Patent Application
20150377348
The present invention relates to a gear change control device that includes gear ratio control means that calculates a feedback control level for making an actual gear ratio between input rotational speed and output rotational speed of a transmission coincide with a target gear ratio.
A toroidal type continuously variable transmission that continuously changes the gear ratio by tilting a power roller held between an input disk and an output disk, in which when controlling the gear ratio, a first feedback control that reduces the deviation between a target gear ratio and the actual gear ratio and a second feedback control that reduces the deviation between a target gear change speed and the actual gear change speed are used selectively, is known from Patent Document 1 below.
Patent Document 1: Japanese Patent No. 4923999
As described in Patent Document 1 above, the control responsiveness of gear ratio control can be enhanced by carrying out the second feedback control for reducing the deviation between a target gear change speed and the actual gear change speed compared with a case in which the first feedback control for reducing the deviation between a target gear ratio and the actual gear ratio is carried out. However, even when the second feedback control is carried out, there is a possibility that, since the deviation between the target gear change speed and the actual gear change speed only increases gradually when starting gear ratio control, the control level also only increases gradually, and the operation of a gear change actuator when starting gear ratio control is delayed, thus inhibiting linear gear change control. Moreover, since the profile (direction and size) of the thrust generated by the gear change actuator and the profile (direction and size) of the control level are not analogous, there is a possibility that the gear change control will become discontinuous and unstable.
The present invention has been accomplished in light of the above circumstances, and it is an object thereof to enable linear gear change control by detecting at an early stage the occurrence of a deviation between a target value and an actual value when carrying out feedback control of the gear ratio of a transmission.
In order to attain the above object, according to a first aspect of the present invention, there is provided a gear change control device comprising gear ratio control means that calculates a feedback control level for making an actual gear ratio between input rotational speed and output rotational speed of a transmission coincide with a target gear ratio, wherein the control level calculation means calculates the feedback control level based on a deviation of acceleration of change in the actual gear ratio with respect to acceleration of change in the target gear ratio.
Further, according to a second aspect of the present invention, in addition to the first aspect, the transmission is a toroidal type continuously variable transmission that comprises an input disk, an output disk, a pair of power rollers held between the input disk and the output disk, a pair of trunnions supporting the pair of power rollers, and a pair of hydraulic actuators connected to the pair of trunnions, and that changes gear ratio by driving the pair of trunnions by means of the pair of hydraulic actuators in directions opposite to each other and swinging the pair of power rollers around a trunnion axis so as to change the positions of points of contact with the input disk and the output disk.
Furthermore, according to a third aspect of the present invention, in addition to the second aspect, the control level calculation means calculates the friction of the pair of trunnions, calculates a feedforward control level that compensates for part of the friction, carries out addition of the feedforward control level and the feedback control level, and provides an output.
Moreover, according to a fourth aspect of the present invention, in addition to the third aspect, the control level calculation means calculates the friction based on at least one of the pressing force with which the input disk and the output disk hold the pair of power rollers therebetween, the coefficient of friction of a sliding part of the pair of trunnions, and the gear ratio of the transmission.
A toroidal type continuously variable transmission T of an embodiment corresponds to the transmission of the present invention, and an electronic control unit U of the embodiment corresponds to the control level calculation means of the present invention.
In accordance with the first aspect of the present invention, since the control level calculation means, which calculates a feedback control level for making an actual gear ratio between input rotational speed and output rotational speed of a transmission coincide with a target gear ratio, calculates the feedback control level based on a deviation of acceleration of change in the actual gear ratio with respect to acceleration of change in the target gear ratio, not only is it possible to enhance the control responsiveness compared with a case in which the feedback control level is calculated based on the deviation of the actual gear ratio with respect to the target gear ratio or a case in which the feedback control level is calculated based on the deviation of the speed of change in the actual gear ratio with respect to the speed of change in the target gear ratio, but it is also possible to detect the occurrence of a deviation of the actual value from the target value at early stage and carry out feedback, thus enabling gear change control to be carried out more linearly than in a conventional manner.
Furthermore, in accordance with the second aspect of the present invention, the toroidal type continuously variable transmission, which changes gear ratio by driving the pair of trunnions by means of the pair of hydraulic actuators in directions opposite to each other and by swinging the pair of power rollers around the trunnion axis so as to change the positions of points of contact with the input disk and the output disk, drives the trunnion from the neutral position in one direction when the gear ratio is changed, and when the change of the gear ratio is ended drives the trunnion from the neutral position toward the other direction. Since the profile (direction or size) of the thrust outputted by the hydraulic actuator in order to drive the trunnion is similar to the profile (direction or size) of the deviation of the acceleration of change in the actual gear ratio with respect to the acceleration of change in the target gear ratio, applying the present control to the toroidal type continuously variable transmission enables the gear change control thereof to be further stabilized.
Moreover, in accordance with the third aspect of the present invention, since the control level calculation means calculates the friction of the pair of trunnions, calculates a feedforward control level that compensates for part of the friction, carries out addition of the feedforward control level and the feedback control level, and provides an output, it is possible, while enhancing the control responsiveness by compensating for the friction of the trunnion by means of the feedforward control level, to avoid a situation in which the feedforward control level becomes excessive and control is carried out to give an unintended gear ratio.
Furthermore, in accordance with the fourth aspect of the present invention, since the control level calculation means calculates the friction based on at least one of the pressing force with which the input disk and the output disk hold the pair of power rollers therebetween, the coefficient of friction of a sliding part of the pair of trunnions, and the gear ratio of the transmission, it is possible to calculate the friction with good precision.
An embodiment of the present invention is explained below by reference to
As shown in
The second continuously variable transmission mechanism 14R is disposed in a substantially plane-symmetrical manner with respect to the first continuously variable transmission mechanism 14F with a drive gear 20 sandwiched therebetween, the drive gear 20 and the output disks 16 and 16 of the first and second continuously variable transmission mechanisms 14F and 14R being formed as a unit. Whereas the input disk 15 of the first continuously variable transmission mechanism 14F is fixed to the input shaft 13, the input disk 15 of the second continuously variable transmission mechanism 14R is relatively non-rotatably and axially movably spline-bonded to the input shaft 13 and slidably fitted into a cylinder 35 formed at the left end of the input shaft 13. Therefore, if hydraulic pressure is supplied to an oil chamber 36 in the interior of the cylinder 35 the input disk 15 of the second continuously variable transmission mechanism 14R and the output disks 16 and 16 of the first and second continuously variable transmission mechanisms 14F and 14R are pushed toward the input disk 15 of the first continuously variable transmission mechanism 14F, thus generating a load that suppresses slip between the input disks 15 and 15 and output disks 16 and 16 and the power rollers 19.
As is clear from
Piston rods 28 and 28 of a pair of hydraulic actuators 27 and 27 provided on hydraulic control blocks 25 and 26 are formed integrally with the lower ends of the trunnions 21 and 21 respectively. Each hydraulic actuator 27 is formed from a cylinder 29 formed in the hydraulic control block 25, a piston 30 formed integrally with the piston rod 28 and slidably fitted into the cylinder 29, a speed increasing oil chamber 31 defined beneath the piston 30, and a speed decreasing oil chamber 32 defined above the piston 30.
The upper ends of a total of four of the trunnions 21 are each pivotably supported on four corners of an upper support plate 34 via spherical surface couplings 33, and their movements are synchronized when two of the trunnions 21 and 21 move upward and the other two trunnions 21 and 21 move downward.
Connected to a gear change control valve 43 are a PH hydraulic pressure source 44 that outputs a high pressure PH pressure and a PL hydraulic pressure source 45 that outputs a low pressure PL pressure. Also connected to the gear change control valve 43 via an oil passage 46 are two of the speed increasing oil chambers 31 and 31 and, via an oil passage 47, two of the speed decreasing oil chambers 32 and 32.
Therefore, when the high pressure PH pressure is supplied to the speed increasing oil chamber 31 and the low pressure PL pressure is supplied to the speed decreasing oil chamber 32, the piston 30 and the piston rod 28 ascend, whereas when the high pressure PH pressure is supplied to the speed decreasing oil chamber 32 and the low pressure PL pressure is supplied to the speed increasing oil chamber 31, the piston 30 and the piston rod 28 descend. In this way the pair of trunnions 21 and 21 of each of the first and second continuously variable transmission mechanisms 14F and 14R are driven in opposite directions to each other.
The operation of the first continuously variable transmission mechanism 14F is now explained.
When, by means of the gear change control valve 43, the PH hydraulic pressure source 44 is connected to the speed decreasing oil chambers 32 and 32 and the PL hydraulic pressure source 45 is connected to the speed increasing oil chambers 31 and 31, the hydraulic actuators 27 and 27 operate and one of the pair of trunnions 21 and 21 ascends from the neutral position and the other descends from the neutral position. As a result, the power rollers 19 and 19 tilt in the direction of arrow a in
On the other hand, when, by means of the gear change control valve 43, the PH hydraulic pressure source 44 is connected to the speed decreasing oil chambers 32 and 32 and the PL hydraulic pressure source 45 is connected to the speed increasing oil chambers 31 and 31, the hydraulic actuators 27 and 27 operate, and one of the pair of trunnions 21 and 21 descends from the neutral position and the other ascends from the neutral position. As a result, the power rollers 19 and 19 tilt in the direction of arrow b in
As hereinbefore described, by moving the pair of trunnions 21 and 21 from the neutral position in opposite directions to each other by means of the hydraulic actuators 27 and 27 the gear ratio is changed toward a target gear ratio. When the gear ratio attains the target gear ratio, the pair of trunnions 21 and 21 are made to return to the neutral position by means of the hydraulic actuators 27 and 27, and the thrust of the hydraulic actuators 27 and 27 is made to balance with a reaction force that the power rollers 19 and 19 receive from the input disk 15 and the output disk 16, thus maintaining the target gear ratio.
The operation of the second continuously variable transmission mechanism 14R is the same as the operation of the first continuously variable transmission mechanism 14F described above, and the first and second continuously variable transmission mechanisms 14F and 14R carry out a gear change operation in synchronism. Therefore, the driving force inputted from the crankshaft 11 of the engine E into the input shaft 13 is continuously changed in speed at any gear ratio within the gear ratio range of the toroidal type continuously variable transmission T, and outputted from the drive gear 20.
The control system of the toroidal type continuously variable transmission T is now explained by reference to
An electronic control unit U for controlling the gear ratio of the toroidal type continuously variable transmission T includes a target gear ratio determination section M1, a target gear change speed determination section M2, a target gear change acceleration determination section M3, a gear change acceleration feedback PID control section M4, a gear change acceleration feedback execution determination section M5, a trunnion friction calculation section M6, and a gear ratio maintenance thrust calculation section M7.
The target gear ratio determination section M1 calculates a target gear ratio of the toroidal type continuously variable transmission T based on the rotational speed of the input disk 15, the rotational speed of the output disk 16, the vehicle speed, accelerator pedal position, etc. The target gear change speed determination section M2 calculates a target gear change speed that is the percentage change over time of the target gear ratio calculated in the target gear ratio determination section M1. The target gear change acceleration determination section M3 calculates a target gear change acceleration that is the percentage change over time of the target gear change speed calculated in the target gear change speed determination section M2.
A subtractor 51 calculates a deviation of the gear change acceleration by subtracting an actual gear change acceleration calculated based on the rotational speed of the input disk 15 and the rotational speed of the output disk 16 from the target gear change acceleration calculated in the target gear change acceleration determination section M3. The gear change acceleration feedback PID control section M4 carries out PID processing of the deviation of the gear change acceleration inputted from the subtractor 51 and calculates a PID feedback control level in order to make the deviation converge to zero. In this process, the PID gain can be switched based on the friction of the trunnions 21 and 21, which is described later, the oil temperature of the toroidal type continuously variable transmission T, the gear ratio of the toroidal type continuously variable transmission T, etc.
Furthermore, the gear change acceleration feedback execution determination section M5 determines whether or not it is possible to execute feedback control by means of gear change acceleration, and only when it is possible is execution of gear change control by means of the gear change acceleration feedback PID control section M4 permitted. For example, if the engine rotational speed is no greater than the idle rotational speed, since the line pressure generated by an oil pump is insufficient, it becomes difficult for the actual gear ratio to follow the target gear ratio, the feedback control level increases, because of this the line pressure becomes further insufficient, and the control becomes unstable. In such a case, since feedback control by means of gear change acceleration cannot be executed appropriately, the execution thereof is prohibited.
The trunnion friction calculation section M6 calculates a control level corresponding to the friction when the trunnions 21 and 21 move, based on the load with which the input disk 15 and the output disk 16 hold the power rollers 19 and 19 therebetween, the coefficient of friction of the sliding part of the trunnions 21 and 21, the gear ratio of the toroidal type continuously variable transmission T, etc. The control level, corresponding to the friction, calculated by the trunnion friction calculation section M6 is added to the PID feedback control level outputted by the gear change acceleration feedback PID control section M4 in an adder 52.
The gear ratio maintenance thrust calculation section M7 calculates a control level corresponding to the thrust that is to be generated by the hydraulic actuators 27 and 27 in order to maintain a constant gear ratio. This control level is calculated based on the torque inputted from the engine E into the toroidal type continuously variable transmission T, the angle of tilting of the power rollers 19 and 19, the specifications of the toroidal type continuously variable transmission T, etc. The control level, corresponding to the thrust of the hydraulic actuators 27 and 27, calculated by the gear ratio maintenance thrust calculation section M7 is added to the control level outputted by the adder 52 in an adder 53, then subjected to elimination of a noise component by means of a filter 54, and used for controlling the degree of opening of a flow rate control valve that supplies hydraulic pressure to the hydraulic actuators 27 and 27.
The function of the control system of the toroidal type continuously variable transmission T is now further explained by reference to
The chain line of
The target gear change speed determination section M2 calculates a target gear change speed corresponding to the target gear ratio (see the broken line in
The target gear change acceleration determination section M3 calculates a target gear change acceleration (see the broken line of
As hereinbefore described, since the control level by which the electronic control unit U controls the degree of opening of the gear change control valve 43 is the value obtained by addition of the PID feedback control level calculated by PID processing of the deviation of gear change acceleration, the feedforward control level corresponding to the friction of the trunnions 21 and 21, and the control level corresponding to the thrust that is to be generated by the hydraulic actuators 27 and 27 in order to maintain a constant gear ratio, due to the PID feedback control level the trunnions 21 and 21 move by overcoming the friction and the reaction force of the power rollers 19 and 19, thus changing the gear ratio of the toroidal type continuously variable transmission T.
In this process, since the PID feedback control level is calculated based on the deviation of the gear change acceleration, a large deviation when starting control (see part a of
Furthermore, since the final control level is outputted by adding, to the PID feedback control level, the feedforward control level corresponding to the friction of the trunnions 21 and 21 and the feedforward control level corresponding to the thrust that is to be generated by the hydraulic actuators 27 and 27 in order to maintain the gear ratio by counteracting the reaction force from the power rollers 19 and 19, it is possible to control the gear ratio with good precision without being affected by the friction of the trunnions 21 and 21 and the reaction force from the power rollers 19 and 19.
In this process, since the feedforward control level corresponding to the friction of the trunnions 21 and 21 is set slightly smaller than the actual value corresponding to the friction (see
The time chart of
As is clear from the same figure, the profile of the line of the gear change acceleration deviation is similar to the profile of the line of the thrust of the hydraulic actuators 27 and 27 necessary for gear change; when starting control both the former and the latter change in one direction (downward in the figure), and when ending control both the former and the latter change in the other direction (upward in the figure). The gear change acceleration deviation is directly related to the PID feedback control level, and the PID feedback control level is directly related to the thrust of the hydraulic actuators 27 and 27. Therefore, due to the profile of the line of the gear change acceleration deviation being similar to the profile of the line of the thrust of the hydraulic actuators 27 and 27 necessary for gear change, applying the present control to the toroidal type continuously variable transmission T enables the gear change control to be further stabilized.
An embodiment of the present invention is explained above, but the present invention may be modified in a variety of ways as long as the modifications do not depart from the spirit and scope thereof.
For example, the transmission of the present invention is not limited to the toroidal type continuously variable transmission T of the embodiment and may be a transmission of another type such as a belt type continuously variable transmission.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2013-031662 | Feb 2013 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2013/083612 | 12/16/2013 | WO | 00 |
