WO2011114488A1 - 無段変速機の制御装置 - Google Patents
無段変速機の制御装置 Download PDFInfo
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- WO2011114488A1 WO2011114488A1 PCT/JP2010/054679 JP2010054679W WO2011114488A1 WO 2011114488 A1 WO2011114488 A1 WO 2011114488A1 JP 2010054679 W JP2010054679 W JP 2010054679W WO 2011114488 A1 WO2011114488 A1 WO 2011114488A1
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- hydraulic pressure
- rotational speed
- pulley
- gear ratio
- control
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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
- F16H61/66254—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 controlling of shifting being influenced by a signal derived from the engine and the main coupling
- F16H61/66259—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 controlling of shifting being influenced by a signal derived from the engine and the main coupling using electrical or electronical sensing or control means
Definitions
- the present invention controls a continuously variable transmission that controls a belt-type continuously variable transmission that can change a transmission gear ratio by changing a winding radius of each pulley of a belt wound around a pair of pulleys. More particularly, the present invention relates to a control device for a continuously variable transmission that feedback-controls the hydraulic pressure supplied to each pulley based on the rotational speed of each pulley.
- a control device for controlling such a belt-type continuously variable transmission changes the groove width of each pulley in which the belt is sandwiched by changing the hydraulic pressure in the hydraulic chamber provided in each pulley, thereby changing the belt in each pulley.
- the wrapping radius is changed to control the gear ratio.
- the control device narrows the groove width of the primary pulley by increasing the hydraulic pressure in the hydraulic chamber of the primary pulley when reducing the gear ratio.
- the control device reduces the hydraulic pressure in the hydraulic chamber of the secondary pulley to widen the groove width of the secondary pulley.
- the belt winding radius of the primary pulley is increased while the belt tension is secured, while the belt winding radius of the secondary pulley is decreased.
- the gear ratio can be reduced while suppressing slippage of the belt in each pulley.
- control device widens the groove width of the primary pulley by lowering the hydraulic pressure of the hydraulic chamber of the primary pulley when increasing the gear ratio, and increases the hydraulic pressure of the hydraulic chamber of the secondary pulley to increase the groove of the secondary pulley. Reduce the width. As a result, the belt winding radius of the primary pulley is reduced while the belt tension is secured, while the belt winding radius of the secondary pulley is increased. As a result, the gear ratio can be increased while suppressing slippage of the belt in each pulley.
- the control device for the continuously variable transmission mounted on the vehicle sets a target gear ratio according to the amount of depression of the accelerator pedal, the vehicle speed, the engine speed, etc., and the hydraulic chamber of each pulley is set based on the target gear ratio. Control hydraulic pressure. Then, the control device calculates the actual gear ratio based on the rotation speed of the primary pulley and the rotation speed of the secondary pulley when controlling the hydraulic pressure in the hydraulic chamber of each pulley, and calculates the actual gear ratio with respect to the target gear ratio. Based on the deviation, the hydraulic pressure in the hydraulic chamber of each pulley is feedback controlled.
- the control device includes an electromagnetic pickup type rotational speed sensor as a rotational speed sensor for detecting the rotational speed of the power transmission system in order to detect the rotational speed of each pulley
- an electromagnetic pickup type rotational speed sensor as a rotational speed sensor for detecting the rotational speed of the power transmission system in order to detect the rotational speed of each pulley
- the detection accuracy is low, or the rotation speed itself cannot be detected. Therefore, when the rotational speed of the detection target becomes extremely low just before stopping, the rotational speed of each pulley cannot be detected accurately, and the actual gear ratio cannot be calculated accurately. As a result, appropriate feedback control cannot be executed, and the shift control may become unstable.
- the vehicle speed is less than the reference vehicle speed, and the rotation speed sensor cannot accurately detect the rotation speed of the secondary pulley.
- the hydraulic oil in the hydraulic chamber of the primary pulley is lowered by removing the hydraulic oil from the hydraulic chamber of the primary pulley.
- the vehicle speed rises again to the reference vehicle speed or higher, and the rotation speed sensor detects the pulley speed.
- the rotational speed can be accurately detected, the hydraulic oil chamber of the primary pulley is in a state where the hydraulic oil has been removed.
- the groove width of the primary pulley cannot be quickly reduced, and the speed change ratio cannot be changed quickly as the normal speed change control is resumed.
- the belt tension may be insufficient, and the belt may slip on each pulley.
- the object of the present invention is to maintain the speed ratio at the maximum speed ratio even when the speed ratio cannot be calculated with high accuracy, and to calculate the speed ratio with high accuracy. In some cases, it is an object to provide a control device for a continuously variable transmission that can promptly resume the change of the gear ratio by feedback control.
- the accuracy of the rotational speed detected by the rotational speed sensor increases as the rotational speed increases. Therefore, the accuracy of the gear ratio calculated based on the rotational speed of each pulley increases as the rotational speed of each pulley increases, that is, as the rotational speed of the power transmission system increases.
- control device for a continuously variable transmission changes the control mode of the hydraulic pressure of the primary pulley according to the rotational speed detected by the rotational speed sensor that detects the rotational speed of the power transmission system. I try to switch.
- the rotational speed detected by the rotational speed sensor is less than the first reference value, the rotational speed of each pulley is increased, and the speed ratio calculation accuracy is low.
- the lower limit hydraulic pressure control for adjusting the hydraulic pressure of the primary pulley to the lower limit hydraulic pressure at which the speed ratio can be set to the maximum speed ratio is executed.
- continuously variable transmissions have variations in characteristics due to manufacturing tolerances and the like. For this reason, even when the hydraulic pressure of the primary pulley is adjusted to the same hydraulic pressure, the gear ratio may vary. Therefore, the lower limit hydraulic pressure takes into account such variations in the characteristics of the continuously variable transmission, and even if there are variations in the characteristics of the continuously variable transmission, if the primary pulley hydraulic pressure is reduced to this lower limit hydraulic pressure, The oil pressure is set to an extremely low hydraulic pressure that minimizes the winding radius.
- the primary pulley is pushed and expanded by the belt tension when the speed ratio calculation accuracy is low.
- the belt wrapping radius in the pulley is reduced, and the speed ratio is maintained at the maximum speed ratio.
- the control device for a continuously variable transmission according to the present invention is such that the rotational speed detected by the rotational speed sensor is equal to or higher than a second reference value that is larger than the first reference value, and the speed ratio calculation accuracy is high.
- feedback control of the hydraulic pressure of the primary pulley is executed based on the difference between the speed ratio calculated based on the rotational speed of each pulley and the target speed ratio.
- the rotational speed detected by the rotational speed sensor is equal to or higher than the first reference value, and the gear ratio can be calculated with higher accuracy than when the rotational speed is less than the first reference value.
- the hydraulic pressure of the primary pulley is increased.
- the actual speed change is based on the rotational speed of each pulley.
- the ratio is calculated, and the hydraulic pressure of the primary pulley is feedback controlled based on the magnitude of the difference between the calculated gear ratio and the target gear ratio.
- the hydraulic pressure of the primary pulley is increased in advance based on the fact that the rotational speed detected by the rotational speed sensor has risen to the first reference value or more. Thereafter, when the rotational speed rises to the second reference value or higher and the gear ratio can be calculated with high accuracy, the hydraulic pressure of the primary pulley is already increased.
- the gear ratio can be maintained at the maximum gear ratio even when the gear ratio cannot be calculated with high accuracy, and the gear ratio is high.
- the change of the gear ratio by feedback control can be resumed promptly.
- the first reference value is preferably set based on the lower limit value of the rotational speed at which the gear ratio can be calculated based on the rotational speed of each pulley. If such a configuration is adopted, the belt tension is detected when it is estimated that the rotational speed detected by the rotational speed sensor is equal to or higher than the first reference value and the actual gear ratio cannot be calculated. As a result, the primary pulley is expanded, the belt wrapping radius of the primary pulley is reduced, and the speed ratio is maintained at the maximum speed ratio. In addition, when it is estimated that the rotational speed detected by the rotational speed sensor is equal to or higher than the first reference value and the gear ratio can be calculated, the hydraulic pressure of the primary pulley is changed to the actual gear ratio. It becomes higher than when it is in a state where it cannot be calculated.
- the second reference value is set based on the lower limit value of the rotational speed at which the gear ratio can be calculated with the accuracy required for feedback control based on the rotational speed of each pulley.
- the rotational speed of the secondary pulley is used as the rotational speed sensor for detecting the rotational speed of the power transmission system. It is desirable to employ a secondary rotational speed sensor to detect.
- the control mode of the hydraulic pressure of the primary pulley is switched based on the rotational speed of the secondary pulley, the control mode is adjusted in accordance with the change in the calculation accuracy of the gear ratio. Can be switched.
- the hydraulic pressure of the primary pulley is changed to the gear ratio without sliding the belt on each pulley. It is desirable to execute balanced hydraulic pressure control that adjusts the minimum hydraulic pressure necessary to maintain the maximum gear ratio.
- the hydraulic pressure of the primary pulley has already been increased. That is, the hydraulic pressure is adjusted to the minimum hydraulic pressure necessary to maintain the gear ratio at the maximum gear ratio. Accordingly, when the rotational speed detected by the rotational speed sensor becomes equal to or higher than the second reference value and the gear ratio can be calculated with high accuracy, the actual gear ratio is quickly maximized through feedback control. It becomes possible to match the gear ratio.
- the minimum value of the primary pulley pressure required to maintain the transmission ratio at the maximum transmission ratio without sliding the belt wound around each pulley is the torque input from the internal combustion engine to the primary pulley, the transmission speed
- a learning value acquisition unit that acquires a learning value based on a correction value calculated through feedback control is further provided, and when the balanced hydraulic pressure control is executed, the learning value is acquired through the previous feedback control. It is desirable to correct the hydraulic pressure of the primary pulley using the learning value acquired by the acquisition unit.
- the balanced hydraulic pressure control when performing the balanced hydraulic control as described above, if adopting a configuration for correcting the hydraulic pressure of the primary pulley using the learning value acquired by the learning value acquisition unit through the previous feedback control, Based on the learned value acquired through the previous feedback control, the characteristics of the continuously variable transmission can be grasped, and the balanced hydraulic pressure control according to the characteristics can be executed.
- the learning value acquisition unit increases the hydraulic pressure correction amount in the balanced hydraulic pressure control as the balanced hydraulic pressure correction amount in the feedback control increases.
- a learning value acquisition unit that acquires a learning value based on the magnitude of the overshoot of the rotational speed of each pulley that occurs when the change of the gear ratio is started through the feedback control after shifting from the balanced hydraulic control to the feedback control.
- the hydraulic pressure of the primary pulley may be corrected using the learned value acquired by the learned value acquiring unit through the previous feedback control.
- the learning value acquisition unit sets the magnitude of the learning value based on the magnitude of the overshoot so that the correction amount of the hydraulic pressure in the balanced hydraulic control increases as the overshoot increases. It is desirable to set.
- the schematic diagram which shows schematic structure of the electronically controlled apparatus concerning 1st Embodiment, and the continuously variable transmission which is a control object of the same electronically controlled apparatus.
- (A) is sectional drawing of each pulley of a continuously variable transmission
- (b) is a side view of each pulley of a continuously variable transmission.
- the flowchart which shows the flow of a series of processes concerning the shift control switching routine in 1st Embodiment.
- the flowchart which shows the flow of a series of processes concerning the feedback control in the shift control switching routine of the embodiment.
- the flowchart which shows the flow of a series of processes concerning the balance hydraulic control in the shift control switching routine of the embodiment.
- the flowchart which shows the flow of a series of processes concerning the minimum hydraulic control in the shift control switching routine of the embodiment.
- the time chart which shows the relationship between the change of the rotational speed of a secondary pulley, and the change of the hydraulic pressure of a primary pulley.
- the time chart which shows the change of the rotational speed of a secondary pulley at the time of performing the shift control switching routine concerning 1st Embodiment, and the change of the hydraulic pressure of a primary pulley.
- the flowchart which shows the flow of a series of processes concerning the shift control switching routine in 2nd Embodiment.
- the flowchart which shows the flow of a series of processes concerning the feedback control in the shift control switching routine of the embodiment.
- the flowchart which shows the flow of a series of processes concerning the balance hydraulic control in the shift control switching routine of the embodiment.
- the time chart which shows the change of the rotational speed of a secondary pulley at the time of performing the shift control switching routine of the embodiment, and the change of the hydraulic pressure of a primary pulley.
- FIG. 1 is a schematic diagram showing a schematic configuration of an electronic control device 300 as a control device for a continuously variable transmission according to the present invention and a continuously variable transmission 100 that is a control target of the electronic control device 300.
- the input shaft of the torque converter 110 in the continuously variable transmission 100 is connected to the output shaft of the internal combustion engine 400.
- the output shaft of the torque converter 110 is connected to the input shaft of the switching mechanism 120.
- the switching mechanism 120 is a double pinion type planetary gear mechanism, and includes a forward clutch 121 and a reverse brake 122.
- the output shaft of the switching mechanism 120 is connected to the primary pulley 130.
- the transmission of the driving force between the internal combustion engine 400 and the primary pulley 130 is cut off by releasing both the forward clutch 121 and the reverse brake 122. Yes.
- the primary pulley 130 is connected to the secondary pulley 150 by a belt 140. That is, one belt 140 is wound around the primary pulley 130 and the secondary pulley 150 arranged in parallel as shown in the center of FIG. As a result, a driving force is transmitted between the primary pulley 130 and the secondary pulley 150 via the belt 140.
- the secondary pulley 150 is connected to the differential 170 via a reduction gear 160 as shown in the lower right portion of FIG. Thereby, the rotation of the secondary pulley 150 is transmitted to the differential 170 via the reduction gear 160.
- the driving force transmitted to the differential 170 is transmitted to the left and right drive wheels via the differential 170.
- the primary pulley 130 includes a fixed sheave 131 and a movable sheave 132.
- the movable sheave 132 is incorporated in the housing 133 so as to be movable relative to the housing 133, and a hydraulic chamber 134 is defined between the housing 133 and the movable sheave 132.
- the secondary pulley 150 also includes a fixed sheave 151 and a movable sheave 152. Similar to the primary pulley 130, the movable sheave 152 in the secondary pulley 150 is also incorporated in the housing 153 so as to be movable relative to the housing 153. Thereby, the hydraulic chamber 154 is also partitioned between the housing 153 and the movable sheave 152 in the secondary pulley 150.
- the belt 140 is wound around the primary pulley 130 and the secondary pulley 150.
- the belt 140 is sandwiched between the fixed sheave 131 and the movable sheave 132 in the primary pulley 130, and is sandwiched between the fixed sheave 151 and the movable sheave 152 in the secondary pulley 150.
- the thrust Wpri in the primary pulley 130 can be calculated as the product of the pressure receiving area of the movable sheave 132 in the hydraulic chamber 134 and the hydraulic pressure Pin.
- the thrust Wsec in the secondary pulley 150 can be calculated as the product of the pressure receiving area of the movable sheave 152 in the hydraulic chamber 154 and the hydraulic pressure Pout.
- each sheave 131, 132, 151, 152 is provided with a gradient at a portion in contact with the belt 140. Therefore, by changing the hydraulic pressure Pin in the hydraulic chamber 134 and changing the thrust Wpri, and changing the hydraulic pressure Pout in the hydraulic chamber 154 and changing the thrust Wsec, the belt 140 is wound around the pulleys 130 and 150.
- the radii Rin and Rout change.
- the wrapping radii Rin and Rout of the belt 140 in the pulleys 130 and 150 are changed by changing the hydraulic pressures Pin and Pout in the hydraulic chambers 134 and 154 of the pulleys 130 and 150.
- the gear ratio ⁇ is controlled.
- the hydraulic pressure Pin of the hydraulic chamber 134 of the primary pulley 130 is increased, and the winding radius Rin of the belt 140 in the primary pulley 130 is increased.
- the hydraulic pressure Pout of the hydraulic chamber 154 of the secondary pulley 150 is reduced, and the winding radius Rout of the belt 140 in the secondary pulley 150 is reduced.
- the gear ratio ⁇ can be reduced without sliding on the pulleys 130 and 150.
- the hydraulic control unit 200 is a hydraulic circuit including a plurality of solenoid valves that are driven based on a command from the electronic control device 300. Then, by adjusting the hydraulic pressure of the hydraulic oil and supplying the hydraulic oil to the hydraulic chambers 134 and 154, or by discharging the hydraulic oil in the hydraulic chambers 134 and 154, the hydraulic oil in the hydraulic chambers 134 and 154 is discharged. Adjust hydraulic pressure Pin and Pout.
- the electronic control device 300 includes a central processing unit (CPU) that performs arithmetic processing related to control of the internal combustion engine 400, arithmetic processing related to control of the continuously variable transmission 100 through the hydraulic control unit 200, and the like.
- the electronic control device 300 includes a calculation program and calculation map for calculation processing, a read only memory (ROM) in which various data are stored, a random access memory (RAM) that temporarily stores calculation results, A writable nonvolatile memory or the like that can hold stored information even when power supply is stopped is provided.
- the accelerator position sensor 301 detects the amount of depression of the accelerator pedal by the driver.
- the air flow meter 302 detects an intake air amount GA that is the amount of air introduced into the internal combustion engine 400.
- the crank angle sensor 303 detects the engine rotation speed NE based on the rotation angle of the crankshaft that is the output shaft of the internal combustion engine 400.
- the turbine rotation speed sensor 304 is provided in the vicinity of the switching mechanism 120 and detects the rotation speed of the turbine of the torque converter 110.
- the primary rotational speed sensor 305 is an electromagnetic pickup type rotary encoder and is provided in the vicinity of the primary pulley 130 to detect the rotational speed Nin of the primary pulley 130.
- the secondary rotational speed sensor 306 is also an electromagnetic pickup type rotary encoder similar to the primary rotational speed sensor 305 and is provided in the vicinity of the secondary pulley 150 to detect the rotational speed Nout of the secondary pulley 150.
- the wheel speed sensor 307 is also an electromagnetic pickup type rotary encoder similar to the rotation speed sensors 305 and 306, and is provided in the vicinity of each wheel to detect the rotation speed of each wheel.
- the electronic control unit 300 comprehensively controls the internal combustion engine 400 and the continuously variable transmission 100 based on output signals from these various sensors 301 to 307.
- the vehicle speed SPD is calculated based on the rotational speed Nout of the secondary pulley 150 detected by the secondary rotational speed sensor 306.
- the required torque is calculated based on the depression amount of the accelerator pedal detected by the accelerator position sensor 301 and the current vehicle speed SPD.
- the intake air amount GA is adjusted by adjusting the throttle valve opening of the internal combustion engine 400 so as to realize this required torque
- the target gear ratio ⁇ trg is calculated to match the gear ratio ⁇ with the target gear ratio ⁇ trg. Shift control for driving the hydraulic control unit 200 is performed so as to perform the control.
- the electronic control unit 300 calculates the actual speed ratio ⁇ based on the rotational speed Nin of the primary pulley 130 and the rotational speed Nout of the secondary pulley 150, and the calculated speed ratio ⁇ Is feedback-controlled so that the hydraulic pressure Pin of the primary pulley 130 matches the target gear ratio ⁇ trg.
- the oil pressure Pinout of the primary pulley 130 is controlled, and the oil pressure Pout of the secondary pulley 150 is changed in accordance with the change of the oil pressure Pin so that the slippage of the belt 140 can be suppressed.
- the gear ratio ⁇ is changed while the slippage of the belt 140 is suppressed.
- the speed change control switching routine shown in FIG. The control mode of the hydraulic pressure Pin of the primary pulley 130 is switched according to the rotational speed Nout of the secondary pulley 150.
- FIG. 3 is a flowchart showing a flow of a series of processes according to the shift control switching routine of this embodiment.
- This speed change control switching routine is performed by the electronic control unit 300 at a predetermined control cycle when the target speed ratio ⁇ trg is equal to the maximum speed ratio ⁇ max and when the target speed ratio ⁇ trg is set to a value near the maximum speed ratio ⁇ max. It is executed repeatedly.
- the electronic control unit 300 When the speed change control switching routine is started, as shown in FIG. 3, the electronic control unit 300 first determines whether the speed ratio ⁇ has already reached the maximum speed ratio ⁇ max when the speed change control switching routine is started in step S10. Determine whether or not.
- step S10 If it is determined in step S10 that the gear ratio ⁇ is not the maximum gear ratio ⁇ max (step S10: NO), that is, it is determined that the gear ratio ⁇ is deviated from the maximum gear ratio ⁇ max. In this case, the routine proceeds to step S300, and the electronic control unit 300 executes feedback control similar to normal shift control in step S300.
- the electronic control unit 300 When the feedback control is started, the electronic control unit 300 first calculates a target gear ratio ⁇ trg in step S310 as shown in FIG.
- a target based on a shift map prepared in advance is realized so as to realize an engine rotational speed NE that can efficiently generate the required torque calculated based on the depression amount of the accelerator pedal and the current vehicle speed SPD.
- a gear ratio ⁇ trg is calculated.
- the electronic control unit 300 calculates the equilibrium hydraulic pressure Pinbl, which is the minimum hydraulic pressure Pin necessary for maintaining the speed ratio ⁇ at the target speed ratio ⁇ trg in step S320.
- the balanced hydraulic pressure Pinbl is a basic value for calculating the target hydraulic pressure Pintrg, which is the target value of the hydraulic pressure Pin of the primary pulley 130.
- the lower limit thrust Wmin which is the minimum thrust necessary for maintaining the speed ratio ⁇ at the target speed ratio ⁇ trg without sliding the belt 140 on each pulley 130, 150. Based on this, the balanced oil pressure Pinbl is calculated.
- the lower limit thrust Wmin is equal to the input torque Tin to the primary pulley 130, which is the torque transmitted through the belt 140, and the speed ratio ⁇ is equal to the target speed ratio ⁇ trg as shown by the arrow in FIG.
- the winding radius Rin, the friction coefficient ⁇ between the primary pulley 130 and the belt 140, and the gradient angle ⁇ of the portion of the primary pulley 130 shown in FIG. Based on the following formula (1).
- step S320 the value of the lower limit thrust Wmin is divided by the pressure receiving area of the movable sheave 132 in the hydraulic chamber 134 of the primary pulley 130, thereby calculating the balanced hydraulic pressure Pinbl. That is, the balanced hydraulic pressure Pinbl is a quotient obtained by dividing the lower limit thrust Wmin by the pressure receiving area of the movable sheave 132.
- the electronic control unit 300 calculates the speed ratio ⁇ based on the rotational speeds Nin and Nout detected by the rotational speed sensors 305 and 306 in step S330.
- the gear ratio ⁇ is a quotient obtained by dividing the rotational speed Nin of the primary pulley 130 by the rotational speed Nout of the secondary pulley 150.
- the electronic control unit 300 calculates the correction value Pinfb based on the target speed ratio ⁇ trg and the calculated speed ratio ⁇ in step S340.
- the correction value Pinfb is a feedback correction value of the target hydraulic pressure Pintrg set to make the transmission gear ratio ⁇ coincide with the target transmission gear ratio ⁇ trg, and is a value added to the balanced hydraulic pressure Pinbl when calculating the target hydraulic pressure Pintrg.
- the correction value Pinfb is calculated based on the magnitude of the deviation between the target gear ratio ⁇ trg and the gear ratio ⁇ so that the correction amount of the target hydraulic pressure Pintrg increases as the deviation between the target gear ratio ⁇ trg and the gear ratio ⁇ increases. .
- the correction value Pinfb is calculated as a positive value so as to increase the target hydraulic pressure Pintrg when the gear ratio ⁇ is larger than the target gear ratio ⁇ trg, while the correction value Pinfb is smaller than the target gear ratio ⁇ trg. It is calculated as a negative value so as to reduce the target hydraulic pressure Pintrg.
- the electronic control unit 300 sets the target hydraulic pressure Pintrg in step S350.
- a value calculated by adding the correction value Pinfb to the balanced hydraulic pressure Pinbl is set as the target hydraulic pressure Pintrg.
- the electronic control unit 300 drives the hydraulic pressure control unit 200 based on the target hydraulic pressure Pintrg so that the hydraulic pressure Pin in the hydraulic chamber 134 matches the target hydraulic pressure Pintrg in step S350.
- the electronic control device 300 changes the hydraulic pressure Pin in the hydraulic chamber 134 in this way, and drives the hydraulic control unit 200 in accordance with the change of the hydraulic pressure Pin so as to suppress slippage of the belt 140 in each pulley 130.150. Then, the hydraulic pressure Pout of the hydraulic chamber 154 is changed and the shift control is executed.
- step S10 determines whether or not the rotational speed Nout detected by the secondary rotational speed sensor 306 in step S20 is less than the second reference value Nout2.
- the second reference value Nout2 can calculate the gear ratio ⁇ with the accuracy required for feedback control based on the rotational speeds Nin and Nout of the pulleys 130 and 150 detected by the rotational speed sensors 305 and 306. This is the lower limit value of the rotation speed Nout.
- the rotation speed sensors 305 and 306 can detect the rotation speeds Nin and Nout with high accuracy, and based on the detected rotation speeds Nin and Nout.
- the gear ratio ⁇ can be calculated with the accuracy required for feedback control.
- step S20 If it is determined in step S20 that the rotational speed Nout is equal to or higher than the second reference value Nout2 (step S20: NO), the routine proceeds to step S300. Then, the electronic control unit 300 executes feedback control as described above in step S300.
- step S20 determines whether or not the rotational speed Nout is less than the second reference value Nout2 (step S20: YES).
- the first reference value Nout1 is a lower limit value of the rotational speed Nout from which the gear ratio ⁇ can be calculated based on the rotational speeds Nin and Nout of the pulleys 130 and 150 detected by the rotational speed sensors 305 and 306.
- the secondary rotational speed sensor 306 cannot detect the rotational speed Nout, and the gear ratio ⁇ cannot be calculated.
- the secondary rotational speed sensor 306 can detect the rotational speed Nout of the secondary pulley 150, and the detected rotational speeds Nin and Nout are detected. Based on this, the gear ratio ⁇ can be calculated.
- the gear ratio ⁇ cannot be calculated with the accuracy required for feedback control.
- step S30 it is determined whether or not the rotation speed Nout can be detected by the secondary rotation speed sensor 306, and based on the fact that the rotation speed Nout is not detected, it is determined that the rotation speed Nout is less than the first reference value Nout1. judge.
- step S30 If it is determined in step S30 that the rotation speed Nout is equal to or higher than the first reference value Nout1 (step S30: NO), that is, if the rotation speed Nout is detected by the secondary rotation speed sensor 306, the shift control is performed.
- the switching routine proceeds to step S200. Then, in step S200, the electronic control device 300 executes balanced hydraulic pressure control.
- the electronic control unit 300 When the balanced hydraulic pressure control is started, as shown in FIG. 5, the electronic control unit 300 first sets the balanced hydraulic pressure Pinblmin, which is the balanced hydraulic pressure Pinbl necessary for maintaining the transmission gear ratio ⁇ at the maximum transmission gear ratio ⁇ max, in step S210. calculate.
- the winding radius when the gear ratio ⁇ is the maximum gear ratio ⁇ max as the winding radius Rin in the above equation (1).
- Rin the balanced hydraulic pressure Pinblmin is calculated.
- step S210 When the balanced hydraulic pressure Pinblmin for maintaining the transmission gear ratio ⁇ at the maximum transmission gear ratio ⁇ max is calculated in step S210, the process proceeds to step S220, and the electronic control unit 300 sets the calculated balanced hydraulic pressure Pinblmin as it is as the target hydraulic pressure Pintrg.
- step S230 the electronic control unit 300 drives the hydraulic control unit 200 based on the target hydraulic pressure Pintrg. That is, in this balanced hydraulic pressure control, the hydraulic pressure Pin of the primary pulley 130 is made to coincide with the balanced hydraulic pressure Pinblmin without performing feedback control of the hydraulic pressure Pin based on the magnitude of the difference between the target gear ratio ⁇ trg and the gear ratio ⁇ .
- the hydraulic control unit 200 is driven as described above.
- step S30 When the shift control is executed through the balanced hydraulic control in this way, the electronic control device 300 ends the shift control switching routine once.
- step S30 when it is determined in step S30 that the rotation speed Nout is less than the first reference value Nout1 (step S30: YES), that is, when the rotation speed Nout cannot be detected by the secondary rotation speed sensor 306,
- the shift control switching routine proceeds to step S100.
- the electronic control unit 300 executes the lower limit hydraulic pressure control in step S100.
- the electronic control unit 300 When the lower limit hydraulic pressure control is started, as shown in FIG. 6, the electronic control unit 300 first sets the lower limit hydraulic pressure Pinlim as the target hydraulic pressure Pintrg in step S110.
- the lower limit hydraulic pressure Pinlim is set based on the result of an experiment or the like performed in advance as a hydraulic pressure Pin that can change the transmission gear ratio ⁇ to the maximum transmission gear ratio ⁇ max.
- the continuously variable transmission 100 has variations in characteristics due to manufacturing tolerances and the like. For this reason, even if the hydraulic pressure Pin of the primary pulley 130 is reduced to the same hydraulic pressure, the gear ratio ⁇ may vary. Therefore, the lower limit hydraulic pressure Pinlim takes into account such variations in the characteristics of the continuously variable transmission 100, and even if there are variations in characteristics, if the hydraulic pressure Pin is lowered to the lower limit hydraulic pressure Pinlim, the winding radius Rin is minimized.
- the size is set to be the value of.
- step S110 When the target hydraulic pressure Pintrg is set in step S110, the process proceeds to step S120, and the electronic control unit 300 drives the hydraulic pressure control unit 200 based on the set target hydraulic pressure Pintrg.
- the hydraulic pressure Pin of the primary pulley 130 is matched with the lower limit hydraulic pressure Pinlim without performing feedback control of the hydraulic pressure Pin based on the magnitude of the difference between the target speed ratio ⁇ trg and the speed ratio ⁇ .
- the hydraulic control unit 200 is driven as described above.
- FIG. 7 is a time chart showing the relationship between the change in the rotational speed Nout of the secondary pulley 150 and the change in the hydraulic pressure Pin of the primary pulley 130.
- the speed change control switching routine is executed. Then, in the speed change control switching routine, it is determined that the rotation speed Nout of the secondary pulley is equal to or higher than the second reference value Nout2, and the hydraulic pressure Pin is controlled to maintain the speed ratio ⁇ at the maximum speed ratio ⁇ max through feedback control. Become so.
- the balanced hydraulic pressure control is executed through the shift control switching routine.
- the speed ratio ⁇ is not calculated based on the rotational speeds Nin and Nout, and the hydraulic pressure control unit 200 is driven so that the hydraulic pressure Pin matches the balanced hydraulic pressure Pinblmin.
- the lower limit hydraulic pressure control is executed through the shift control switching routine.
- the oil pressure Pin of the primary pulley 130 decreases to a lower limit oil pressure Pinlim that is lower than the balanced oil pressure Pinblmin.
- the balanced hydraulic pressure control is executed again through the shift control switching routine.
- the oil pressure Pin of the primary pulley 130 increases from the lower limit oil pressure Pinlim to the balanced oil pressure Pinblmin.
- the speed change control switching routine is not executed, and the hydraulic pressure of the primary pulley 130 is set so that the speed ratio ⁇ matches the target speed ratio ⁇ trg through feedback control by normal speed control. Pin is feedback-controlled, and the hydraulic pressure Pin is increased.
- a shift control switching routine for switching the control mode of the oil pressure Pin of the primary pulley 130 according to the rotational speed Nout of the secondary pulley 150 is executed.
- the feedback control is executed only when the gear ratio ⁇ can be calculated with the accuracy required for the feedback control through the transmission control switching routine.
- the hydraulic pressure Pin of the primary pulley 130 is held at a constant value without executing the feedback control.
- the lower limit hydraulic pressure control is executed to reduce the oil pressure Pin of the primary pulley 130 to the lower limit oil pressure Pinlim. .
- the primary pulley 130 is pushed and spread by the tension of the belt 140, and the winding radius Rin of the belt 140 in the primary pulley 130 is reduced. Therefore, even when the actual speed ratio ⁇ cannot be calculated, the speed ratio ⁇ can be maintained at the maximum speed ratio ⁇ max.
- the balanced oil pressure Pinblmin is set so that the oil pressure Pin of the primary pulley 130 is larger than the lower limit oil pressure Pinlim.
- the electronic control unit 300 determines whether the speed ratio ⁇ calculated based on the speeds Nin and Nout and the target speed ratio ⁇ trg. Feedback control is performed to correct the hydraulic pressure of the primary pulley 130 based on the magnitude of the deviation.
- the actual gear ratio ⁇ is determined based on the rotational speeds Nin and Nout detected by the rotational speed sensors 305 and 306. Is calculated, and the hydraulic pressure Pin is feedback-controlled based on the magnitude of the difference between the calculated speed ratio ⁇ and the target speed ratio ⁇ trg.
- the hydraulic pressure Pin of the primary pulley 130 is increased in advance. Therefore, when the rotational speed Nout of the secondary pulley 150 subsequently increases to the second reference value Nout2 or more and the gear ratio ⁇ can be calculated with the accuracy required for feedback control, the hydraulic pressure of the primary pulley 130 Pin is already higher than the lower limit oil pressure Pinlim. Therefore, when the transmission gear ratio ⁇ can be calculated with the accuracy required for feedback control, the hydraulic pressure Pin of the primary pulley 130 can be adjusted through the feedback control, and the change of the transmission gear ratio ⁇ can be resumed quickly. become able to.
- the speed ratio ⁇ can be maintained at the maximum speed ratio ⁇ max even when the speed ratio ⁇ cannot be calculated with high accuracy.
- the change of the speed ratio ⁇ by the feedback control can be resumed promptly.
- the oil pressure Pin of the primary pulley 130 is already the minimum oil pressure necessary to maintain the speed ratio ⁇ at the maximum speed ratio ⁇ max. It is adjusted to the balanced hydraulic pressure Pinblmin. Therefore, when the rotation speed Nout of the secondary pulley 150 becomes equal to or higher than the second reference value Nout2, and the gear ratio ⁇ can be calculated with the accuracy necessary for feedback control, the feedback control is promptly performed.
- the actual speed ratio ⁇ can be matched with the maximum speed ratio ⁇ max.
- the shift control switching routine in the first embodiment when the rotational speed Nout of the secondary pulley 150 is less than the first reference value Nout1, the oil pressure Pin of the primary pulley 130 is changed to the gear ratio.
- the lower limit hydraulic pressure control for adjusting the lower limit hydraulic pressure Pinlim which is the hydraulic pressure at which ⁇ becomes the maximum gear ratio ⁇ max, is executed.
- the transmission gear ratio ⁇ can be maintained at the maximum transmission gear ratio ⁇ max while the primary pulley 130 is filled with hydraulic oil, and it takes time to fill the primary pulley 130 with hydraulic oil. It can be solved.
- the lower limit hydraulic pressure Pinlim is a hydraulic pressure that can reliably maintain the transmission gear ratio ⁇ at the maximum transmission gear ratio ⁇ max even if there are variations in the characteristics in consideration of variations in the characteristics of the continuously variable transmission 100. It is set to. Therefore, even if the continuously variable transmission 100 has variations in characteristics due to manufacturing tolerances or the like, the speed ratio ⁇ can be reliably maintained at the maximum speed ratio ⁇ max through the lower limit hydraulic pressure control.
- the lower limit hydraulic pressure Pinlim is basically set to a low hydraulic pressure that can reliably maintain the transmission gear ratio ⁇ at the maximum transmission gear ratio ⁇ max even if the characteristics of the continuously variable transmission 100 vary as described above. Among them, it is desirable to set a value close to the balanced hydraulic pressure Pinblmin.
- the rotational speed Nout of the secondary pulley 150 decreases to less than the second reference value Nout2, and the accuracy necessary for executing the feedback control is achieved.
- the gear ratio ⁇ cannot be calculated, the lower limit hydraulic pressure control is not performed immediately and the hydraulic pressure Pin is not reduced to the lower limit hydraulic pressure Pinlim, but until the rotational speed Nout becomes less than the first reference value Nout1.
- the balanced oil pressure control is executed to keep the oil pressure Pin at the balanced oil pressure Pinblmin.
- the shift control switching routine in the first embodiment when executed, it is determined at time t11 that the rotational speed Nout is equal to or higher than the first reference value Nout1. Until the rotational speed Nout is determined to be equal to or higher than the second reference value Nout2 at time t12, the hydraulic pressure Pin of the primary pulley 130 is adjusted to the balanced hydraulic pressure Pinblmin through the balanced hydraulic pressure control.
- the continuously variable transmission 100 has variations in characteristics due to manufacturing tolerances and the like.
- the balanced hydraulic pressure Pinblmin which is the minimum hydraulic pressure necessary to maintain the transmission gear ratio ⁇ at the maximum transmission gear ratio ⁇ max, is calculated, and the hydraulic pressure Pinprimary pulley 130 is adjusted to a hydraulic pressure equal to the balanced hydraulic pressure Pinblmin. Even so, the actual speed ratio ⁇ may deviate from the maximum speed ratio ⁇ max.
- the shift control switching routine in the first embodiment is executed, as shown in FIG. 8, the target speed ratio ⁇ trg is reduced at time t13 and the normal shift from the feedback control by the shift control switching routine is performed.
- an overshoot may occur in which the rotational speed Nout of the secondary pulley 150 becomes larger than the target rotational speed Nouttrg.
- the correction value Pinfb shown in FIG. 8 is replaced with the feedback control in step S300 described in the first embodiment as shown in FIG.
- feedback control step S500 for acquiring the learning value Pinlrn is executed.
- balanced hydraulic pressure control step S400 for correcting the target hydraulic pressure Pintrg based on the learned value Pinlrn obtained through the feedback control in step S500 is performed. Execute.
- step S500 in FIG. 9 When the electronic control device 300 according to the present embodiment starts the feedback control in step S500 in FIG. 9, first, in steps S510 to S560 as shown in FIG. 10, steps S310 to S360 in the feedback control of the first embodiment are performed. The same processing is executed. That is, the target oil pressure Pintrg is set by the correction value Pinfb and the balanced oil pressure Pinbl through the processes of steps S510 to S560, and the oil pressure control unit 200 is driven based on the set target oil pressure Pintrg.
- the electronic control unit 300 calculates the learning value Pinlrn based on the correction value Pinfb and the overshoot amount Notos in step S570.
- the overshoot amount Notos is an overshoot of the rotational speed Nout of the secondary pulley 150 generated when the feedback control in the shift control switching routine is shifted to the feedback control by the normal shift control.
- the value corresponds to the size.
- step S570 the overshoot amount Notoos that occurred when the feedback control in the shift control switching routine was shifted to the feedback control with the normal shift control last time, and the correction when the feedback control in the shift control switching routine was executed last time.
- the value Pinfb is read.
- a learning value Pinlrn is calculated based on the overshoot amount Notos and the correction value Pinfb.
- the learned value Pinlrn is a value corresponding to a correction amount for correcting the target oil pressure Pintrg in the balanced oil pressure control as described above. Therefore, in this step S570, learning is performed such that the correction amount of the target hydraulic pressure Pintrg in the balanced hydraulic control increases as the correction amount of the balanced hydraulic pressure Pinbl by the correction value Pinfb in the feedback control increases, and as the overshoot amount Notos increases.
- the magnitude of the value Pinlrn is set.
- the electronic control unit 300 sets the correction value Pinfb as it is as the learning value Pinlrn.
- the electronic control unit 300 increases the overshoot amount Notos so that the target oil pressure Pintrg in the balanced oil pressure control decreases as the overshoot amount Notos increases.
- a value obtained by adjusting the magnitude of the correction value Pinfb according to the value is calculated as a learning value Pinlrn.
- step S570 and step S580 in said feedback control is equivalent to a learning value acquisition part.
- step S410 As in step S210 of the balanced hydraulic pressure control in the first embodiment, as shown in FIG. Then, an equilibrium hydraulic pressure Pinblmin for maintaining the speed ratio ⁇ at the maximum speed ratio ⁇ max is calculated.
- the electronic control unit 300 corrects the target hydraulic pressure Pintrg by reading the learned value Pinlrn acquired through the feedback control of step S500 in step S420 and adding the learned value Pinlrn to the balanced hydraulic pressure Pinblmin in step S430.
- the electronic control unit 300 drives the hydraulic pressure control unit 200 based on the target hydraulic pressure Pintrg so that the hydraulic pressure Pin of the primary pulley 130 matches the target hydraulic pressure Pintrg in step S440.
- the balanced oil pressure Pinblmin is corrected by the learned value Pinlrn, and the balanced oil pressure of the primary pulley 130 is corrected.
- the hydraulic control unit 200 is driven so as to coincide with Pinblmin.
- FIG. 12 is a time chart showing a change in the rotational speed Nout of the secondary pulley 150 and a change in the hydraulic pressure Pin of the primary pulley 130 when the shift control switching routine according to the present embodiment is executed.
- the balanced hydraulic pressure control is executed through the shift control switching routine.
- the hydraulic pressure Pin is adjusted to be equal to the hydraulic pressure obtained by correcting the balanced hydraulic pressure Pinblmin with the learned value Pinlrn. become.
- the hydraulic pressure Pin is adjusted to a level almost the same as the hydraulic pressure Pin (hydraulic pressure Pin after time t22) adjusted through feedback control from the time t21 when the rotational speed Nout becomes equal to or higher than the first reference value Nout1. It becomes like this.
- the target speed ratio ⁇ trg is changed at time t23 to perform feedback control in normal shift control. The amount of overshoot Notos that occurs when shifting is reduced.
- the balanced hydraulic pressure Pinblmin is corrected using the learned value Pinlrn obtained through the previous feedback control, and the hydraulic pressure Pin of the primary pulley 130 is corrected. Therefore, it is possible to grasp the characteristics of the continuously variable transmission 100 based on the learned value Pinlrn acquired through the previous feedback control and to execute the balanced hydraulic pressure control in accordance with the characteristics.
- the magnitude of the learning value Pinlrn is set based on the magnitude of the correction value Pinfb so that the correction quantity in the balanced hydraulic pressure control increases as the correction quantity of the balanced hydraulic pressure Pinbl in the feedback control increases. ing. For this reason, it is estimated that the correction amount of the balanced hydraulic pressure Pinbl in the feedback control is large, and the hydraulic pressure Pin of the primary pulley 130 necessary for maintaining the transmission gear ratio ⁇ at the target transmission gear ratio ⁇ trg is a characteristic that is easily deviated from the balanced hydraulic pressure Pinblmin.
- the magnitude of the learning value Pinlrn is set so that the correction amount in the balanced hydraulic pressure control increases as the time of Therefore, it is possible to execute the balanced hydraulic pressure control in accordance with the actual characteristics of the continuously variable transmission 100, and it is possible to more appropriately hold the transmission gear ratio ⁇ at the maximum transmission gear ratio ⁇ max through the balanced hydraulic pressure control.
- the learning value Pinlrn is obtained with reference to the overshoot amount Notos of the rotational speed Nout of the secondary pulley 150 that is generated when shifting from the balanced hydraulic control to the feedback control and starting the change of the transmission gear ratio ⁇ through the feedback control. I have to. Therefore, the rotational speeds Nin and Nout of the pulleys 130 and 150 generated when the change of the gear ratio ⁇ is started by correcting the oil pressure Pin of the primary pulley 130 adjusted through the balanced oil pressure control based on the learning value Pinlrn. Overshoot can be suppressed.
- the learning value Pinlrn is set based on the magnitude of the overshoot amount Notos so that the correction amount in the balanced hydraulic pressure control increases as the overshoot amount Notos increases. Therefore, the magnitude of the learning value Pinlrn is set so that the correction amount in the balanced hydraulic pressure control increases as the characteristic that is likely to overshoot is estimated. Therefore, the balanced hydraulic pressure control in accordance with the actual characteristics of the continuously variable transmission 100 can be executed, and the occurrence of overshoot can be suppressed more appropriately.
- the second embodiment can also be carried out in the following forms that are appropriately modified.
- the configuration is shown in which the learning value Pinlrn is calculated based on both the correction value Pinfb and the overshoot amount Notos.
- a configuration in which the learning value Pinlrn is calculated based on one of them can also be adopted.
- the learning value Pinlrn is calculated with reference to the overshoot amount Notos of the rotational speed Nout of the secondary pulley 150.
- the rotational speed Nin of the primary pulley 130 is A configuration in which the learning value Pinlrn is calculated with reference to the overshoot amount may be employed.
- each said embodiment can also be implemented with the following forms which changed this suitably.
- the rotation speed Nout of the secondary pulley 150 can also be calculated based on the wheel rotation speed detected by the wheel speed sensor 307. Therefore, a configuration for determining whether or not the rotational speed Nout is less than the second reference value Nout based on the rotational speed of the wheel detected by the wheel speed sensor 307, or the rotation of the wheel detected by the wheel speed sensor 307. It is also possible to adopt a configuration that determines whether or not the rotational speed Nout is less than the first reference value Nout based on the speed.
- the rotational speed Nout of the secondary pulley 150 can be calculated based on the value of the maximum speed ratio ⁇ max and the rotational speed Nin of the primary pulley 130. . Therefore, it is possible to adopt a configuration for determining whether or not the rotational speed Nout is less than the second reference value Nout based on the rotational speed Nin of the primary pulley 130 detected by the primary rotational speed sensor 305. Further, it is possible to adopt a configuration for determining whether or not the rotational speed Nout is less than the first reference value Nout based on the rotational speed Nin of the primary pulley 130 detected by the primary rotational speed sensor 305.
- the rotational speed Nin of the primary pulley 130 can be estimated based on the rotational speed of the turbine of the torque converter 110 detected by the turbine rotational speed sensor 304. Therefore, if the speed ratio ⁇ matches the maximum speed ratio ⁇ max, the rotational speed Nout is less than the second reference value Nout based on the rotational speed of the turbine of the torque converter 110 detected by the turbine rotational speed sensor 304. It is also possible to adopt a configuration for determining whether or not. Further, it is possible to adopt a configuration for determining whether or not the rotational speed Nout is less than the first reference value Nout based on the rotational speed of the turbine of the torque converter 110 detected by the turbine rotational speed sensor 304.
- the first reference value Nout1 is set as the lower limit value of the rotational speed Nout that allows the speed ratio ⁇ to be calculated based on the rotational speeds Nin and Nout
- the second reference value A configuration has been shown in which Nout2 is set as the lower limit value of the rotational speed Nout that enables the gear ratio ⁇ to be calculated with the accuracy required for feedback control based on the rotational speeds Nin and Nout.
- the second reference value Nout2 is larger than the first reference value Nout1, the reference values Nout1 and Nout2 can be changed as appropriate.
- the gear ratio ⁇ can be held at the maximum gear ratio ⁇ max even when the gear ratio ⁇ cannot be calculated with high accuracy, and the gear ratio ⁇ can be calculated with high accuracy.
- the speed change ⁇ can be promptly resumed by feedback control.
- the configuration in which the vehicle speed SPD is calculated based on the rotational speed Nout of the secondary pulley 150 detected by the secondary rotational speed sensor 306 has been shown, but is detected by the wheel speed sensor 307.
- the vehicle speed SPD can also be calculated based on the rotational speed of the wheels.
- the configuration in which the secondary rotational speed sensor 306 is employed as the rotational speed sensor that detects the rotational speed of the power transmission system between the internal combustion engine and the wheels has been described. Since the rotation speed Nout of the secondary pulley 150 can also be calculated based on the wheel rotation speed detected by the wheel speed sensor 307, the wheel speed sensor 307 is employed as a rotation speed sensor for detecting the rotation speed of the power transmission system. You can also.
- the rotational speed sensor that detects the rotational speed of the power transmission system can be changed as long as the rotational speed Nout of the secondary pulley 150 can be estimated based on the detected rotational speed. it can. Therefore, the present invention estimates the rotational speed Nin of the primary pulley 130 based on the engine rotational speed NE, or estimates the rotational speed Nout of the secondary pulley 150 based on the vehicle speed SPD, so that the engine rotational speed NE or The present invention can also be applied to a control device for a continuously variable transmission that calculates an actual gear ratio based on the vehicle speed SPD.
- the present invention is also applicable to a continuously variable transmission control device that does not include the rotational speed sensors 305 and 306 as long as the rotational speeds Nin and Nout of the pulleys 130 and 150 can be estimated. can do.
- DESCRIPTION OF SYMBOLS 100 Continuously variable transmission, 110 ... Torque converter, 120 ... Switching mechanism, 121 ... Forward clutch, 122 ... Reverse brake, 130 ... Primary pulley, 131 ... Fixed sheave, 132 ... Movable sheave, 133 ... Housing, 134 ... Hydraulic chamber , 140 ... belt, 150 ... secondary pulley, 151 ... fixed sheave, 152 ... movable sheave, 153 ... housing, 154 ... hydraulic chamber, 160 ... reduction gear, 170 ... differential, 200 ... hydraulic control unit, 300 ... electronic control unit, DESCRIPTION OF SYMBOLS 301 ... Accelerator position sensor 302 ... Air flow meter 303 ... Crank angle sensor 304 ... Turbine rotational speed sensor 305 ... Primary rotational speed sensor 306 ... Secondary rotational speed sensor 307 ... Wheel speed sensor
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Abstract
Description
以下、本発明にかかる無段変速機の制御装置を、車両を統括的に制御する電子制御装置300として具体化した第1の実施形態について、図1~7を参照して説明する。
図1に示されるように無段変速機100におけるトルクコンバータ110の入力軸は内燃機関400の出力軸に接続されている。一方で、同トルクコンバータ110の出力軸は、切替機構120の入力軸に接続されている。
アクセルポジションセンサ301は運転者によるアクセルペダルの踏み込み量を検出する。エアフロメータ302は内燃機関400に導入される空気の量である吸入空気量GAを検出する。クランク角センサ303は内燃機関400の出力軸であるクランクシャフトの回転角に基づいて機関回転速度NEを検出する。タービン回転速度センサ304は切替機構120の近傍に設けられてトルクコンバータ110のタービンの回転速度を検出する。プライマリ回転速度センサ305は、電磁ピックアップ式のロータリーエンコーダであり、プライマリプーリ130の近傍に設けられてプライマリプーリ130の回転速度Ninを検出する。セカンダリ回転速度センサ306もプライマリ回転速度センサ305と同様の電磁ピックアップ式のロータリーエンコーダであり、セカンダリプーリ150の近傍に設けられてセカンダリプーリ150の回転速度Noutを検出する。また、車輪速センサ307も回転速度センサ305,306と同様の電磁ピックアップ式のロータリーエンコーダであり、各車輪の近傍に設けられて各車輪の回転速度をそれぞれ検出する。
そして、ステップS320では、この下限推力Wminの値をプライマリプーリ130の油圧室134における可動シーブ132の受圧面積で除することによって、均衡油圧Pinblを算出する。すなわち、均衡油圧Pinblは、下限推力Wminを可動シーブ132の受圧面積で除した商である。
一方で、ステップS10において、変速比γが最大変速比γmaxになっている旨の判定がなされた場合(ステップS10:YES)には、変速制御切替ルーチンはステップS20へと進む。そして、電子制御装置300は、ステップS20においてセカンダリ回転速度センサ306によって検出される回転速度Noutが第2の基準値Nout2未満であるか否かを判定する。
すなわち、この均衡油圧制御にあっては、目標変速比γtrgと変速比γとの乖離の大きさに基づく油圧Pinのフィードバック制御を行わずに、プライマリプーリ130の油圧Pinを均衡油圧Pinblminに一致させるように油圧制御部200を駆動する。
一方、ステップS30において、回転速度Noutが第1の基準値Nout1未満である旨の判定がなされた場合(ステップS30:YES)、すなわちセカンダリ回転速度センサ306によって回転速度Noutを検出できていないときには、変速制御切替ルーチンはステップS100へと進む。そして、電子制御装置300は、ステップS100において、下限油圧制御を実行する。
無段変速機100には、製造公差等に起因する特性のばらつきがある。そのため、プライマリプーリ130の油圧Pinを同一の油圧まで低下させた場合であっても、変速比γにばらつきが生じてしまうことがある。そこで下限油圧Pinlimは、こうした無段変速機100の特性のばらつきを考慮して、特性にばらつきがあったとしても、この下限油圧Pinlimまで油圧Pinを低下させれば、巻き掛け半径Rinが最小限の値になるようにその大きさが設定されている。
以下、このようにセカンダリプーリ150の回転速度Noutに応じてプライマリプーリ130の油圧Pinの制御態様を切り換えるようにした場合の作用について、図7を参照して説明する。尚、図7はセカンダリプーリ150の回転速度Noutの変化とプライマリプーリ130の油圧Pinの変化との関係を示すタイムチャートである。
(1)本実施形態の変速制御切替ルーチンにあっては、セカンダリプーリ150の回転速度Noutが第1の基準値Nout1未満のときにプライマリプーリ130の油圧Pinを下限油圧Pinlimに調整する下限油圧制御を実行するようにしている。そのため、ベルト140の張力によってプライマリプーリ130が押し広げられるようになり、プライマリプーリ130におけるベルト140の巻き掛け半径Rinが小さくなる。そのため、実際の変速比γを算出することができない状態のときでも変速比γを最大変速比γmaxに保持することができる。
(第2の実施形態)
以下、この発明にかかる無段変速機の制御装置を、車両を統括的に制御する電子制御装置300として具体化した第2の実施形態について、図8~図12を参照して説明する。尚、第2の実施形態は、第1の実施形態における変速制御切替ルーチンの一部を変更したものである。そのため、以下の部分では、第1の実施形態における変速制御切替ルーチンからの変更点について重点的に説明を行い、第1の実施形態と同様の部分については同一の符号を付してその詳細な説明を割愛する。
尚、上記のフィードバック制御におけるステップS570及びステップS580の処理が、学習値取得部に相当する。
以下、このように学習値Pinlrnを取得する学習値取得部を備え、学習値Pinlrnによって均衡油圧制御における目標油圧Pintrgである均衡油圧Pinblminを補正する変速制御切替ルーチンを実行するようにした場合の作用について図12を参照して説明する。尚、図12は、本実施形態にかかる変速制御切替ルーチンを実行した場合のセカンダリプーリ150の回転速度Noutの変化とプライマリプーリ130の油圧Pinの変化とを示すタイムチャートである。
(6)均衡油圧制御を実行するときに、前回のフィードバック制御を通じて取得された学習値Pinlrnを利用して均衡油圧Pinblminを補正し、プライマリプーリ130の油圧Pinを補正するようにしている。そのため、前回のフィードバック制御を通じて取得された学習値Pinlrnに基づいて無段変速機100の特性を把握し、その特性に即した均衡油圧制御を実行することができる。
・上記第2の実施形態にあっては、補正値Pinfbとオーバーシュート量Noutosとの双方に基づいて学習値Pinlrnを算出する構成を示したが、補正値Pinfbとオーバーシュート量Noutosのうち、いずれか一方に基づいて学習値Pinlrnを算出する構成を採用することもできる。
・セカンダリプーリ150の回転速度Noutは、車輪速センサ307によって検出される車輪の回転速度に基づいて算出することもできる。そのため、車輪速センサ307によって検出される車輪の回転速度に基づいて回転速度Noutが第2の基準値Nout未満であるか否かを判定する構成や、車輪速センサ307によって検出される車輪の回転速度に基づいて回転速度Noutが第1の基準値Nout未満であるか否かを判定する構成を採用することもできる。
Claims (10)
- 内燃機関の駆動力が入力されるプライマリプーリと、車輪に連結されるセカンダリプーリと、これら一対のプーリに巻き掛けられて駆動力を伝達するベルトとを備える無段変速機を制御する制御装置であって、前記各プーリに供給する油圧を制御して各プーリにおけるベルトの巻き掛け半径を変更するとともに、各プーリの回転速度に基づいて算出される実変速比と目標変速比とに基づいて前記プライマリプーリの油圧のフィードバック制御を実行する制御装置において、
前記内燃機関から前記車輪までの動力伝達系の少なくとも一部の回転速度を検出する回転速度センサを備え、
前記回転速度が、第1の基準値未満のときには、前記プライマリプーリの油圧を、変速比を最大変速比にすることのできる下限油圧に調整する下限油圧制御を実行する一方、
前記回転速度が、前記第1の基準値以上のときには、前記プライマリプーリの油圧を前記下限油圧よりも大きな油圧に調整し、更に前記回転速度が、前記第1の基準値よりも大きい第2の基準値以上になっているときには、前記フィードバック制御を実行する
無段変速機の制御装置。 - 前記第1の基準値は、各プーリの回転速度に基づいて変速比を算出することのできる前記回転速度の下限値に基づいて設定されている
請求項1に記載の無段変速機の制御装置。 - 前記第2の基準値は、各プーリの回転速度に基づいて前記フィードバック制御のために必要な精度で変速比を算出することのできる前記回転速度の下限値に基づいて設定されている
請求項1又は請求項2に記載の無段変速機の制御装置。 - 前記回転速度センサは、前記セカンダリプーリの回転速度を検出するセカンダリ回転速度センサである
請求項1~3のいずれか一項に記載の無段変速機の制御装置。 - 前記回転速度が、前記第1の基準値以上であり、且つ前記第2の基準値未満のときには、前記プライマリプーリの油圧を、各プーリ上で前記ベルトを滑らせずに変速比を最大変速比に保持するために必要な最小の油圧に調整する均衡油圧制御を実行する
請求項1~4のいずれか一項に記載の無段変速機の制御装置。 - 前記均衡油圧制御における目標油圧を、前記内燃機関から前記プライマリプーリに入力されるトルクと、変速比が最大変速比になるときの前記プライマリプーリにおける前記ベルトの巻き掛け半径と、前記プライマリプーリと前記ベルトとの間の摩擦係数と、前記プライマリプーリにおける前記ベルトが接触する部分の勾配と、前記プライマリプーリにおける可動シーブの受圧面積とに基づいて算出する
請求項5に記載の無段変速機の制御装置。 - 前記フィードバック制御は、各プーリ上で前記ベルトを滑らせずに変速比を目標変速比に保持するために必要な最小の油圧である均衡油圧を算出するとともに、各プーリの回転速度に基づいて算出された変速比と目標変速比との乖離の大きさに基づいて補正値を算出し、同補正値によって前記均衡油圧を補正した値を目標油圧として前記プライマリプーリの油圧を調整するものであり、
前記フィードバック制御を通じて算出された前記補正値に基づいて学習値を取得する学習値取得部を更に備え、
前記均衡油圧制御を実行するときに、前回のフィードバック制御を通じて前記学習値取得部によって取得された前記学習値を利用して前記プライマリプーリの油圧を補正する
請求項5又は請求項6に記載の無段変速機の制御装置。 - 前記学習値取得部は、前記フィードバック制御における前記補正値による前記均衡油圧の補正量が大きいときほど、前記均衡油圧制御における前記油圧の補正量が大きくなるように前記補正値の大きさに基づいて前記学習値の大きさを設定する
請求項7に記載の無段変速機の制御装置。 - 前記均衡油圧制御から前記フィードバック制御に移行したあと、前記フィードバック制御を通じて変速比の変更を開始したときに生じる各プーリの回転速度のオーバーシュートの大きさに基づいて学習値を取得する学習値取得部を更に備え、
前記均衡油圧制御を実行するときに、前回のフィードバック制御を通じて前記学習値取得部によって取得された前記学習値を利用して前記プライマリプーリの油圧を補正する
請求項5~8のいずれか一項に記載の無段変速機の制御装置。 - 前記学習値取得部は、前記オーバーシュートが大きいときほど、前記均衡油圧制御における前記油圧の補正量が大きくなるように前記オーバーシュートの大きさに基づいて前記学習値の大きさを設定する
請求項9に記載の無段変速機の制御装置。
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DE112010005399.5T DE112010005399B4 (de) | 2010-03-18 | 2010-03-18 | Steuerungsvorrichtung für ein stufenloses Getriebe |
US13/583,105 US8924110B2 (en) | 2010-03-18 | 2010-03-18 | Control device for stepless transmission |
PCT/JP2010/054679 WO2011114488A1 (ja) | 2010-03-18 | 2010-03-18 | 無段変速機の制御装置 |
CN201080065271.5A CN102792064B (zh) | 2010-03-18 | 2010-03-18 | 无级变速器的控制装置 |
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WO2015166879A1 (ja) * | 2014-04-28 | 2015-11-05 | トヨタ自動車株式会社 | 車両の制御装置 |
JP2018021577A (ja) * | 2016-08-01 | 2018-02-08 | 日本電産トーソク株式会社 | 油圧制御装置及びプログラム |
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US9488267B2 (en) * | 2012-09-14 | 2016-11-08 | Ford Global Technologies, Llc | Line pressure control with input shaft torque measurement |
JP6197099B2 (ja) * | 2014-03-03 | 2017-09-27 | ジヤトコ株式会社 | 車両用無段変速機の制御装置 |
US9261187B1 (en) * | 2014-10-02 | 2016-02-16 | GM Global Technology Operations LLC | Pressure staging in a continuously variable transmission |
JP7238723B2 (ja) * | 2019-10-11 | 2023-03-14 | トヨタ自動車株式会社 | 車両の制御装置 |
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US20120329588A1 (en) | 2012-12-27 |
DE112010005399T5 (de) | 2013-01-10 |
CN102792064A (zh) | 2012-11-21 |
JPWO2011114488A1 (ja) | 2013-06-27 |
CN102792064B (zh) | 2015-09-16 |
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