, a sine wave hydraulic pressure with a predetermined amplitude and a predetermined frequency is superimposed on the command secondary hydraulic pressure, and the process proceeds to step S332.
- step S332 following the excitation of the command secondary hydraulic pressure in step S331, the actual secondary hydraulic pressure is detected from the secondary hydraulic sensor 82, and the actual gear ratio is determined based on the rotational speed information from the primary rotation sensor 80 and the secondary rotation sensor 81. It detects by calculation and progresses to step S333.
- step S333 following the detection of the actual secondary hydraulic pressure and the actual gear ratio in step S332, bandpass filter processing is performed on each of the actual secondary hydraulic pressure and the actual gear ratio, and vibration components (sine Wave) is multiplied and multiplied, and the multiplication value is subjected to low-pass filter processing to obtain a value represented by the amplitude and the phase difference ⁇ (cosine wave) from the actual secondary hydraulic vibration to the actual gear ratio vibration. Convert to step S334.
- step S334 following the calculation of the phase difference ⁇ from the actual secondary hydraulic vibration to the actual gear ratio vibration in step S333, the phase difference ⁇ from the actual secondary hydraulic vibration to the actual gear ratio vibration is 0 ⁇ phase difference ⁇ ⁇ predetermined. It is determined whether or not the value is 1 (micro slip region). If YES (0 ⁇ phase difference ⁇ ⁇ predetermined value 1), the process proceeds to step S335. If NO (predetermined value 1 ⁇ phase difference ⁇ ), the process proceeds to step S335. Proceed to S336.
- step S335 following the determination in step S334 that 0 ⁇ phase difference ⁇ ⁇ predetermined value 1 (micro slip region), the secondary hydraulic pressure correction amount is set to “ ⁇ Psec”, and the process proceeds to step S339.
- step S336 following the determination that the predetermined value 1 ⁇ phase difference ⁇ in step S334, the phase difference ⁇ from the actual secondary hydraulic vibration to the actual gear ratio vibration is a predetermined value 1 ⁇ phase difference ⁇ ⁇ predetermined value 2 It is determined whether or not (target slip region). If YES (predetermined value 1 ⁇ phase difference ⁇ ⁇ predetermined value 2), the process proceeds to step S337. If NO (predetermined value 2 ⁇ phase difference ⁇ ), the process proceeds to step S337. Proceed to S338.
- step S337 following the determination that predetermined value 1 ⁇ phase difference ⁇ ⁇ predetermined value 2 (target slip region) in step S336, the secondary hydraulic pressure correction amount is set to “0”, and the process proceeds to step S339.
- step S338 following the determination in step S336 that the predetermined value 2 ⁇ phase difference ⁇ (micro / macro slip transition region), the secondary hydraulic pressure correction amount is set to “+ ⁇ Psec”, and the process proceeds to step S339.
- step S339 following the setting of the secondary hydraulic pressure correction amount in step S335, step S337, and step S338, the basic secondary hydraulic pressure + secondary hydraulic pressure correction amount is set as the command secondary hydraulic pressure, and the process proceeds to the end.
- FIG. 9 is an overall flowchart showing a return process from the belt slip control to the normal control executed by the CVT control unit 8 according to the first embodiment.
- FIG. 10 is a flowchart showing the torque limit process in the return process to the normal control executed by the CVT control unit 8 according to the first embodiment.
- FIG. 11 is a flowchart illustrating the shift restriction process in the return process to the normal control executed by the CVT control unit 8 according to the first embodiment.
- Step S51 the feedback control return processing for obtaining the indicated secondary hydraulic pressure using the actual secondary hydraulic pressure
- Step S52 torque limit processing for returning to normal control
- Step S53 secondary oil pressure excitation / correction reset processing for belt slip control
- step S54 shift regulation for regulating the shift speed
- step S51 during the return from the belt slip control to the normal control until the normal control is started after the BSC continuation is stopped, the control returns to the feedback control for obtaining the command secondary hydraulic pressure using the actual secondary hydraulic pressure detected by the secondary hydraulic pressure sensor 82. To do.
- step S52 during the return from the belt slip control to the normal control from the BSC continuation stop to the start of the normal control, the torque limit process toward the return to the normal control in FIG. 10 is performed.
- step S53 during the return from the belt slip control to the normal control from the BSC continuation stop until the normal control is started, the secondary oil pressure excitation / correction in FIG. 8 is reset to prepare for the normal control.
- step S54 a shift restriction process for restricting the shift speed in FIG. 11 is performed during the return from the belt slip control to the normal control from the BSC continuation stop to the start of the normal control.
- the actual torque capacity is controlled by secondary hydraulic control.
- the “calculated torque capacity” is the torque capacity during BSC (phase (2) in FIG. 16) and during the return process (phase (3) in FIG. 16).
- This calculated torque capacity is a value based on the actual secondary oil pressure and the actual gear ratio, and specifically, a value calculated based on the actual secondary oil pressure and the actual gear ratio (the engine torque of the two pulleys 42 and 43). On the side from which the gear enters, that is, the torque capacity at the primary pulley 42).
- step S521 it is determined whether or not the “driver required torque” is larger than “torque limit request from BSC”. If YES, the process proceeds to step S522, and if NO, the process proceeds to step S525.
- step S522 following the determination that “driver required torque”> “torque limit request from BSC” in step S521, it is determined whether “calculated torque capacity” is greater than “torque limit request from BSC”. If YES, the process proceeds to step S523, and if NO, the process proceeds to step S524.
- step S523 following the determination that “calculated torque capacity”> “torque limit request from BSC” in step S522, “torque limit request from BSC” is changed to “torque limit request from BSC (previous value). ) + ⁇ T ”and“ calculated allowable torque capacity ”, set to the smaller value and proceed to return.
- step S524 following the determination in step S522 that “calculated torque capacity” ⁇ “torque limit request from BSC”, “torque limit request from BSC” is changed to “torque limit request from BSC (previous value). ) ”And“ Driver Required Torque ”, set to the smaller value and proceed to return.
- step S525 following the determination that “driver required torque” ⁇ “torque limit request from BSC” in step S521, it is determined whether or not “calculated torque capacity” is greater than “torque limit request from BSC”. If YES, the process proceeds to step S527. If NO, the process proceeds to step S526.
- step S526 following the determination that “calculated torque capacity” ⁇ “torque limit request from BSC” in step S525, “torque limit request from BSC” is changed to “torque limit request from BSC (previous value). ) ”And“ Driver Required Torque ”, set to the smaller value and proceed to return.
- step S527 following the determination that “calculated torque capacity”> “torque limit request from BSC” in step S525, “torque limit from BSC” is canceled, and the process proceeds to the end.
- step S541 the target inertia torque is calculated from the engine torque, and the process proceeds to step S542.
- step S542 following the calculation of the target inertia torque in step S541, the target primary rotation change rate is calculated by the target inertia torque, and the process proceeds to step S543.
- step S543 following the calculation of the target primary rotation change rate in step S542, a limited target primary rotation speed that does not exceed the target primary rotation change rate is calculated, and the process proceeds to step S544.
- step S544 following the calculation of the limited target primary rotational speed in step S543, the shift control is performed based on the limited target primary rotational speed, and the process proceeds to step S545.
- step S545 following the shift control in step S544, it is determined whether or not the shift control based on the limited target primary rotational speed has been completed, that is, whether or not the actual primary rotational speed has reached the limited target primary rotational speed. . If YES (end of shift control), the process proceeds to the end. If NO (during shift control), the process returns to step S541.
- BSC permission determination action and BSC continuation determination action The operation of the control device and the control method of the belt type continuously variable transmission mechanism 4 according to the first embodiment is referred to as “BSC permission determination action and BSC continuation determination action”, “
- step S1 the process proceeds from step S1 to step S2, and unless all the BSC permission determination conditions in step S2 are satisfied, the flow from step S1 to step S2 is repeated. Control is maintained. That is, satisfying all of the BSC permission determination conditions in step S2 is a BSC control start condition.
- the transmission torque capacity of the belt type continuously variable transmission mechanism 4 is stable (the rate of change of the transmission torque capacity is small).
- This condition (1) is, for example, a.
- the estimation accuracy of the input torque to the primary pulley 42 is within a reliable range.
- the condition (2) is determined based on, for example, torque information (estimated engine torque) from the engine control unit 88, the lock-up state of the torque converter 2, the operation state of the brake pedal, the range position, and the like.
- the belt slip control can be started in a preferable adaptive region in which high control accuracy is guaranteed.
- step S2 When the BSC permission determination is made in step S2, the process proceeds to step S3, where the belt type continuously variable transmission mechanism 4 is reduced in input to the belt 44, and the belt that keeps an appropriate slip state without slipping the belt 44. Slip control is performed. Then, following the belt slip control in step S3, in the next step S4, it is determined whether or not all the BSC continuation conditions are satisfied. As long as all the BSC continuation conditions are satisfied, the flow proceeds from step S3 to step S4. Repeatedly, the belt slip control (BSC) is continued.
- BSC belt slip control
- the conditions (1) and (2) among the BSC permission conditions are used. That is, among the BSC permission conditions, the predetermined time continuation condition (3) is not included in the BSC continuation conditions. For this reason, during belt slip control, if one of the conditions (1) and (2) is not satisfied, the belt slip control is stopped immediately and the normal control is resumed, so the control accuracy is not guaranteed. Thus, it is possible to prevent the belt slip control from being continued.
- belt slip control permission determination is permitted under one condition that the speed change rate, which is the change rate of the speed ratio, is less than a predetermined value.
- Example 1 when
- the sine wave vibration control unit 93 in FIG. 4 oscillates by superimposing sine wave hydraulic vibration on the command secondary hydraulic pressure, and the vibration component included in the actual secondary hydraulic pressure and the actual gear ratio are obtained by this vibration.
- the belt slip state is estimated using the vibration component included in the Ratio.
- the extraction of the vibration component included in the actual secondary hydraulic pressure, the extraction of the vibration component included in the actual gear ratio Ratio, and the estimation accuracy of the belt slip state based on the extracted vibration component are ensured. What can be done is a necessary condition. That is, when the speed ratio change rate to the belt-type continuously variable transmission mechanism 4 is gradually increased during belt slip control, the vibration component included in the actual secondary hydraulic pressure and the actual speed ratio Ratio can be extracted, and the extracted vibration
- the gear ratio change rate determined to be the limit range in which the estimation accuracy of the belt slip state based on the component can be secured is set as a “predetermined value”.
- the detailed setting method of this “predetermined value” is the shift state when the frequency characteristics of the command gear ratio corresponding component and the vibration component shown in FIG. 14 graph A and the shift width and the shift time constant shown in FIG. Based on
- a shift width K K
- a break frequency f 1 / T
- the shift state at the break frequency f1 is ⁇ K1 / (1 + T1s) ⁇ in FIG. 14 graph B
- the shift state at the break frequency f2 is ⁇ K1 / (1 + T2s) ⁇
- the shift state at the break frequency f3 is ⁇ K1 / (1 + T3s) ⁇ in FIG.
- the breakpoint frequency becomes an index of the shift speed in a constant shift width, and the shift speed increases as the breakpoint frequency increases.
- the limit frequency D which is the limit frequency at which the command gear ratio corresponding component does not interfere with the vibration component due to vibration.
- the “predetermined value” is obtained, it is analyzed where the upper limit threshold of the shift speed exists when the shift width is set to the maximum shift width K2 determined by the system. For example, when the shift width is K2 at the breakpoint frequency f3, as shown in graph A in FIG.
- the vibration component due to vibration interferes with the characteristics of ⁇ k2 / (1 + T3s) ⁇ .
- This state means that the speed change speed exceeds the “predetermined value”.
- the vibration component caused by the vibration and the characteristic of ⁇ k2 / (1 + T2s) ⁇ match at the limit frequency D at which interference does not occur.
- this breakpoint frequency f2 is an upper limit breakpoint frequency that determines the upper limit threshold value of the shift speed, and means that the shift speed at the upper limit breakpoint frequency f2 is a “predetermined value”.
- the maximum shift width K2 is a value smaller than the upper limit frequency f2, it means that the shift speed has a margin before the “predetermined value”.
- the permitted condition range for belt slip control can be expanded.
- belt slip control is permitted when the command shift change rate is less than a predetermined value. That is, instead of making a determination based on the actual gear ratio change rate in the belt type continuously variable transmission mechanism 4, the target gear ratio is determined by calculation, and the command gear ratio change rate is calculated from the current gear ratio and the target gear ratio. At this point, the belt slip control start permission determination and continuation determination are performed. Therefore, based on the prediction information of the command gear ratio change rate, the belt slip control start permission determination and the belt slip control continuation determination are performed prior to the actual change of the gear ratio in the belt type continuously variable transmission mechanism 4. be able to.
- step S331 ⁇ step S332 ⁇ step S333 ⁇ step S334 ⁇ step S336 ⁇ step S337 ⁇ step The flow proceeds to S339, and the command secondary hydraulic pressure is maintained. Then, when the phase difference ⁇ becomes equal to or larger than the predetermined value 2, in the flowchart of FIG. Ascends after correction of + ⁇ Psec. That is, in the belt slip control, control is performed to maintain a slip ratio that is in a range where the phase difference ⁇ is not less than the predetermined value 1 and less than the predetermined value 2.
- the belt slip control will be described with reference to the time chart shown in FIG. First, the BSC permission conditions (1) and (2) are satisfied at time t1, and the BSC permission conditions (1) and (2) continue (BSC permission conditions (3)).
- the BSC operation flag and the SEC pressure F / B prohibition flag (secondary pressure feedback) from time t2 to time t3 when at least one of the BSC continuation conditions (1) and (2) is not satisfied. Prohibition flag) is set, and belt slip control is performed. If at least one of the BSC continuation conditions is not satisfied due to the accelerator depressing operation slightly before time t3, the return control to the normal control is performed from time t3 to time t4, and after time t4. Normal control will be performed.
- the belt slip control is performed with the solenoid current correction amount characteristic to the secondary hydraulic solenoid 75 during the steady running determination indicated by the arrow E in FIG.
- the phase difference ⁇ between the vibration component of the secondary hydraulic pressure and the vibration component of the gear ratio that appears as a result of exciting the secondary hydraulic pressure is monitored, and the current value is increased or decreased.
- the secondary hydraulic solenoid 75 is normally open (normally open), and when the current value is increased, the secondary hydraulic pressure is decreased.
- the actual gear ratio is maintained almost constant although it vibrates with a small amplitude as shown in the actual gear ratio characteristic (Ratio) of FIG.
- the phase difference ⁇ gradually increases as the slip ratio gradually increases with time from t2 when the slip ratio is close to zero.
- the characteristic which converges to (target slip ratio) is shown.
- the secondary hydraulic pressure decreases as indicated by arrow F as time elapses from time t2 with a safety factor, and finally reaches the minimum design pressure.
- the hydraulic pressure amplitude is added, and the characteristic converges to a sufficient hydraulic pressure level with respect to the actual minimum pressure.
- the actual secondary hydraulic pressure in the design minimum pressure + hydraulic amplitude range is maintained so as to maintain the target value of the phase difference ⁇ (the target value of the slip ratio).
- the belt friction acting on the belt 44 is reduced, and the drive load for driving the belt-type continuously variable transmission mechanism 4 can be kept low by the reduction in belt friction. .
- the fuel efficiency of the engine 1 can be improved without affecting the running performance during the belt slip control by the BSC permission determination.
- step S32 in FIG. 6 during the belt slip control in which the BSC continuation determination is maintained from the BSC permission determination, in step S321 in FIG. 7, “torque limit request from belt slip control” is set as the driver request torque. Torque limit processing is performed. Hereinafter, the torque limit operation when returning to the normal control will be described with reference to FIGS. 10 and 16.
- the engine control unit 88 has a torque limit amount as an engine torque upper limit for control. As a result, the actual torque of the engine 1 is limited so as not to exceed the torque limit.
- This torque limit amount is determined by various requirements. For example, as a request from the belt-type continuously variable transmission mechanism 4, the upper limit of the input torque of the belt-type continuously variable transmission mechanism 4 during normal control (phase (1) in FIG. 16) is set as “torque limit request during normal control”.
- the CVT control unit 8 transmits this “torque limit request during normal control” to the engine control unit 88. In this way, the engine control unit 88 selects the minimum one of the plurality of “torque limit requests” required from various controllers as the torque limit amount.
- torque limit request from BSC is the engine control in phase (2). Sent to unit 88.
- torque limit request from BSC is a preliminary preparation for torque limit in FIG. 10, and during BSC (phase (2) in FIG. 16) In fact, it does not function as a torque limit.
- step S521 the torque limit request from BSC and the calculated torque capacity ⁇ the torque limit request from BSC. Therefore, in the flowchart of FIG. 10, the flow of going from step S521 ⁇ step S522 ⁇ step S524 ⁇ return is repeated, and in step S524, the torque limit request (previous value) from the BSC is maintained.
- step S521 the driver request torque> the torque limit request from the BSC, but from the time t7 when the calculated torque capacity> the torque limit request from the BSC, in the flowchart of FIG. 10, go to step S521 ⁇ step S522 ⁇ step S523 ⁇ return.
- step S523 the torque limit request from the BSC is set to (previous value + ⁇ T), and the torque limit request from the BSC gradually increases. The actual torque also follows this increasing gradient. Rise gradually.
- step S521 the torque limit request from BSC
- step S525 the torque limit request from driver required torque ⁇ BSC
- step S526 is not passed, but step S526 is passed when the accelerator operation such as stepping on the accelerator or returning the accelerator (stepping off) is performed in a short time. That is, step S526 is passed when the belt slip control is canceled by depressing the accelerator and the accelerator foot release operation is performed as soon as the return control is entered.
- torque limit control is performed to limit the change speed of the input torque to the belt-type continuously variable transmission mechanism 4, so that the input torque to the belt-type continuously variable transmission mechanism 4 Excessive with respect to the clamping force can be suppressed, and slippage of the belt 44 can be prevented.
- the torque limit control is performed as described above, and the speed change ratio is changed to the normal shift ratio while the change speed of the input torque to the belt type continuously variable transmission mechanism 4 is suppressed. If the speed is changed, the reduction of the input torque due to the change of the rotational inertia appears remarkably, and an unnecessary deceleration feeling (pull shock) is given to the driver. For this reason, the change speed of the gear ratio is limited in accordance with the change speed of the input torque to the belt type continuously variable transmission mechanism 4.
- step S541 when the BSC continuation is stopped and the return control to the normal control is started, the flow from step S541 ⁇ step S542 ⁇ step S543 ⁇ step S544 ⁇ step S545 is repeated until the end of the shift in the flowchart of FIG. Shift control based on the target primary rotation speed is performed.
- a primary pulley 42 that is input from a driving source (engine 1), a secondary pulley 43 that is output to driving wheels 6 and 6, and a belt 44 that spans the primary pulley 42 and the secondary pulley 43.
- a control device for the belt-type continuously variable transmission mechanism 4 for controlling the transmission ratio by the ratio of the pulley winding diameter of the belt 44 by controlling the primary hydraulic pressure to the primary pulley 42 and the secondary hydraulic pressure to the secondary pulley 43.
- the belt slip state is estimated by oscillating the secondary hydraulic pressure and monitoring the phase difference between the vibration component included in the actual secondary hydraulic pressure and the vibration component included in the actual gear ratio.
- a predetermined belt slip Belt slip control means (step for performing control to reduce the actual secondary hydraulic pressure so as to maintain the state S3) and belt slip control permission determining means (step S2) for permitting belt slip control by the belt slip control means when the speed change rate which is the rate of change of the speed ratio is less than a predetermined value. For this reason, when the estimation accuracy of the belt slip state is high, the belt 44 slips greatly during the belt slip control when the estimation accuracy of the belt slip state is low while ensuring the reduction of driving energy consumption due to the reduction of belt friction.
- a control device for the belt type continuously variable transmission mechanism 4 can be provided.
- the belt slip control permission determination means determines the predetermined value of the shift speed based on the gain characteristic of the gear ratio corresponding component and the gain characteristic of the vibration component with respect to the frequency and the vibration component at the maximum shift width.
- the upper limit frequency that does not interfere with the gain characteristics is determined, and the shift speed calculated by the determined upper limit frequency and the maximum shift width is set (FIGS. 14A and 14B). For this reason, while ensuring the estimation accuracy of the belt slip state, the belt slip control permission condition range related to the shift speed is expanded to the maximum, thereby increasing the frequency and duration of the belt slip control during traveling. be able to.
- step S2 permits the belt slip control by the belt slip control means (step S3) when the command shift change rate is less than a predetermined value. For this reason, it is possible to determine whether to permit the start of belt slip control prior to the actual change of the gear ratio of the belt-type continuously variable transmission mechanism 4 based on the prediction information of the commanded gear change rate.
- the belt slip control is performed by using the hydraulic pressure.
- the hydraulic pressure is controlled based on the integrated value of the vibration component included in the actual hydraulic pressure and the vibration component included in the actual gear ratio, and the belt slip control has a shift speed that is a change rate of the gear ratio. Allowed when less than a predetermined value. For this reason, when the estimation accuracy of the belt slip state is high, the belt 44 slips greatly during the belt slip control when the estimation accuracy of the belt slip state is low while ensuring the reduction of driving energy consumption due to the reduction of belt friction.
- a control method of the belt type continuously variable transmission mechanism 4 to prevent can be provided.
- the belt slip control estimates a belt slip state by monitoring a phase difference calculated based on the integrated value, and controls the hydraulic pressure so as to maintain a predetermined belt slip state based on the estimation. For this reason, since the change in the belt slip state can be accurately grasped by monitoring the phase difference correlated with the belt slip state, the predetermined belt slip state can be stably maintained during the belt slip control. As a result, it is possible to realize a target reduction effect of consumed driving energy by belt slip control in which the belt friction reduction state is stably maintained.
- control device and the control method for the belt type continuously variable transmission according to the present invention have been described based on the first embodiment.
- the specific configuration is not limited to the first embodiment, and the scope of the claims is as follows. Design changes and additions are allowed without departing from the spirit of the invention according to each claim.
- the shift hydraulic pressure control unit 7 has an example of having a hydraulic circuit by step motor control by a single pressure regulation method.
- the present invention can also be applied to other single pressure regulation type or both pressure regulation type transmission hydraulic pressure control units.
- Example 1 shows an example in which only the secondary hydraulic pressure is vibrated.
- the secondary hydraulic pressure and the primary hydraulic pressure may be simultaneously excited in the same phase.
- the present invention is applied to a hybrid vehicle equipped with a belt-type continuously variable transmission or an electric vehicle equipped with a belt-type continuously variable transmission. It can also be applied to. In short, it can be applied to any vehicle equipped with a belt-type continuously variable transmission that performs hydraulic shift control.
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Abstract
Description
(a) 指令セカンダリ油圧に所定の正弦波を重畳し、すなわち、指令セカンダリ油圧を加振して振動させ、
(b) 実セカンダリ油圧に含まれる振動成分と、実変速比に含まれる振動成分との乗数に基づき、実セカンダリ油圧を制御してベルトスリップ制御を行う。
これにより、ベルトのスリップ率を直接検出する必要がなくなるため、ベルトスリップ制御を容易に行えるようにしたものが知られている(例えば、特許文献1参照)。
このベルト式無段変速機の制御装置において、前記セカンダリ油圧を加振し、実セカンダリ油圧に含まれる振動成分と実変速比に含まれる振動成分との位相差を監視することでベルトスリップ状態を推定し、この推定に基づき所定のベルトスリップ状態を保つように前記実セカンダリ油圧を低減させる制御を行うベルトスリップ制御手段と、前記変速比の変化率である変速速度が所定値未満であるとき、前記ベルトスリップ制御手段によるベルトスリップ制御を許可するベルトスリップ制御許可判定手段と、を備えた。
すなわち、ベルトスリップ制御では、実変速比に含まれる加振による振動成分を用いてベルトスリップ状態を推定しているため、変速比の変化率である変速速度が、加振による振動成分の抽出に影響を及ぼす。つまり、変速速度が所定値未満であるときには、変速による変速比変動と加振による振動成分の切り分けができる。一方、変速速度が所定値を超えるときには、実変速比に含まれる振動成分が消え、変速による変速比変動と加振による振動成分の切り分けができない。
これに対し、ベルトスリップ状態の推定精度が高い変速速度が所定値未満のとき、ベルトスリップ制御を許可するため、プーリ油圧の低減によってベルトフリクションが低下し、変速機駆動負荷が低く抑えられる。一方、ベルトスリップ状態の推定精度が低い変速速度が所定値を超えるときは、ベルトスリップ制御が許可されないため、変速速度にかかわらずベルトスリップ制御を許可する場合のように、ベルトが大きく滑るようなことが防止される。
この結果、ベルトスリップ状態の推定精度が高いとき、ベルトフリクションの低下による消費駆動エネルギーの削減を確保しながら、ベルトスリップ状態の推定精度が低いとき、ベルトスリップ制御中にベルトが大きく滑ることを防止することができる。
図1は、実施例1の制御装置と制御方法が適用されたベルト式無段変速機搭載車両の駆動系と制御系を示す全体システム図である。図2は、実施例1の制御装置と制御方法が適用されたベルト式無段変速機構を示す斜視図である。図3は、実施例1の制御装置と制御方法が適用されたベルト式無段変速機構のベルトの一部を示す斜視図である。以下、図1~図3に基づきシステム構成を説明する。
ここで、BSC許可条件の一例を下記に示す。
(1) ベルト式無段変速機構4の伝達トルク容量が安定していること(伝達トルク容量の変化率が小さいこと)。
この条件(1)は、例えば、
a. |指令トルク変化率|<所定値
b. |指令変速比変化率|<所定値
という2つの条件成立に基づき判断する。
(2) プライマリプーリ42への入力トルクの推定精度が信頼できる範囲に入っていること。
この条件(2)は、例えば、エンジンコントロールユニット88からのトルク情報(推定エンジントルク)、トルクコンバータ2のロックアップ状態、ブレーキペダルの操作状態、レンジ位置等に基づき判断する。
(3) 所定時間、上記(1),(2)の許可状態を継続すること。
ステップS2では、以上の条件(1),(2),(3)の全ての条件を満たすか否かを判断する。
ここで、BSC継続条件の一例を下記に示す。
(1) ベルト式無段変速機構4の伝達トルク容量が安定していること(伝達トルク容量の変化率が小さいこと)。
この条件(1)は、例えば、
a. |指令トルク変化率|<所定値
b. |指令変速比変化率|<所定値
という2つの条件成立に基づき判断する。
(2) プライマリプーリ42への入力トルクの推定精度が信頼できる範囲に入っていること。
この条件(2)は、例えば、エンジンコントロールユニット88からのトルク情報(推定エンジントルク)、トルクコンバータ2のロックアップ状態、ブレーキペダルの操作状態、レンジ位置等に基づき判断する。
以上の条件(1),(2)を共に満たすか否かを判断する。
すなわち、BSC許可条件とBSC継続条件の差異は、BSC継続条件にはBSC許可条件のうち(3)の継続条件が無いことである。
すなわち、指令セカンダリ油圧を求めるに際して、通常制御時のフィードバック制御を禁止して、ベルトスリップ制御中のゼロ偏差を用いたオープン制御に切り替える。そして、ベルトスリップ制御から通常制御へ移行すると、再びフィードバック制御に復帰する。
すなわち、図7のフローチャートにおいて、ステップS321では、“ベルトスリップ制御からのトルクリミット要求”をドライバ要求トルクとする。
ここで、実セカンダリ油圧振幅をA、実変速比振幅をBとすると、
実セカンダリ油圧振動:Asinωt …(1)
実変速比振動:Bsin(ωt+θ) …(2)
で表される。
(1)と(2)を掛け合わせ、積和の公式である
sinαsinβ=-1/2{cos(α+β)-cos(α-β)} …(3)
を用いると、
Asinωt×Bsin(ωt+θ)=(1/2)ABcosθ-(1/2)ABcos(2ωt+θ) …(4)
となる。
上記(4)式において、ローパスフィルタを通すと、加振周波数の2倍成分である(1/2)ABcos(2ωt+θ)が低減され、上記(4)式は、
Asinωt×Bsin(ωt+θ)≒(1/2)ABcosθ …(5)
というように、振幅A,Bと実セカンダリ油圧振動から実変速比振動までの位相差θの式にて表すことができる。
ここで、「ドライバ要求トルク」とは、運転者が要求するエンジントルクである。「BSCからのトルクリミット要求」とは、図16のフェーズ(2)、(3)におけるトルク制限量である。「トルク容量」とは、通常(図16のフェーズ(1))は、設計上の許容トルク容量であり、ベルト滑りが生じないよう、ベルト式無段変速機構4のメカニカル的バラツキを考慮した安全マージン分だけドライバ要求トルクより高めに設定される値である。ここで、実際のトルク容量の制御は、セカンダリ油圧制御で行う。
さらに、「算出トルク容量」とは、BSC中(図16のフェーズ(2))と復帰処理時(図16のフェーズ(3))のトルク容量である。この算出トルク容量は、実セカンダリ油圧と実変速比に基づく値であり、具体的には、実セカンダリ油圧と実変速比により算出される値である(二つのプーリ42,43のうち、エンジントルクが入ってくる側のプーリ、すなわち、プライマリプーリ42でのトルク容量)。
実施例1のベルト式無段変速機構4の制御装置と制御方法における作用を、「BSC許可判定作用とBSC継続判定作用」、「|指令変速変化率|<所定値によるBSC許可・継続判定作用」、「ベルトスリップ制御作用(BSC作用)」、「BSCから通常制御への復帰制御作用」に分けて説明する。
車両走行を開始すると、図5のフローチャートにおいて、ステップS1→ステップS2へと進み、ステップS2でのBSC許可判定条件の全てを満足しない限り、ステップS1→ステップS2へと進む流れが繰り返され、通常制御が維持される。すなわち、ステップS2でのBSC許可判定条件の全てを満足することが、BSC制御の開始条件とされる。
(1) ベルト式無段変速機構4の伝達トルク容量が安定していること(伝達トルク容量の変化率が小さいこと)。
この条件(1)は、例えば、
a. |指令トルク変化率|<所定値
b. |指令変速比変化率|<所定値
という2つの条件成立に基づき判断する。
(2) プライマリプーリ42への入力トルクの推定精度が信頼できる範囲に入っていること。
この条件(2)は、例えば、エンジンコントロールユニット88からのトルク情報(推定エンジントルク)、トルクコンバータ2のロックアップ状態、ブレーキペダルの操作状態、レンジ位置等に基づき判断する。
(3) 所定時間、上記(1),(2)の許可状態を継続すること。
ステップS2では、以上の条件(1),(2),(3)の全ての条件を満たすか否かを判断する。
このため、ベルトスリップ制御中において、(1),(2)の条件のうち1つの条件でも満足しない状態となったら直ちにベルトスリップ制御を止めて通常制御へ復帰させるため、制御精度が保証されない状態でのベルトスリップ制御の継続を防止することができる。
実施例1のベルトスリップ制御許可判定では、変速比の変化率である変速速度が所定値未満であることを条件の一つとし、ベルトスリップ制御を許可するようにしている。
ベルトスリップ制御系は、図4の正弦波加振制御部93において、指令セカンダリ油圧に正弦波油圧振動を重畳して加振し、この加振によって実セカンダリ油圧に含まれる振動成分と実変速比Ratioに含まれる振動成分を用いてベルトスリップ状態を推定している。このため、ベルトスリップ制御を成立させるには、実セカンダリ油圧に含まれる振動成分の抽出と実変速比Ratioに含まれる振動成分の抽出と、抽出した振動成分に基づくベルトスリップ状態の推定精度を確保できることが必要条件となる。つまり、ベルトスリップ制御中にベルト式無段変速機構4への変速比変化率を徐々に上昇させたとき、実セカンダリ油圧と実変速比Ratioに含まれる振動成分が抽出でき、かつ、抽出した振動成分に基づくベルトスリップ状態の推定精度を確保できる限界域と判定された変速比変化率を、「所定値」として設定する。
例えば、折れ点周波数f3にて変速幅をK2としたとき、図14グラフAに示すように、加振による振動成分と{k2/(1+T3s)}の特性が干渉する。この状態は、変速速度が「所定値」を超えていることを意味する。折れ点周波数f2にて変速幅をK2としたとき、図14グラフAに示すように、加振よる振動成分と{k2/(1+T2s)}の特性が干渉しない限界周波数Dにて一致する。つまり、この折れ点周波数f2が、変速速度の上限しきい値を決める上限折れ点周波数であり、上限折れ点周波数f2での変速速度が「所定値」であることを意味する。そして、最大変速幅K2のとき、上限周波数f2より小さい値であると、変速速度が「所定値」までに余裕があることを意味する。
すなわち、ベルト式無段変速機構4における実際の変速比変化率に基づいて判断するのではなく、目標変速比を演算により決め、現在の変速比と目標変速比により指令変速比変化率が算出された時点で、ベルトスリップ制御の開始許可判定と継続判定が行われることになる。
したがって、指令変速比変化率という予測情報に基づき、実際にベルト式無段変速機構4において変速比が変化するのに先行して、ベルトスリップ制御の開始許可判定およびベルトスリップ制御の継続判定を行うことができる。
ベルトスリップ制御の開始時は、安全率を見積もってベルト滑りのないクランプ力を得るセカンダリ油圧となっているため、位相差θが所定値1未満という条件が成立し、図8のフローチャートにおいて、ステップS331→ステップS332→ステップS333→ステップS334→ステップS335→ステップS339へと進む流れが繰り返され、この流れを繰り返す毎に指令セカンダリ油圧が、-ΔPsecの補正を受けて低下する。そして、位相差θが所定値1以上になると、位相差θが所定値2になるまでは、図8のフローチャートにおいて、ステップS331→ステップS332→ステップS333→ステップS334→ステップS336→ステップS337→ステップS339へと進む流れとなり、指令セカンダリ油圧が維持される。そして、位相差θが所定値2以上になると、図8のフローチャートにおいて、ステップS331→ステップS332→ステップS333→ステップS334→ステップS336→ステップS338→ステップS339へと進む流れとなり、指令セカンダリ油圧が、+ΔPsecの補正を受けて上昇する。
すなわち、ベルトスリップ制御では、位相差θが所定値1以上で所定値2未満という範囲内となるスリップ率を維持する制御が行われることになる。
まず、時刻t1にて上記(1),(2)のBSC許可条件が成立し、(1),(2)のBSC許可条件成立が継続し((3)のBSC許可条件)、時刻t2に達すると、上記(1),(2)のBSC継続条件のうち、少なくとも一つの条件が不成立となる時刻t2~時刻t3までの間、BSC作動フラグとSEC圧F/B禁止フラグ(セカンダリ圧フィードバック禁止フラグ)が立てられ、ベルトスリップ制御が行われる。なお、時刻t3の少し前からのアクセル踏み込み操作によりBSC継続条件のうち、少なくとも一つの条件が不成立になると、時刻t3から時刻t4までは、通常制御への復帰制御が行われ、時刻t4以降は、通常制御が行われることになる。
図6のステップS32では、BSC許可判定からBSC継続判定が維持されているベルトスリップ制御中、図7のステップS321において、“ベルトスリップ制御からのトルクリミット要求”をドライバ要求トルクとすることで、トルクリミット処理を行うようにしている。以下、図10及び図16に基づいて通常制御復帰時のトルクリミット作用を説明する。
このトルク制限量は、様々な要求から決まる。例えば、ベルト式無段変速機構4からの要求として、通常制御中(図16のフェーズ(1))のベルト式無段変速機構4の入力トルク上限を“通常制御中のトルクリミット要求”とし、CVTコントロールユニット8がエンジンコントロールユニット88に対しこの“通常制御中のトルクリミット要求”を送信する。エンジンコントロールユニット88は、このようにして様々なコントローラから要求される複数の“トルクリミット要求”のうち最小のものをトルク制限量として選択することになる。
ただし、BSC中(図16のフェーズ(2))の“BSCからのトルクリミット要求”は、図10のトルクリミットのための事前準備であり、BSC中(図16のフェーズ(2))においては、事実上、トルク制限としては機能していない。
実施例1のベルト式無段変速機構4の制御装置と制御方法にあっては、下記に列挙する効果を得ることができる。
このため、ベルトスリップ状態の推定精度が高いとき、ベルトフリクションの低下による消費駆動エネルギーの削減を確保しながら、ベルトスリップ状態の推定精度が低いとき、ベルトスリップ制御中にベルト44が大きく滑ることを防止するベルト式無段変速機構4の制御装置を提供することができる。
このため、ベルトスリップ状態の推定精度を確保しつつ、変速速度に関するベルトスリップ制御の許可条件範囲を最大限まで拡大することで、走行時、ベルトスリップ制御が行われる頻度と制御継続時間を増大することができる。
このため、指令変速変化率という予測情報に基づき、実際にベルト式無段変速機構4の変速比が変化するのに先行して、ベルトスリップ制御の開始許可判定を行うことができる。
このため、ベルトスリップ状態の推定精度が高いとき、ベルトフリクションの低下による消費駆動エネルギーの削減を確保しながら、ベルトスリップ状態の推定精度が低いとき、ベルトスリップ制御中にベルト44が大きく滑ることを防止するベルト式無段変速機構4の制御方法を提供することができる。
このため、ベルトスリップ状態と相関関係にある位相差の監視によりベルトスリップ状態の変化を的確に把握できることで、ベルトスリップ制御中、所定のベルトスリップ状態を安定して保つことができる。この結果、ベルトフリクションの低下状態が安定して保たれるベルトスリップ制御により、狙っている消費駆動エネルギーの削減効果を実現することができる。
2 トルクコンバータ
3 前後進切替機構
4 ベルト式無段変速機構
40 変速機入力軸
41 変速機出力軸
42 プライマリプーリ
43 セカンダリプーリ
44 ベルト
45 プライマリ油圧室
46 セカンダリ油圧室
5 終減速機構
6,6 駆動輪
7 変速油圧コントロールユニット
70 オイルポンプ
71 レギュレータ弁
72 ライン圧ソレノイド
73 変速制御弁
74 減圧弁
75 セカンダリ油圧ソレノイド
76 サーボリンク
77 変速指令弁
78 ステップモータ
8 CVTコントロールユニット
80 プライマリ回転センサ
81 セカンダリ回転センサ
82 セカンダリ油圧センサ
83 油温センサ
84 インヒビタースイッチ
85 ブレーキスイッチ
86 アクセル開度センサ
87 他のセンサ・スイッチ類
88 エンジンコントロールユニット
Claims (5)
- 駆動源から入力するプライマリプーリと、駆動輪へ出力するセカンダリプーリと、前記プライマリプーリと前記セカンダリプーリに掛け渡したベルトと、を有し、
前記プライマリプーリへのプライマリ油圧と前記セカンダリプーリへのセカンダリ油圧を制御することにより、前記ベルトのプーリ巻き付け径の比による変速比を制御するベルト式無段変速機の制御装置において、
前記セカンダリ油圧を加振し、実セカンダリ油圧に含まれる振動成分と実変速比に含まれる振動成分との位相差を監視することでベルトスリップ状態を推定し、この推定に基づき所定のベルトスリップ状態を保つように前記実セカンダリ油圧を低減させる制御を行うベルトスリップ制御手段と、
前記変速比の変化率である変速速度が所定値未満であるとき、前記ベルトスリップ制御手段によるベルトスリップ制御を許可するベルトスリップ制御許可判定手段と、
を備えたことを特徴とするベルト式無段変速機の制御装置。 - 請求項1に記載されたベルト式無段変速機の制御装置において、
前記ベルトスリップ制御許可判定手段は、前記変速速度の所定値を、周波数に対する変速比対応成分のゲイン特性と振動成分のゲイン特性に基づき、最大変速幅にて振動成分のゲイン特性に干渉しない上限周波数を決め、決めた上限周波数と最大変速幅により算出した変速速度に設定したことを特徴とするベルト式無段変速機の制御装置。 - 請求項1または請求項2に記載されたベルト式無段変速機の制御装置において、
前記ベルトスリップ制御許可判定手段は、指令変速変化率が所定値未満であるとき、前記ベルトスリップ制御手段によるベルトスリップ制御を許可することを特徴とするベルト式無段変速機の制御装置。 - プライマリプーリおよびセカンダリプーリとベルトとの間のベルトスリップ状態を油圧で制御するベルトスリップ制御を行うベルト式無段変速機の制御方法において、
前記ベルトスリップ制御は、前記油圧を加振し、実油圧に含まれる振動成分と実変速比に含まれる振動成分との積算値に基づき前記油圧を制御し、
前記ベルトスリップ制御は、前記変速比の変化率である変速速度が所定値未満であるとき許可されることを特徴とするベルト式無段変速機の制御方法。 - 請求項4に記載されたベルト式無段変速機の制御方法において、
前記ベルトスリップ制御は、前記積算値に基づき算出される位相差を監視することでベルトスリップ状態を推定し、この推定に基づき所定のベルトスリップ状態を保つように前記油圧を制御することを特徴とするベルト式無段変速機の制御方法。
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- 2009-04-30 BR BRPI0924736A patent/BRPI0924736A2/pt not_active IP Right Cessation
- 2009-04-30 EP EP09844016A patent/EP2426380A4/en not_active Withdrawn
- 2009-04-30 CN CN200980159040.8A patent/CN102414486B/zh not_active Expired - Fee Related
- 2009-04-30 KR KR1020117028511A patent/KR101288669B1/ko active IP Right Grant
- 2009-04-30 RU RU2011148524/11A patent/RU2498132C2/ru not_active IP Right Cessation
- 2009-04-30 JP JP2009522254A patent/JP4435859B1/ja not_active Expired - Fee Related
- 2009-04-30 MX MX2011011451A patent/MX2011011451A/es active IP Right Grant
- 2009-04-30 US US13/266,816 patent/US8914200B2/en not_active Expired - Fee Related
- 2009-04-30 WO PCT/JP2009/058468 patent/WO2010125672A1/ja active Application Filing
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JP2011220437A (ja) * | 2010-04-08 | 2011-11-04 | Honda Motor Co Ltd | 自動変速機の制御装置 |
CN111051745A (zh) * | 2017-08-23 | 2020-04-21 | 日产自动车株式会社 | 无级变速器的控制方法以及控制装置 |
CN111051745B (zh) * | 2017-08-23 | 2021-06-11 | 日产自动车株式会社 | 无级变速器的控制方法以及控制装置 |
Also Published As
Publication number | Publication date |
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BRPI0924736A2 (pt) | 2016-01-26 |
KR101288669B1 (ko) | 2013-07-22 |
US20120115678A1 (en) | 2012-05-10 |
RU2498132C2 (ru) | 2013-11-10 |
CN102414486B (zh) | 2014-08-06 |
JPWO2010125672A1 (ja) | 2012-10-25 |
RU2011148524A (ru) | 2013-06-10 |
US8914200B2 (en) | 2014-12-16 |
JP4435859B1 (ja) | 2010-03-24 |
KR20120018346A (ko) | 2012-03-02 |
CN102414486A (zh) | 2012-04-11 |
EP2426380A4 (en) | 2012-12-19 |
EP2426380A1 (en) | 2012-03-07 |
MX2011011451A (es) | 2012-02-08 |
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