JP6799580B2 - Control device for continuously variable transmission and control method for continuously variable transmission - Google Patents

Description

The present invention relates to a control device for a continuously variable transmission and a control method for the continuously variable transmission.

Regarding the shift control of the continuously variable transmission, JP2002-106700A discloses a technique for advancing and compensating the target gear ratio by the response delay of the actual gear ratio with respect to the target gear ratio.

In a continuously variable transmission, front-rear vibration that causes vibration in the front-rear direction may occur at the resonance frequency of the power train. It is considered that the front-rear vibration occurs in combination with the torque fluctuation and the speed change of the continuously variable transmission when the stability of the gear ratio of the continuously variable transmission is insufficient with respect to the torque fluctuation of the power train. Therefore, it is conceivable to suppress the front-rear vibration by improving the stability of the gear ratio of the continuously variable transmission by the advance compensation.

However, in this case, if the gain of the advance compensation is high, the shift control becomes unstable, and as a result, the behavior of the vehicle equipped with the continuously variable transmission may be affected.

The present invention has been made in view of such a problem, and is a continuously variable transmission control device and a continuously variable transmission capable of improving the front-rear vibration of the continuously variable transmission while ensuring the stability of the continuously variable transmission. The purpose is to provide a control method for.

The control device for the stepless transmission according to an aspect of the present invention is a feedback that calculates a feedback command value that fills an error between the actual value and the target value based on the actual value indicating the state of the stepless transmission and the target value. The feedback compensator that controls, the first advance compensator that inputs the feedback command value in the feedback loop formed by the feedback compensator, and performs the primary advance compensation of the feedback control, and the feedback loop. The feedback command value provided in series with the first advance compensation unit and for which the first advance compensation has been performed by the first advance compensation unit is input, and the first advance compensation of the feedback control is performed. It has a 2-advance compensation unit.

According to another aspect of the present invention, feedback compensation for performing feedback control for calculating a feedback command value that fills an error between the actual value and the target value based on the actual value indicating the state of the stepless transmission and the target value. It is a control method of a stepless transmission equipped with a device, in which the feedback command value is input in a feedback loop formed by the feedback compensator to perform primary advance compensation of the feedback control, and primary. A control method for a stepless transmission is provided, which comprises further performing the primary advance compensation of the feedback control in the feedback loop by inputting the feedback command value for which the advance compensation has been performed.

According to these aspects, the secondary advance compensation can be simply performed by the two primary advance compensations. Further, by performing the secondary advance compensation, the gain can be made lower than in the case of performing the primary advance compensation. Therefore, it is possible to improve the front-rear vibration of the continuously variable transmission while ensuring the stability of the shift control.

FIG. 1 is a schematic configuration diagram of a vehicle including a transmission controller. FIG. 2 is a schematic configuration diagram of a transmission controller. FIG. 3 is a diagram showing an example of a functional block diagram of the transmission controller. FIG. 4 is a diagram showing an example of a Bode diagram of the phase lead compensator. FIG. 5 is a diagram showing an example of a gain change of the phase lead compensator. FIG. 6 is an explanatory diagram of the effect of frequency deviation. FIG. 7 is a diagram showing an example of control performed by the transmission controller in a flowchart.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a schematic configuration diagram of a vehicle including a transmission controller 12. The vehicle is equipped with an engine 1 as a power source. The power of the engine 1 is transmitted to the drive wheels 7 via the torque converter 2, the first gear train 3, the transmission 4, the second gear train 5, and the differential device 6 that constitute the power train PT. The second gear row 5 is provided with a parking mechanism 8 that mechanically locks the output shaft of the transmission 4 so that it cannot rotate when parked.

The torque converter 2 includes a lockup clutch 2a. When the lockup clutch 2a is engaged, slippage in the torque converter 2 is eliminated, and the transmission efficiency of the torque converter 2 is improved. Hereinafter, the lockup clutch 2a will be referred to as a LU clutch 2a.

The transmission 4 is a continuously variable transmission including a variator 20. The variator 20 is a continuously variable transmission mechanism including a pulley 21 which is a primary pulley, a pulley 22 which is a secondary pulley, and a belt 23 which is hung between the pulleys 21 and 22. The pulley 21 constitutes a driving side rotating element, and the pulley 22 constitutes a driven side rotating element.

Each of the pulleys 21 and 22 has a fixed conical plate, a movable conical plate that is arranged so that the sheave surface faces the fixed conical plate, and forms a V-groove between the fixed conical plate, and the back surface of the movable conical plate. It is provided with a hydraulic cylinder provided in the above to displace the movable conical plate in the axial direction. The pulley 21 includes a hydraulic cylinder 23a as a hydraulic cylinder, and the pulley 22 includes a hydraulic cylinder 23b as a hydraulic cylinder.

When the oil pressure supplied to the hydraulic cylinders 23a and 23b is adjusted, the width of the V groove changes, the contact radius between the belt 23 and the pulleys 21 and 22 changes, and the gear ratio of the variator 20 changes steplessly. The variator 20 may be a toroidal type continuously variable transmission mechanism.

The transmission 4 further includes an auxiliary transmission mechanism 30. The auxiliary transmission mechanism 30 is a transmission mechanism having two forward speeds and one reverse speed, and has a first speed and a second speed having a gear ratio smaller than that of the first speed as the forward gears. The auxiliary transmission mechanism 30 is provided in series with the variator 20 in the power transmission path from the engine 1 to the drive wheels 7.

The auxiliary transmission mechanism 30 may be directly connected to the output shaft of the variator 20 as in this example, or may be connected via another power transmission mechanism such as a speed change or a gear train. Alternatively, the auxiliary transmission mechanism 30 may be connected to the input shaft side of the variator 20.

Further, the vehicle has an oil pump 10 driven by using a part of the power of the engine 1 and a hydraulic control circuit that adjusts the oil pressure generated by the oil pump 10 and supplies it to each part of the transmission 4. 11 and a transmission controller 12 for controlling the hydraulic control circuit 11 are provided.

The hydraulic control circuit 11 is composed of a plurality of flow paths and a plurality of hydraulic control valves. The hydraulic control circuit 11 controls a plurality of hydraulic control valves to switch the hydraulic supply path based on the shift control signal from the transmission controller 12. Further, the oil pressure control circuit 11 adjusts the required oil pressure from the oil pressure generated by the oil pump 10 by supplying the oil, and supplies the adjusted oil pressure to each part of the transmission 4. As a result, the speed of the variator 20 is changed, the speed of the auxiliary transmission mechanism 30 is changed, and the LU clutch 2a is engaged / released.

FIG. 2 is a schematic configuration diagram of the transmission controller 12. The transmission controller 12 includes a CPU 121, a storage device 122 composed of a RAM / ROM, an input interface 123, an output interface 124, and a bus 125 that connects them to each other.

The input interface 123 has, for example, an output signal of the accelerator opening sensor 41 that detects the accelerator opening APO indicating the operation amount of the accelerator pedal, an output signal of the rotation speed sensor 42 that detects the input side rotation speed of the transmission 4, and a pulley. The output signal of the rotation speed sensor 43 that detects the rotation speed Nsec of 22 and the output signal of the rotation speed sensor 44 that detects the output side rotation speed of the transmission 4 are input.

Specifically, the rotation speed on the input side of the transmission 4 is the rotation speed of the input shaft of the transmission 4, and therefore the rotation speed Npri of the pulley 21. Specifically, the rotation speed on the output side of the transmission 4 is the rotation speed of the output shaft of the transmission 4, and therefore the rotation speed of the output shaft of the auxiliary transmission mechanism 30. The rotation speed on the input side of the transmission 4 may be, for example, the rotation speed of the turbine of the torque converter 2 or the like at a position where a gear train or the like is sandwiched between the transmission and the transmission 4. The same applies to the output side rotation speed of the transmission 4.

Further, the input interface 123 further includes an output signal of the vehicle speed sensor 45 that detects the vehicle speed VSP, an output signal of the oil temperature sensor 46 that detects the oil temperature TMP of the transmission 4, and an output signal of the inhibitor switch 47 that detects the position of the select lever. , The output signal of the rotation speed sensor 48 that detects the rotation speed Ne of the engine 1, the output signal of the OD switch 49 for expanding the shift range of the transmission 4 to a gear ratio smaller than 1, and the hydraulic pressure supplied to the LU clutch 2a. The output signal of the hydraulic sensor 50 or the like for detecting the above is input. A torque signal of engine torque Te is also input to the input interface 123 from the engine controller 51 included in the engine 1.

The storage device 122 stores a shift control program for the transmission 4, various maps used in the shift control program, and the like. The CPU 121 reads and executes the shift control program stored in the storage device 122, and generates shift control signals based on various signals input via the input interface 123. Further, the CPU 121 outputs the generated shift control signal to the flood control circuit 11 via the output interface 124. Various values used by the CPU 121 in the calculation process and the calculation result of the CPU 121 are appropriately stored in the storage device 122.

By the way, in the transmission 4, front-rear vibration may occur at the PT resonance frequency Fpt, which is the resonance frequency of the power train PT. It is considered that the front-rear vibration occurs in combination with the torque fluctuation and the shift of the transmission 4 when the stability of the gear ratio of the transmission 4 is insufficient with respect to the torque fluctuation of the power train PT. Therefore, it is conceivable to suppress the front-rear vibration by increasing the stability of the gear ratio of the transmission 4 by the advance compensation.

However, in this case, if the gain of the advance compensation is high, the shift control becomes unstable, and as a result, there is a concern that the behavior of the vehicle equipped with the transmission 4 may be affected.

Therefore, the controller 12 performs shift control as described below. Hereinafter, the gear ratio ratio of the variator 20 will be described as the gear ratio of the transmission 4. The gear ratio Ratio is a general term for the gear ratios of the variator 20 including the actual gear ratio Rio_A, the target gear ratio Rio_D, and the reached gear ratio Ratio_T, which will be described later, and includes at least one of these. The same applies to the primary pressure Ppri, which is the flood control supplied to the pulley 21. The gear ratio of the transmission 4 may be a through gear ratio which is a gear ratio of the entire variator 20 and the auxiliary transmission mechanism 30. Hereinafter, the transmission controller 12 is simply referred to as a controller 12.

FIG. 3 is a diagram showing an example of a functional block diagram of the controller 12 showing a main part of shift control. The controller 12 includes the target value generation unit 131, the FB compensator 132, the advance compensation on / off determination unit 133, the advance amount determination unit 134, the advance amount filter unit 135, and the first phase advance which is the first advance compensation unit. It has a compensator 136, a second phase lead compensator 137 which is a second lead compensation unit, a switch unit 138, an on / off command filter unit 139, a sensor value filter unit 140, and a peak value frequency determination unit 141. FB stands for feedback.

The target value generation unit 131 generates a target value for shift control. Specifically, the target value is a target gear ratio Ratio_D based on the reached gear ratio Ratio_T, which is the final target gear ratio control value with the gear ratio Ratio as the shift control value. The shift control value may be, for example, the primary pressure Ppri as a control parameter.

The reached gear ratio Ratio_T is preset in the gear shift map according to the driving state of the vehicle. Therefore, the target value generation unit 131 reads out the corresponding reached gear ratio Ratio_T from the shift map based on the detected operating state. Specifically, the driving state of the vehicle is the vehicle speed VSP and the accelerator opening APO.

The target value generation unit 131 calculates the target gear ratio Ratio_D based on the reached gear ratio Ratio_T. The target gear ratio Ratio_D is a transient target gear ratio until the reached gear ratio Rio_T is reached, and constitutes a target shift control value. The calculated target gear ratio Ratio_D is input to the FB compensator 132.

The FB compensator 132 calculates the feedback command value based on the actual gear ratio Ratio_A and the target gear ratio Ratio_D, which are the actual values of the gear ratio Ratio. The feedback command value is, for example, the feedback primary instruction pressure Ppri_FB for filling the error between the actual gear ratio Ratio_A and the target gear ratio Ratio_D. The calculated feedback command value (feedback primary instruction pressure Ppri_FB) is input to the advance amount determination unit 134 and the first phase advance compensator 136.

The lead compensation on / off determination unit 133 determines on / off of the phase lead compensation of the feedback primary instruction pressure Ppri_FB, that is, execution / stop of the phase lead compensation. The lead compensation on / off determination unit 133 determines on / off of the phase lead compensation according to the pulley state value M. The pulley state value M is a value for determining whether or not the pulleys 21 and 22 are in a state where front-rear vibration is generated, and is a rotation speed Npri, an input torque Tsec to the pulley 22, a gear ratio ratio, and a shift. The rate of change α of the ratio Rio is included.

The input torque Tsec is calculated as, for example, the gear ratio set between the engine 1 and the pulley 22, and therefore, in the present embodiment, the gear ratio of the first gear row 3 and the gear ratio of the variator 20 are multiplied by the engine torque Te. Can be done. The actual gear ratio Ratio_A and the target gear ratio Ratio_D can be applied to the gear ratio Ratio. The gear ratio Ratio may be the actual gear ratio Ratio_A or the target gear ratio Ratio_D.

In addition to the pulley state value M, the advance compensation on / off determination unit 133 further determines the phase of the feedback primary instruction pressure Ppri_FB according to the engaged state of the LU clutch 2a, the driver operation state for the transmission 4, and the presence or absence of a fail. Determine whether advance compensation is on or off. The method of determining the on / off of the phase advance compensation performed by the advance compensation on / off determination unit 133 will be specifically described later using a flowchart.

The lead compensation on / off determination unit 133 outputs an on command when it determines that the phase lead compensation is on, and outputs an off command when it determines that the phase lead compensation is off. Hereinafter, when the on command and the off command are collectively referred to, they are referred to as the on / off command. The on / off command is input from the advance compensation on / off determination unit 133 to the advance amount determination unit 134 and the on / off command filter unit 139.

The advance amount determination unit 134 determines the advance amount A for compensating for the phase advance of the feedback primary instruction pressure Ppri_FB. The advance amount determination unit 134 determines the advance amount APK in response to the on / off command. The advance amount determination unit 134 determines the advance amount APK to be zero when an off command is input. The advancing amount determining unit 134 determines the advancing amount APK to be the first advancing amount Akk1 or the second advancing amount Apk2 when the on command is input.

The first lead amount Apk1 is set corresponding to the case of performing the first-order phase lead compensation described later, and the second lead amount Apk2 is set corresponding to the case of performing the second-order phase lead compensation described later. .. The second lead amount Apk2 is halved of the first lead amount Apk1. The first advance amount Apk1 is, for example, 80 deg and can be a constant value. The first advance amount Apk1 can be set in advance by an experiment or the like. The advancing amount APK is input from the advancing amount determining unit 134 to the advancing amount filtering unit 135.

The advance amount filter unit 135 performs a filter process for the advance amount APK. The lead amount filter unit 135 may be omitted. From the advance amount filter unit 135, the advance amount APK is input to the first phase advance compensator 136, the second phase advance compensator 137, and the switch unit 138.

The peak value frequency Fpk is also input from the peak value frequency determination unit 141 to the first phase advance compensator 136 and the second phase advance compensator 137. The peak value frequency Fpk is a frequency set according to a target frequency by phase lead compensation. Specifically, the target frequency is the PT resonance frequency Fpt. Therefore, the peak value frequency Fpk is set to, for example, the PT resonance frequency Fpt. The peak value frequency Fpk is, for example, 2 Hz and is a constant value, that is, fixed. However, the PT resonance frequency Fpt set as the target frequency at the peak value frequency Fpk does not always match the actual PT resonance frequency Fpt.

Both the first phase lead compensator 136 and the second phase lead compensator 137 are the first phase lead compensation of the feedback primary instruction pressure Ppri_FB based on the input lead amount APK and the input peak value frequency Fpk. I do. By performing the phase lead compensation of the feedback primary instruction pressure Ppri_FB, the phase lead compensation of the feedback shift control of the transmission 4 is performed. Specifically, the first phase lead compensator 136 and the second phase lead compensator 137 are composed of a first-order low-pass filter, and correspond to the input lead amount APK and the input peak value frequency Fpk. By performing the filtering process, the first-order phase lead compensation of the feedback primary instruction pressure Ppri_FB is performed.

The second phase lead compensator 137 is provided in series with the first phase lead compensator 136. The feedback primary instruction pressure Ppri_FB in which the primary phase lead compensation is performed by the first phase lead compensator 136 is input to the second phase lead compensator 137.

Therefore, the second phase lead compensator 137 further performs the primary phase lead compensation when performing the primary phase lead compensation of the feedback primary instruction pressure Ppri_FB. As a result, the second-order phase lead compensation of the feedback primary instruction pressure Ppri_FB is performed.

The switch unit 138 performs phase lead compensation by the first phase lead compensator 136 and the second phase lead compensator 137 according to the input lead amount APK, that is, a case where the second phase lead compensation is performed. , The case where the phase lead compensation is performed only by the first phase lead compensator 136, that is, the case where the first phase lead compensation is performed is switched.

FIG. 4 is a diagram showing an example of a Bode diagram of the phase lead compensator. FIG. 5 is a diagram showing an example of a gain change at a predetermined frequency of the phase lead compensator. In FIG. 4, the horizontal axis represents the frequency logarithmically. In FIGS. 4 and 5, the thin line C1 shows the case of the first-order phase lead compensator, and the thick line C2 shows the case of the second-order phase lead compensator. In both the primary and secondary cases, the phase lead compensator is set so that the lead amount A becomes the first lead amount Apk1 at the peak value frequency Fpk. In the phase lead compensator composed of the first phase lead compensator 136 and the second phase lead compensator 137, when performing the second phase lead compensation, the first phase lead compensator 136 and the second phase lead compensator 137, respectively. By setting the lead amount Apk of No. 2 to the second lead amount Apk2, the lead amount A corresponding to the peak value frequency Fpk is set to the first lead amount Apk1.

As shown in FIG. 5, the gain G increases as the advance amount A increases in both the primary and secondary cases. However, from the point where the advance amount A exceeds the predetermined value A1, the larger the advance amount A, the smaller the increase rate of the secondary gain G with respect to the increase rate of the primary gain G. That is, the gain suppression effect due to the secondary phase lead compensation is obtained when the lead amount A is larger than the predetermined value A1.

As shown in FIG. 4, when the lead amount A is smaller than the predetermined value A1, the gain suppression effect cannot be obtained by the secondary phase lead compensation, but the lead amount A is greatly reduced on both sides of the peak value frequency Fpk. The action of doing will occur. As a result, the advance amount A tends to decrease due to the frequency shift between the actual PT resonance frequency Fpt and the peak value frequency Fpk, and the effect of improving the stability of the gear ratio ratio, that is, the vibration damping effect tends to decrease.

Therefore, when the lead amount A is smaller than the predetermined value A1, it is possible to avoid a situation in which the damping effect is likely to decrease due to the frequency shift by performing the first-order phase lead compensation. The predetermined value A1 can be set in advance based on the change characteristic of the gain G according to the advance amount A as shown in FIG. The predetermined value A1 can be preferably set to the minimum value within the range in which the gain suppression effect due to the secondary phase lead compensation can be obtained.

In performing phase advance compensation in this way, the advance amount determining unit 134 and the switch unit 138 shown in FIG. 3 are specifically configured as follows.

That is, the advance amount determination unit 134 calculates the advance amount A of the first-order phase advance compensation of the feedback primary instruction pressure Ppri_FB based on the input feedback primary instruction pressure Ppri_FB. Then, the advance amount determining unit 134 determines that the first-order phase advance compensation is performed when the advance amount A is smaller than the predetermined value A1, and determines the advance amount APK to be the first advance amount APK1. Further, the advance amount determination unit 134 determines that the second-order phase advance compensation is performed when the advance amount A is equal to or greater than the predetermined value A1, and determines the advance amount APK to be the second advance amount APK2. The advance amount A can be set in advance with map data or the like.

When the first lead amount Apk1 is input, the switch unit 138 switches so that the phase lead compensation is performed only by the first phase lead compensator 136. Further, the switch unit 138 switches so that the first phase lead compensator 136 and the second phase lead compensator 137 perform phase lead compensation when the second lead amount Apk2 is input.

With this configuration, the first phase lead compensator 136 and the second phase lead compensator 137 are configured to perform phase lead compensation only with the first phase lead compensator 136 according to the lead amount A. .. Further, the first phase lead compensator 136 and the second phase lead compensator 137 are configured to perform phase lead compensation only by the first phase lead compensator 136 when the lead amount A is smaller than the predetermined value A1. To. Further, in the first phase lead compensator 136 and the second phase lead compensator 137, when the lead amount A is a predetermined value A1 or more, the first phase lead compensator 136 and the second phase lead compensator 137 compensate for the phase lead. Is configured to do. The advance amount determination unit 134 may input the advance amount A to the switch unit 138 instead of the advance amount APK, and the switch unit 138 may switch based on the advance amount A input in this way. ..

The feedback primary instruction pressure Ppri_FB selected from the switch unit 138 and the primary instruction pressure Ppri_FF (target primary instruction pressure for determining the balance thrust and gear ratio) set based on the target gear ratio Ratio_D are input to the actuator 111. Will be done. The actuator 111 is, for example, a primary pressure control valve for controlling the primary pressure Ppri provided in the hydraulic control circuit 11, and the primary pressure is set so that the actual pressure Ppri_A of the primary pressure Ppri becomes the indicated pressure Ppri_D corresponding to the target gear ratio Ratio_D. Controls Ppri. As a result, the gear ratio Ratio is controlled so that the actual gear ratio Ratio_A becomes the target gear ratio Ratio_D.

The sensor unit 40 detects the actual gear ratio Ratio_A of the variator 20. Specifically, the sensor unit 40 is composed of a rotation speed sensor 42 and a rotation speed sensor 43. The actual gear ratio Ratio_A, which is the actual value (sensor value) of the gear ratio detected by the sensor unit 40, is input to the sensor value filter unit 140. An on / off command is also input to the sensor value filter unit 140 via the on / off command filter unit 139 that filters the on / off command. The on / off command filter unit 139 may be omitted.

The sensor value filter unit 140 performs a filter process of the actual gear ratio Ratio_A. The sensor value filter unit 140 switches the order or execution / stop of the filter processing according to the on / off command. The sensor value filter unit 140 is set as a first-order low-pass filter when an off command is input, and is set as a higher-order low-pass filter when an on command is input, or the filter processing is stopped. The sensor value filter unit 140 may have, for example, a configuration having one or a plurality of primary low-pass filters provided so that the execution / stop of the filter processing or the order can be switched. The actual gear ratio Ratio_A filtered by the sensor value filter unit 140 or the actual gear ratio Ratio_A as it is is input to the FB compensator 132.

The peak value frequency determination unit 141 determines the peak value frequency Fpk of the phase lead compensation. The peak value frequency determination unit 141 determines the peak value frequency Fpk of the phase lead compensation according to the gear ratio ratio. Specifically, when the lead amount Apk1 is input, that is, when the first-order phase lead compensation is performed, the peak value frequency Fpk is set to the PT resonance frequency Fpt determined based on the gear ratio ratio.

However, as described above, the PT resonance frequency Fpt set as the target frequency at the peak value frequency Fpk does not always match the actual PT resonance frequency Fpt. As a result, when the second-order phase lead compensation is performed, a situation occurs in which the lead amount A decreases as described below due to the frequency shift between the actual PT resonance frequency Fpt and the peak value frequency Fpk.

FIG. 6 is an explanatory diagram of the effect of the deviation of the peak value frequency Fpk. Similar to FIG. 4, the horizontal axis represents the frequency logarithmically. The PT resonance frequency Fpt1 indicates a case where the actual PT resonance frequency Fpt is lower than the peak value frequency Fpk, and the PT resonance frequency Fpt2 indicates a case where the actual PT resonance frequency Fpt is higher than the peak value frequency Fpk. The magnitude FA of the amount of frequency deviation is the same between them.

As shown in FIG. 6, when the second-order phase lead compensation is performed, the PT resonance frequency Fpt2 is higher when the actual PT resonance frequency Fpt is the PT resonance frequency Fpt1 even if the magnitude FA of the deviation amount is the same. The decrease amount of the advance amount A is larger than that in the case of the case.

Therefore, the peak value frequency determination unit 141 sets the peak value frequency Fpk when the second lead amount Apk2 is input, that is, when the second-order phase lead compensation is performed, as compared with the case where the first-order phase lead compensation is performed. By lowering the frequency, the amount of advance A does not decrease significantly depending on the shift direction of the frequency shift in a biased manner.

Next, an example of the processing performed by the controller 12 will be described with reference to the flowchart shown in FIG. Specifically, the processing of this flowchart is performed by the advance compensation on / off determination unit 133.

The processes from step S1 to step S5 are processes for determining whether or not resonance of the power train PT occurs, in other words, process for determining whether or not front-rear vibration of the transmission 4 occurs. Hereinafter, the resonance of the power train PT is referred to as PT resonance.

In step S1, the controller 12 determines whether or not the pulley state value M is a value at which front-rear vibration occurs. That is, in step S1, it is determined whether or not the state of the pulleys 21 and 22 is a state in which front-rear vibration is generated. Specifically, in step S1, the controller 12 makes the following determinations for each of the rotation speed Npri, the input torque Tsec, the gear ratio ratio Rio, and the rate of change α of the gear ratio ratio α, which are the pulley state values M.

With respect to the rotation speed Npri and the input torque Tsec, the controller 12 determines whether or not the operating point corresponding to the rotation speed Npri and the input torque Tsec is in the determination region defined accordingly. When the operating point is in the determination region, the controller 12 determines that both the rotation speed Npri and the input torque Tsec are the front-back vibration generation values. When the operating point is in the determination region, in other words, the pulleys 21 and 22 are vulnerable to disturbance, that is, the stability of the gear ratio ratio is insufficient. The determination area can be set in advance by an experiment or the like.

With respect to the gear ratio Rio, the controller 12 determines that the gear ratio Rio is a front-rear vibration generation value when the gear ratio Rio is larger than the predetermined gear ratio Rio 1, in other words, when it is lower than the predetermined gear ratio Rio 1. .. The predetermined gear ratio Ratio 1 is a value for defining a gear ratio in which front-rear vibration occurs, and is, for example, 1. The predetermined gear ratio Ratio1 can be set in advance by experiments or the like.

Regarding the rate of change α, the controller 12 determines that the rate of change α is the front-rear vibration generation value when the rate of change α of the gear ratio ratio α is smaller than the predetermined value α1. The predetermined value α1 is a value for defining the rate of change α in which the front-rear vibration occurs, and when the rate of change α is smaller than the predetermined value α1, it corresponds to the case where the gear ratio ratio is in a steady state. The predetermined value α1 can be set in advance by an experiment or the like.

In step S1, the controller 12 makes an affirmative determination when it is determined that all of these pulley state values M are front-back vibration generation values, and determines that any of these pulley state values M is not the front-back vibration generation value. Negative judgment.

If a negative determination is made in step S1, the process proceeds to step S5, and the controller 12 determines that PT resonance does not occur. Therefore, it is determined that the front-back vibration does not occur. In this case, the process proceeds to step S10, and the controller 12 turns off phase lead compensation. After step S10, the processing of this flowchart ends.

If the affirmative determination is made in step S1, the process proceeds to step S2, and the controller 12 determines whether or not the LU clutch 2a is engaged. As a result, the on / off of the phase lead compensation is determined according to the engaged state of the LU clutch 2a.

If the negative determination is made in step S2, it is determined that the back-and-forth vibration does not occur because the LU clutch 2a is not engaged. In this case, the process proceeds to step S5. If a positive determination is made in step S2, it is determined that the state of the LU clutch 2a is a state in which front-rear vibration is generated. In this case, the process proceeds to step S3.

In step S3, the controller 12 determines whether or not the driver operation state for the transmission 4 is a predetermined state. The predetermined state includes at least one of a first operation state in which the gear ratio Ratio becomes larger than the predetermined gear ratio Ratio 1 and a second operation state in which the gear ratio Ratio becomes a steady state.

The first operating state is, for example, a state in which the OD switch 49 is OFF. The second operating state is a state in which the gear ratio ratio is fixed by a driver operation, such as a state in which a manual range is selected by a select lever or a state in which a manual mode such as a sports mode is selected.

By determining whether or not the driver operation state is a predetermined state, it is determined that the gear ratio Ratio is continuously larger than the predetermined gear ratio Rio1 and that the gear ratio Rio is continuously in a steady state. can do. Therefore, it is possible to more reliably determine that the gear ratio Ratio is in a state where front-rear vibration is generated.

If the negative determination is made in step S3, it is determined that the front-rear vibration does not occur because the driver operation state is not the predetermined state. In this case, the process proceeds to step S5. If the determination is affirmative in step S3, the process proceeds to step S4.

In step S4, the controller 12 determines that PT resonance occurs. Therefore, it is determined that front-back vibration occurs. After step S4, the process proceeds to step S6.

In steps S6 to S8, it is determined whether or not the phase advance compensation can be turned on. In other words, it is determined whether or not the phase lead compensation can be executed.

In step S6, the controller 12 determines whether or not there is a fail. The fail can be, for example, a fail for the transmission 4 including a fail of the hydraulic control circuit 11 and sensors / switches used for shift control of the transmission 4. The fail may be a vehicle fail that includes a fail for the transmission 4.

If the determination is affirmative in step S6, the process proceeds to step S8, and the controller 12 determines that the phase advance compensation should not be turned on. That is, the execution prohibition determination of the phase lead compensation is made. After step S8, the process proceeds to step S10.

If the negative determination is made in step 6, the process proceeds to step S7, and the controller 12 determines that the phase advance compensation may be turned on. That is, the execution permission determination of the phase lead compensation is made. In this case, the process proceeds to step S9, and the controller 12 turns on phase lead compensation. After step S9, the processing of this flowchart ends.

The advance compensation on / off determination unit 133, together with the switch unit 138, is a feedback primary instruction in which advance compensation is performed by at least one of the first phase advance compensator 136 and the second phase advance compensator 137 according to the pulley state value M. A setting unit for setting the pressure Ppri_FB as the feedback primary instruction pressure Ppri_FB is configured. At least one of the first phase lead compensator 136 and the second phase lead compensator 137 constitutes a lead compensation unit that performs lead compensation for the feedback primary instruction pressure Ppri_FB. The feedback primary instruction pressure Ppri_FB for which advance compensation has been performed constitutes the feedback primary instruction pressure Ppri_FB after compensation.

Next, the main effects of the controller 12 will be described.

The controller 12 constitutes a continuously variable transmission control device that performs feedback shift control of the transmission 4 so that the actual gear ratio Ratio_A becomes the target gear ratio Ratio_D. The controller 12 is provided in series with the first phase lead compensator 136 that performs the first phase lead compensation of the feedback primary instruction pressure Ppri_FB and the first phase lead compensator 136, and is provided in series with the first phase of the feedback primary instruction pressure Ppri_FB. It has a second phase lead compensator 137 that performs lead compensation.

According to the controller 12 having such a configuration, the second-order phase lead compensation can be simply performed by the two first-order phase lead compensations. Further, by performing the second-order phase lead compensation, the gain G can be made lower than in the case of performing the first-order phase lead compensation. Therefore, the front-rear vibration of the transmission 4 can be improved while ensuring the stability of the shift control.

In the controller 12, the first phase lead compensator 136 and the second phase lead compensator 137 are configured to perform phase lead compensation only by the first phase lead compensator 136 according to the lead amount A. According to the controller 12 having such a configuration, not only the gain G suppression effect cannot be obtained when the second-order phase lead compensation is performed depending on the lead amount A, but also between the actual PT resonance frequency Fpt and the peak value frequency Fpk. It is possible to improve the situation where the vibration damping effect is impaired due to the frequency shift of.

In the controller 12, the first phase lead compensator 136 and the second phase lead compensator 137 perform phase lead compensation only by the first phase lead compensator 136 when the lead amount A is smaller than the predetermined value A1. It is composed. According to the controller 12 having such a configuration, the above-mentioned situation can be appropriately improved.

The controller 12 lowers the peak value frequency Fpk when performing the second-order phase lead compensation as compared with the case where the first-order phase lead compensation is performed. According to the controller 12 having such a configuration, when the secondary phase lead compensation is performed, the lead amount A can be prevented from being significantly reduced in a biased manner depending on the shift direction of the frequency shift. Therefore, when the second-order phase lead compensation is performed, the damping effect can be prevented from being significantly impaired by the frequency shift.

Although the embodiments of the present invention have been described above, the above embodiments are only a part of the application examples of the present invention, and the technical scope of the present invention is limited to the specific configurations of the above embodiments. Absent.

In the above-described embodiment, the lead compensation on / off determination unit 133 turns on / off the phase lead compensation of the feedback primary instruction pressure Ppri_FB according to all four parameters of the rotation speed Npri, the input torque Tsec, the gear ratio ratio, and the rate of change α. The case of determining is described.

However, the lead compensation on / off determination unit 133 may be configured to determine the on / off of the phase lead compensation according to at least one of the parameters of the input torque Tsec, the gear ratio ratio, and the rate of change α. Even in this case, the front-rear vibration can be improved by appropriately increasing the shift stability of the transmission 4 in relation to the parameter.

In the above-described embodiment, the case where the controller 12 is configured to perform phase lead compensation only by the first phase lead compensator 136 when the lead amount A is smaller than the predetermined value A1 has been described. However, the controller 12 may be configured to perform the first-order phase lead compensation only by the second phase lead compensator 137.

Further, in the above-described embodiment, the case of using the FB compensator 132 that performs the so-called feedback control of the servo system, which performs feedback control based on the target gear ratio Ratio_D and the actual gear ratio Ratio_A, has been described. However, the configuration is not limited to the feedback control of the servo system, and for example, an FB compensator that performs feedback control according to fluctuations in the input torque may be used.

In the above-described embodiment, the case where the controller 12 is configured as the control device for the continuously variable transmission has been described. However, the control device for the continuously variable transmission may be realized by, for example, a plurality of controllers.

This application claims priority based on Japanese Patent Application No. 2016-53307 filed with the Japan Patent Office on March 17, 2016, and the entire contents of this application are incorporated herein by reference.

Claims (5)

A feedback compensator that performs feedback control to calculate a feedback command value that fills the error between the actual value and the target value based on the actual value indicating the state of the continuously variable transmission and the target value.
A first advance compensation unit that inputs the feedback command value in the feedback loop formed by the feedback compensator and performs the first advance compensation of the feedback control.
Wherein the feedback command value primary lead compensation is performed by the in feedback loop first lead compensation section and arranged in series Rutotomoni the first lead compensation unit is input, the process proceeds primary of the feedback control The second feedback compensation unit that provides compensation and
A control device for a continuously variable transmission, which comprises. The control device for a continuously variable transmission according to claim 1.
The first advance compensation unit and the second advance compensation unit are either the first advance compensation unit or the second advance compensation unit, depending on the amount of advance for advancing and compensating the feedback control. Configured to do,
A continuously variable transmission control device characterized by. The control device for a continuously variable transmission according to claim 2.
When the advance amount is smaller than a predetermined value, the first advance compensation unit and the second advance compensation unit perform advance compensation by either the first advance compensation unit or the second advance compensation unit. Consists of
A continuously variable transmission control device characterized by. The control device for a continuously variable transmission according to any one of claims 1 to 3.
When advance compensation is performed by the first advance compensation unit and the second advance compensation unit, the peak of advance compensation is higher than when advance compensation is performed by either the first advance compensation unit or the second advance compensation unit. Peak value frequency determination unit that lowers the value frequency,
A control device for a continuously variable transmission, which further comprises. A control method for a continuously variable transmission equipped with a feedback compensator that displays the state of the continuously variable transmission and calculates a feedback command value that fills the error between the actual value and the target value based on the target value. There,
In the feedback loop formed by the feedback compensator, the feedback command value is input to perform the primary advance compensation of the feedback control, and
Using the feedback command value for which the primary advance compensation has been performed in the feedback loop as an input, the primary advance compensation of the feedback control is further performed.
A method for controlling a continuously variable transmission, which comprises.

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