JP4564281B2 - Control device for toroidal CVT - Google Patents

Description

  The present invention relates to a control device for a toroidal CVT (continuously variable transmission), and in particular, changes the gear ratio by offsetting the roller rotation shaft from a position where the roller rotation shaft and the input / output disk rotation shaft are orthogonal to each other. The present invention relates to a control device for a toroidal CVT.

  An example of this type of toroidal CVT control device is disclosed in Japanese Patent Laid-Open No. 8-233085 (Patent Document 1). In Patent Document 1, a target gear ratio is calculated based on the detected input shaft rotation speed, and the gear ratio is calculated from the detected roller tilt angle. Then, the target displacement of the roller in the trunnion axis direction is calculated based on the deviation between the target gear ratio and the gear ratio, and the trunnion is displaced by the hydraulic actuator so that the displacement of the roller in the trunnion axis direction matches the target displacement. ing. Thus, in Patent Document 1, electronic feedback control is performed based on the deviation between the target gear ratio and the gear ratio.

  In addition, a control device for a toroidal CVT disclosed in Patent Document 2 is disclosed.

JP-A-8-233085 JP 2003-336732 A

  In Patent Document 1, electronic feedback control based on the deviation between the target gear ratio and the gear ratio is performed, but the feedback gain in this feedback control is not changed according to the operating state of the toroidal CVT. . For example, the frequency response from the control command value to the flow control valve to the roller tilt angle or trunnion stroke changes according to changes in the output disk rotation speed, etc., so this frequency response also changes for the optimum feedback gain. It changes according to. Therefore, in Patent Document 1, it is difficult to appropriately ensure the responsiveness and stability of feedback control according to the operating state of the toroidal CVT, and it is difficult to perform appropriate feedback control. There is.

  An object of this invention is to provide the control apparatus of the toroidal type CVT which can perform suitable feedback control according to the driving | running state of a toroidal type CVT.

The toroidal CVT control device according to the present invention presses a toroidal transmission member having an input / output disk and a roller for transmitting power between the input / output disk by friction engagement between the input / output disk and a direction in which the input / output disk approaches. And a pressure control device that controls the transmission ratio by changing the tilt angle of the roller by offsetting the rotation shaft of the roller from a position where the rotation shaft of the roller and the rotation shaft of the input / output disk are orthogonal to each other. an apparatus for performing the shift control of the toroidal CVT having a part, and a feedback control means for performing feedback control related to the offset amount of b over La rotary shaft, feedback gain related to the offset amount of b over La rotary shaft Is set based on the output disk rotation speed, so that the feedback gain is changed according to the change in the output disk rotation speed. A feedback gain setting means for varying, and summarized in that with.

The control apparatus for a toroidal type CVT according to the present invention, the feedback gain setting means, by setting, based on the input disk torque feedback gain related to the offset amount and the output disk rotational speed in Russia over la rotation axis, the output The feedback gain may be changed in accordance with at least one change in the disk rotational speed and the input disk torque.

The control apparatus for a toroidal type CVT according to the present invention, the feedback gain setting means, by setting based on feedback gains related to the offset amount of B over La rotary shaft to the output disk speed and input and output disks pressing force The feedback gain can be changed in accordance with at least one change in the output disk rotational speed and the input / output disk pressing force.

The control apparatus for a toroidal type CVT according to the present invention, the feedback gain setting means, by setting, based on an output disk speed and output disks torque feedback gain related to the offset amount of B over La rotary shaft, an output The feedback gain may be changed in accordance with at least one change in the disk rotational speed and the output disk torque.

  In the toroidal CVT control apparatus according to the present invention, the feedback gain setting means may reduce the feedback gain related to the roller tilt angle with respect to the increase in the output disk rotational speed.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means may increase the feedback gain related to the offset amount of the roller rotation shaft with respect to the increase in the output disk rotation speed.

  In addition, the toroidal CVT control device according to the present invention has a toroidal transmission member having an input / output disk and a roller for transmitting power between the input / output disks by friction engagement between the input / output disk and a direction in which the input / output disk is brought closer. The pressure ratio is controlled by changing the tilt angle of the roller by offsetting the rotation axis of the roller from the position where the rotation axis of the roller and the rotation axis of the input / output disk are orthogonal to each other by pressing and clamping the roller. A toroidal CVT having a shift control unit, a feedback control means for performing feedback control on at least one of a roller tilt angle and an offset amount of the roller rotation shaft, a roller tilt angle, A feedback gain for at least one of the offset amounts of the roller rotation shaft is set based on the roller rotation speed. In, and summarized in that with a feedback gain setting means for changing the feedback gain in accordance with a change in the roller speed.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means sets a feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotation shaft based on the roller rotation speed and the input disk torque. Thus, the feedback gain can be changed in accordance with at least one change in the roller rotation speed and the input disk torque.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means calculates a feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotation shaft based on the roller rotation speed and the input / output disk pressing force. Thus, the feedback gain can be changed in accordance with at least one change in the roller rotation speed and the input / output disk pressing force.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means sets a feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotation shaft based on the roller rotation speed and the output disk torque. Thus, the feedback gain can be changed in accordance with at least one change in the roller rotational speed and the output disk torque.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means may reduce the feedback gain related to the roller tilt angle with respect to the increase in the roller rotation speed.

  In the toroidal CVT control apparatus according to the present invention, the feedback gain setting means may increase the feedback gain related to the offset amount of the roller rotation shaft with respect to the increase in the roller rotation speed.

  In the toroidal CVT control device according to the present invention, the roller rotation speed is acquired by any of the roller rotation speed, the peripheral speed of the contact portion between the input disk and the roller, and the peripheral speed of the contact portion between the roller and the output disk. It can also be done.

  In the toroidal CVT control device according to the present invention, the roller rotational speed may be acquired based on the input disk rotational speed, the output disk rotational speed, and the roller tilt angle.

  In addition, the toroidal CVT control device according to the present invention has a toroidal transmission member having an input / output disk and a roller for transmitting power between the input / output disks by friction engagement between the input / output disk and a direction in which the input / output disk is brought closer. The pressure ratio is controlled by changing the tilt angle of the roller by offsetting the rotation axis of the roller from the position where the rotation axis of the roller and the rotation axis of the input / output disk are orthogonal to each other by pressing and clamping the roller. A toroidal CVT having a shift control unit, a feedback control means for performing feedback control on at least one of a roller tilt angle and an offset amount of the roller rotation shaft, a roller tilt angle, A feedback gain for at least one of the offset amounts of the roller rotation axis is set based on the output disk torque In Rukoto, and summarized in that with a feedback gain setting means for changing the feedback gain in response to changes in the output disk torque.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means calculates a feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotation shaft based on the output disk torque and the input disk rotation speed. By setting, the feedback gain can be changed in accordance with at least one change in the output disk torque and the input disk rotation speed.

  In the toroidal CVT control apparatus according to the present invention, the feedback gain setting means may increase the feedback gain related to the roller tilt angle with respect to the increase of the output disk torque.

  In the toroidal CVT control device according to the present invention, the feedback gain setting means may reduce the feedback gain related to the offset amount of the roller rotating shaft with respect to the increase of the output disk torque.

  In the toroidal CVT control device according to the present invention, the roller tilt angle may be acquired by a roller tilt angle or a gear ratio.

  In the toroidal CVT control device according to the present invention, the roller rotation shaft offset amount is any one of a roller rotation shaft offset amount, a roller tilt angle change amount, a gear ratio change amount, and an input disk rotation speed change amount. Can also be obtained.

  ADVANTAGE OF THE INVENTION According to this invention, suitable feedback control can be performed according to the driving | running state of toroidal type CVT. Further, the response and stability of the shift control can be sufficiently ensured without using the roller tilt angle and the gear ratio as the gain schedule parameters.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 shows the overall configuration of the toroidal CVT according to the embodiment. That is, two sets of input disks 30a and 30b are coupled to the input shaft 10 that is rotated based on the rotation of the engine. Each of the input disks 30a and 30b has an opening formed in the center, and has a shape that gradually protrudes from the outside toward the center, and the inclined surface has a substantially arc-shaped cross section in the axial direction. Further, the input disk 30a is located on the left side in the figure, the input disk 30b is located on the right side in the figure, and both projecting centers are located so as to face the inside. The input disks 30a and 30b are arranged so that output disks 40a and 40b having substantially the same shape face each other. That is, the input disk 30a and the output disk 40a are arranged to face each other, and the input disk 30b and the output disk 40b are arranged to face each other. Accordingly, in the cross section in the axial direction, the inclined surfaces of the input disk 30a and the output disk 40a form a pair of semicircles, and the input disk 30b and the output disk 40b form another pair of semicircles.

  Rollers 35a-1 and 35a-2 are sandwiched between the input / output disks 30a and 40a, and rollers 35b-1 and 35b-2 are sandwiched between the input / output disks 30b and 40b. That is, one side of the rollers 35a-1, 35a-2, 35b-1, 35b-2 contacts the input disks 30a, 30b, the other side contacts the output disks 40a, 40b, and the rotational torque of the input disks 30a, 30b is increased. This is transmitted to the output disks 40a and 40b. The rollers 35a-1 and 35a-2 are supported by trunnions 36a-1 and 36a-2, respectively, and the rollers 35b-1 and 35b-2 are supported by trunnions 36b-1 and 36b-2, respectively. The trunnions 36a-1, 36a-2, 36b-1, and 36b-2 each have an axis in a direction perpendicular to the paper surface in the drawing, can move in the axial direction, and can rotate about the axis. ing. The radial positions of the trunnions 36a-1, 36a-2, 36b-1, and 36b-2 are fixed, and the rollers 35a-1, 35a-2, 35b-1, and 35b-2 are input and output. The discs 30a, 40a, 30b, and 40b are not separated from each other.

  The input shaft 10 is connected to a hydraulic pressure (end load) mechanism 20. The end load mechanism 20 receives hydraulic pressure therein and presses the input disks 30a and 30b toward the output disks 40a and 40b, respectively, thereby applying a clamping pressure between the input / output disks 30a and 40a and the input / output disks 30b and 40b. As a result, the rollers 35a-1, 35a-2, 35b-1, and 35b-2 are respectively sandwiched between the input / output disks 30a, 40a, 30b, and 40b with a predetermined pressure. As a result, slip between the input / output disks 30a, 40a, 30b, 40b and the rollers is prevented, and the traction state is maintained. The shaft 25 rotates in the same manner as the input shaft 10, and the input disks 30 a and 30 b are rotated by the shaft 25. The input disks 30a and 30b are connected to the shaft 25 via a thrust bearing and are movable in the axial direction of the shaft 25.

  The output disks 40a and 40b are rotatably supported on the shaft 25 via bearings. An output gear 45 is connected between the output disks 40a and 40b and rotates together with the output disks 40a and 40b. A counter gear 60 is engaged with the output gear 45, and an output shaft 70 is connected to the counter gear 60. Accordingly, the output shaft 70 rotates as the output disks 40a and 40b rotate.

  Further, the toroidal CVT is provided with a hydraulic piston chamber. The trunnions 36a-1, 36a-2, 36b-1, and 36b-2 are displaced in the trunnion axial direction by the hydraulic pressure from the hydraulic piston chamber ( Trunnion stroke: roller offset amount) is controlled. The gear ratio is changed by controlling the trunnion strokes (roller offset amounts) of the trunnions 36a-1, 36a-2, 36b-1, and 36b-2. The strokes (roller offset amounts) of the trunnions 36a-1 and 36a-2 are complementarily performed so that the line connecting the centers of the trunnions 36a-1 and 36a-2 passes through the centers of the input / output disks 30 and 40. The trunnion strokes (roller offset amounts) of the trunnions 36b-1 and 36b-2 are complementarily performed so that the line connecting the centers of the trunnions 36b-1 and 36b-2 passes through the centers of the input / output disks 30 and 40. .

  Here, the change of the gear ratio will be described with reference to FIG. FIG. 2 is a view of the input disk 30 as viewed from the output disk 40. Only one input disk 30 and one roller 35 are shown. FIG. 2A shows the case where the roller 35 is not displaced (trunion stroke = 0), and the rotational axis of the roller 35 passes through the center of the input disk 30. When shifting, the trunnion 36 is offset in the axial direction. For example, as shown in FIG. 2B, the input disk 30 is offset in the rotating direction (upper side in the figure). As a result, the roller 35 receives a force in the circumferential direction of the input disk 30 at the moved position, and the roller 35 receives a force (tilting force) that moves to the peripheral side of the input disk 30. When the offset amount (trunnion stroke) of the roller 35 returns to 0, the position of the roller 35 that contacts the input disk 30 is displaced outward in the radial direction. As a result, the contact position of the roller 35 with the output disk 40 is displaced radially inward, and the gear ratio is changed (upshifted). It should be noted that the trunnion 36 is tilted in the opposite direction by down-shifting by offsetting the trunnion 36 in the downward direction (the side from which the input disk moves away) in the figure.

  FIG. 3 shows a configuration for this gear ratio control. In FIG. 3, one input disk 30, two rollers 35-1, 35-2, and two trunnions 36-1, 36-2 are shown.

  Thus, the hydraulic piston chamber 50 has a pair of piston chambers 50-1 and 50-2 in order to make the trunnions 36-1 and 36-2 operate in a complementary manner. A flow rate control valve 52 is connected to the piston chambers 50-1 and 50-2, and the amount of oil supplied to the hydraulic piston chambers 50-1 and 50-2 is controlled by the control of the flow rate control valve 52. Then, the strokes (roller offset amounts) of the trunnions 36-1 and 36-2 are controlled.

  Then, the tilt angle φ of the trunnion 36 is detected by the tilt angle sensor 37, and the stroke x is detected by the stroke sensor 38 and supplied to the controller 80. Here, if the contact position between the roller 35 and the input / output disks 30 and 40 is known, the relationship between the transmission gear ratio and the tilt angle is a correspondence determined only by the geometric shape. Therefore, the gear ratio can be detected by detecting the tilt angle φ. Further, instead of detecting the tilt angle φ by the tilt angle sensor 37, the tilt angle φ can be acquired by acquiring the gear ratio from the input disk rotation speed and the output disk rotation speed, for example.

  Information about the accelerator opening and the vehicle speed is also supplied to the controller 80. The controller 80 determines a target tilt angle φr corresponding to the target gear ratio based on the accelerator opening and the vehicle speed, and this target tilt. Based on the deviation between the angle φr and the tilt angle φ detected by the tilt angle sensor 37, a control command value to the flow control valve 52 is calculated. The stroke x of the trunnion 36 is controlled by drivingly controlling the flow control valve 52 with this control command value. As a result, the gear ratio control is performed so that the tilt angle φ follows the target tilt angle φr.

  Here, in such a shift control, basically, the shift control only needs to feedback-control only the tilt angle φ. However, the stroke x corresponds to the differentiation of the tilt angle φ, and has a damping effect for suppressing vibration in the control of the tilt angle. For this reason, in this embodiment, feedback control of the stroke x of the trunnion 36 is also performed so that the stroke x detected by the stroke sensor 38 follows the target stroke (set to 0). Instead of detecting the trunnion stroke (roller offset amount) x by the stroke sensor 38, one of the time change amount of the roller tilt angle, the time change amount of the gear ratio, and the time change amount of the input disk rotation speed is acquired. Also, the trunnion stroke x can be acquired.

  FIG. 4 shows a configuration for shift control in the controller 80. As shown in FIG. 4, the controller 80 includes subtractors 81 and 86, a tilt angle feedback control unit 82, an offset amount feedback control unit 85, and a feedback gain setting unit 87.

  As described above, the target tilt angle φr is determined based on the accelerator opening and the vehicle speed, and the target tilt angle φr is input to the subtractor 81. The tilt angle φ detected by the tilt angle sensor 37 is also input to the subtracter 81. The subtractor 81 calculates and outputs a deviation Δφ between the target tilt angle φr and the detected tilt angle φ.

  The deviation Δφ calculated by the subtractor 81 is input to the tilt angle feedback control means 82. The tilt angle feedback control means 82 calculates and outputs a tilt angle feedback control command value kφ × Δφ by multiplying the deviation Δφ by the tilt angle feedback gain kφ. In this manner, the tilt angle feedback control means 82 calculates the tilt angle control command value for causing the detected tilt angle φ to follow the target tilt angle φr as the feedback control command value based on the deviation Δφ.

  The offset amount feedback control means 85 receives the roller rotation axis offset amount x detected by the stroke sensor 38. The offset amount feedback control means 85 multiplies the offset amount x by the offset amount feedback gain kx to calculate and output an offset amount feedback control command value kx × x. Thus, the offset amount feedback control means 85 uses the offset amount control command value for causing the detected offset amount x to follow the target offset amount (set to 0) as the feedback control command value based on the offset amount x. calculate.

  The subtractor 86 includes a tilt angle feedback control command value kφ × Δφ calculated by the tilt angle feedback control means 82 and an offset amount feedback control command value kx × x calculated by the offset amount feedback control means 85. Is entered. Then, the subtractor 86 calculates a difference between the tilt angle feedback control command value kφ × Δφ and the offset amount feedback control command value kx × x and outputs the difference to the flow control valve 52. The drive control of the flow rate control valve 52 is performed based on the control command value kφ × Δφ−kx × x output from the subtracter 86, so that the drive control of the trunnion 36 in the toroidal CVT 110 is performed, and the gear ratio. Is controlled.

  In the present embodiment, the feedback gain setting unit 87 sets the tilt angle feedback gain kφ and the offset amount feedback gain kx based on the operating conditions of the toroidal CVT 110. Thus, the feedback gain setting means 87 changes the tilt angle feedback gain kφ and the offset amount feedback gain kx in accordance with the change in the operating state of the toroidal CVT 110.

  Next, a specific example of the control system design method in the present embodiment will be described with reference to FIG. Here, as an example, the case where the tilt angle feedback gain kφ and the offset amount feedback gain kx are set from the input torque Tin to the input disk 30 and the output disk rotation speed No will be described. Note that the input torque Tin may be detected directly by a sensor or may be estimated by a known method.

  First, provisional control gains (kx, kφ) before optimal design that can stabilize the controlled object are set (S11). In this state, for each operating condition, that is, a signal for which the gain is substantially constant at a predetermined frequency to a target tilt angle command value φr that is a control input for a predetermined input torque Tin and output disk rotational speed No, For example, model identification is performed using M series signals as input values and trunnion stroke x and tilt angle φ data as output values (S12). That is, a linear model (identification model) in the vicinity of the operating point is identified for each operating condition (input torque Tin, output disk rotational speed No).

  From the obtained identification model and the gain before the optimum design, a model composed of the flow control valve 52 and the variator model (toroidal CVT 110) to be controlled is calculated by back calculation (S13).

  Using the model representing the obtained control object, the target feedback performance kφ, kx is specified by specifying the target control performance (responsiveness, stability) for each operating condition (input torque Tin, output disk speed No). Is obtained (S14).

  In FIG. 5, only the proportional gain is shown for simplicity, but each gain of PID control may be used. Further, an internal constant of a controller with two inputs and one output may be used as one controller.

  Further, the controller may be gain-scheduled by an LMI controller (a robust controller capable of gain-scheduling with parameters) using the above operating conditions as parameters. Further, the operating oil temperature may be added as an operating condition for gain setting.

  In the above description, an example has been described in which a model (linear model in the vicinity of the operating point) including the flow control valve 52 to be controlled and the variator model is obtained using identification based on experimental data. However, a model (linear model in the vicinity of the operating point) composed of the flow control valve 52 to be controlled and the variator model can be obtained using a physical model of the toroidal CVT. As examples of the physical model of the toroidal CVT (linear model near the operating point), the following equations (1) to (5) expressed using the output disk rotation speed No and the input torque Tin can be used. ) To (5), a model to be controlled can be obtained. However, in each equation shown below, the time differentiation of a variable is represented by adding a dot on the variable.

  Here, M: mass of the roller and trunnion, I: moment of inertia around the tilt center of the roller and trunnion, xt: trunnion stroke, φt: roller tilt angle, Tin: input torque, No: output disk rotational speed, φo : Roller tilt angle at operating point (see FIG. 6), θo: Roller half apex angle (see FIG. 6), Ro: Cavity radius (distance from roller tilt center to contact point, see FIG. 6), k0 : Aspect ratio (= Eo / Ro), Eo: distance from the rotation center of the input disk to the lowest point of the input disk (distance obtained by subtracting the cavity radius Ro from the distance from the rotation center of the input disk to the center of oscillation of the roller) , See FIG. 6), μm: gradient of the traction coefficient relative to the slip rate at the contact point of the disk and the roller, μd: set traction coefficient, Ks: trunnion stroke direction Spring constant in the direction, Rw: diameter of the trunnion wire 41 (see FIG. 7), Kw: trunnion wire 41 spring constant (see FIG. 7), Pa: pressure in the trunnion hydraulic piston chamber 50a (see FIG. 3), Pb: trunnion hydraulic pressure Pressure of piston chamber 50b (see FIG. 3), Va: volume of trunnion hydraulic piston chamber 50a (see FIG. 3), Vb: volume of trunnion hydraulic piston chamber 50b (see FIG. 3), Ap: trunnion hydraulic piston pressure receiving area, kax , KAp, Ka: Parameters relating to Pa, kbx, kBp, Kb: Parameters relating to Pb, xs: Displacement of flow control valve spool, u: Control command value to flow control valve driver, Ku: Flow control valve driver constant, ω: Flow rate The cutoff frequency of the dynamics from the control valve driver to the spool displacement.

  It should be noted that the following assumptions 1) to 4) are made when the equations (1) to (5) are derived. 1) One input / output disk and one roller (trunnion) are simulated. 2) Ignore the hydraulic piping loss. 3) Linearize near the operating point. 4) The traction coefficient is proportional to the slip rate at the contact point between the disk and the roller in the vicinity of the operating point and is the same at the input / output section.

  Next, a method of storing a gain map that becomes a problem when the feedback gain set for each driving condition is actually used on the ECU (electronic control unit) of the vehicle will be described.

  As a method of calculating the feedback gain, a method of calculating the gain by interpolation using a map for each operating condition may be used. However, only the number of operating conditions, the number of feedback signals, and the type of gain (proportional, differential, and integral gains) are mapped. Since this is necessary, the capacity of the map increases. Therefore, the capacity can be reduced by calculating the feedback gain using a function having each operation condition as a parameter.

  For example, FIG. 8 shows a function when the tilt angle feedback gain kφ and the offset amount feedback gain kx are set from the input torque Tin and the output disk rotational speed No using the control system design method described above. In FIG. 8, the left side shows the tilt angle feedback gain kφ, and the right side shows the offset amount (trunnion stroke) feedback gain kx. In the function shown in FIG. 8, the tilt angle feedback gain kφ decreases and the offset amount feedback gain kx increases as the output disk rotational speed No increases.

  Further, these feedback gains kφ and kx are expressed by the following equations.

kφ = fφ (Tin, No)
kx = fx (Tin, No) (6)

  As an example, equation (6) can also be expressed by the following linear multiple regression equation.

kφ = α ₀ + α ₁ Tin + α ₂ No
kx = β ₀ + β ₁ Tin + β ₂ No (7)

Here, α ₀ , α ₁ , α ₂ , β ₀ , β ₁ , β ₂ are coefficients.

  Next, the stability condition in the feedback control of this embodiment will be described.

  Here, when the hydraulic system is excluded, the control system of this embodiment can be represented by the block diagram shown in FIG. For comparison, a toroidal CVT physical model (linear model near the operating point) using the input disk rotational speed Ni and the input torque Tin is expressed by the following equations (8) to (13). Can do.

  Here, φtr: target tilt angle, Kφ: tilt angle feedback gain, and Kx: offset amount feedback gain. Further, when the expressions (8) to (13) are derived, it is assumed that the slip at the contact point between the input / output disk and the roller is very small, and the peripheral speeds of the input disk, roller, and output disk at the contact point are Are equal.

  When the expression (8) is Laplace transformed into a transfer function expression by the complex number s, the expression (14) is obtained. However, in the equation (14), Laplace conversion of the trunnion stroke (roller offset amount) xt is set to xt for convenience.

  Similarly, when the equation (9) is Laplace transformed to express the transfer function by the complex number s, the equation (15) is obtained. However, in the formula (15), the Laplace conversion of the roller tilt angle φt is φt for convenience.

  By substituting equation (14) into equation (15), the following equation (16) is obtained.

  When the transfer function from uf to φt expressed by the equation (16) is G (see FIG. 9), the characteristic equation 1 + Kφ × G = 0 in the Fluwitz stability determination method is expressed by the following equation (17). The

  Here, generality is not lost even if the feedback gains Kφ and Kx are positive. Since all parameters are defined as positive, all of a1, a2, a3, a4, a5 + kfxi × Kφ are positive.

  In order for the control system to be stable, the following determinant must be positive.

  Therefore, in order for the control system to be stable, it is necessary to satisfy the following expression (18).

  On the other hand, in the present embodiment, when considering a toroidal CVT physical model (linear model in the vicinity of the operating point) using the output disk rotational speed No and the input torque Tin, the following expressions (19) to (24) are used. Can do.

  By developing the same equation, the following equation (25) can be derived for the transfer function from uf to φt (the Laplace transformation of the roller tilt angle φt is assumed to be φt for convenience).

  Similarly, in order for the control system to be stable, it is necessary to satisfy the following equation (26) from the Fluwitz stability determination method.

  10 and 11 show the results of numerical calculation of the stability limit according to the equation (18) and the stability limit according to the equation (26). FIG. 10A shows the stability regarding the tilt angle feedback gain Kφ when the offset amount feedback gain Kx is fixed in the equation (18) and the input disk rotational speed Ni and the roller tilt angle (operating point) φo are changed. The limit characteristic (curve) is shown. On the other hand, FIG. 10B shows a tilt angle feedback gain Kφ when the offset amount feedback gain Kx is fixed in the equation (26) and the output disk rotational speed No and the roller tilt angle (operating point) φo are changed. Shows the stability limit characteristics (curve). Each curve in FIGS. 10A and 10B shows a stability limit curve for different roller tilt angles φo. 10A and 10B, the lower side of the stability limit curve indicates the stable region, and the upper side of the stability limit curve indicates the unstable region. As for the tilt angle feedback gain Kφ, it is desirable to set a large value within the range of the stable region in consideration of the response and stability of the control system.

  In the stability limit curve shown in FIG. 10A, the tilt angle feedback gain Kφ decreases as the input disk rotational speed Ni increases. Then, the tilt angle feedback gain Kφ increases as the roller tilt angle φo decreases. As described above, when the gain schedule related to the tilt angle feedback gain Kφ is performed based on the input disk rotational speed Ni, the stability limit of the control system varies with the variation of the roller tilt angle φ (speed ratio γ). The tilt angle φ (speed ratio γ) must also be added to the gain schedule parameter. Accordingly, the capacity of the control map for setting the tilt angle feedback gain Kφ is increased, and the time required for control map adaptation is increased.

  On the other hand, in the stability limit curve shown in FIG. 10B, the tilt angle feedback gain Kφ decreases as the output disk rotational speed No increases. Further, although the tilt angle feedback gain Kφ slightly increases with the increase of the roller tilt angle φo, the increase width is extremely smaller than that in the case of FIG. As described above, when the gain schedule related to the tilt angle feedback gain Kφ is performed based on the output disk rotational speed No, the stability limit of the control system hardly varies with the variation of the roller tilt angle φ (speed ratio γ). The responsiveness and stability of the control system can be ensured without adding the roller tilt angle φ (speed ratio γ) to the gain schedule parameter. Therefore, it is possible to reduce the capacity of the control map for setting the tilt angle feedback gain Kφ and reduce the time required for control map adaptation. From the stability limit curve shown in FIG. 10B, the feedback gain setting means 87 sets the tilt angle feedback gain Kφ so that the tilt angle feedback gain Kφ decreases with an increase in the output disk rotational speed No. It is preferable to set.

  11A shows an offset amount feedback gain Kx when the tilt angle feedback gain Kφ is fixed in the equation (18) and the input disk rotational speed Ni and the roller tilt angle (operating point) φo are changed. Shows the stability limit characteristics (curve). On the other hand, FIG. 11B shows an offset amount feedback gain Kx when the tilt angle feedback gain Kφ is fixed and the output disk rotational speed No and the roller tilt angle (operating point) φo are changed in the equation (26). Shows the stability limit characteristics (curve). Each curve in FIGS. 11A and 11B shows a stability limit curve for different roller tilt angles φo. In FIGS. 11A and 11B, the lower side of the stability limit curve indicates the stable region, and the upper side of the stability limit curve indicates the unstable region. As for the offset amount feedback gain Kx, it is desirable to set a large value within the range of the stable region in consideration of the response and stability of the control system.

  In the stability limit curve shown in FIG. 11A, the offset amount feedback gain Kx increases as the roller tilt angle φo increases. Therefore, when the gain schedule related to the offset amount feedback gain Kx is performed based on the input disk rotational speed Ni, the roller tilt angle φ (speed ratio γ) needs to be added to the gain schedule parameter, so the offset amount feedback gain Kx is set. Increase in the capacity of the control map to be performed, and increase in time required for control map adaptation.

  On the other hand, in the stability limit curve shown in FIG. 11B, the offset amount feedback gain Kx increases as the output disk rotational speed No increases. Further, although the offset amount feedback gain Kx slightly increases with the decrease in the roller tilt angle φo, the increase width is extremely smaller than that in the case of FIG. Therefore, when the gain schedule related to the offset amount feedback gain Kx is performed based on the output disk rotational speed No, the responsiveness and stability of the control system are ensured without adding the roller tilt angle φ (speed ratio γ) to the gain schedule parameter. can do. Therefore, it is possible to reduce the capacity of the control map for setting the offset amount feedback gain Kx and shorten the time required for control map adaptation. From the stability limit curve shown in FIG. 11B, the feedback gain setting means 87 sets the offset amount feedback gain Kx so that the offset amount feedback gain Kx increases as the output disk rotational speed No increases. It is preferable.

  Note that the transfer function G1 between the control command value output from the subtractor 86 and the trunnion stroke xt and the subtractor 86 are output from the expressions (1) to (5) or (19) to (24). It can be seen that the transfer function G2 between the control command value and the roller tilt angle φt can be expressed using the output disk rotational speed No and the input torque Tin. Therefore, these transfer functions G1 and G2 not only change according to the change of the output disk rotation speed No, but also change according to the change of the input torque Tin. Therefore, it is more preferable that the feedback gain setting means 87 sets the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the output disk rotational speed No and the input torque Tin. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the output disk rotational speed No and the input torque Tin.

  Further, since the input torque Tin and the input / output disk pressing force Fa are in a corresponding relationship, both the transfer functions G1 and G2 described above also change according to the change in the input / output disk pressing force Fa. Therefore, the feedback gain setting means 87 can set the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the output disk rotational speed No and the input / output disk pressing force Fa. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the output disk rotational speed No and the input / output disk pressing force Fa. Note that the input / output disk pressing force Fa can be acquired by, for example, the pressure in the end load mechanism 20.

  FIG. 12 shows a comparison based on the difference in the output disk rotational speed No when the gear is decelerated and shifted in an actual apparatus. The upper diagram shows a case where the speed ratio γ is decelerated from 1.0 to 2.0 under the conditions of input torque Tin = 100 Nm and output disk rotation speed No = 1000 rpm. On the other hand, the lower diagram shows a case where the speed ratio γ is decelerated from 0.5 to 1.0 under the conditions of input torque Tin = 100 Nm and output disk rotation speed No = 2000 rpm. Here, the tilt angle feedback gain kφ is set based on the output disk rotational speed No, and is set smaller when the output disk rotational speed No = 2000 rpm than when the output disk rotational speed No = 1000 rpm. Yes. The offset amount feedback gain kx is set based on the output disk rotational speed No. The output disk rotational speed No = 2000 rpm is set larger than the output disk rotational speed No = 1000 rpm. As a result, the tilt angle feedback gain kφ and the offset amount feedback gain kx have considerably different values with respect to the difference in the output disk rotational speed No, but the responsiveness to the target tilt angle φr is substantially the same. Yes. Furthermore, although the roller tilt angle φ is not used as a gain schedule parameter, the responsiveness to the target tilt angle φr is almost the same even if the roller tilt angle φ (speed ratio γ) is different. From the above, the effectiveness of the feedback control of this embodiment is understood.

  As described above, in the present embodiment, by setting the tilt angle feedback gain kφ and the offset amount feedback gain kx based on the output disk rotation speed No, these are changed according to the change in the output disk rotation speed No. The feedback gains kφ and kx are changed. Accordingly, appropriate feedback control can be performed according to the operating state of the toroidal CVT, and the response and stability of the shift control can be sufficiently ensured. Further, since the roller tilt angle φ (gear ratio γ) is not used as a gain schedule parameter for these feedback gains kφ, kx, the responsiveness and stability of the shift control can be sufficiently ensured, so that the feedback gain kφ, It is possible to reduce the capacity of the control map for setting kx and shorten the time required for control map adaptation.

  Furthermore, in the present embodiment, by adding the input torque Tin or the input / output disk pressing force Fa to the gain schedule parameters related to the feedback gains kφ and kx, more appropriate feedback control is performed according to the operating state of the toroidal CVT. be able to.

  In the present embodiment, the tilt angle feedback gain kφ is decreased with respect to the increase in the output disk rotational speed No, so that the shift control is performed with a substantially constant response regardless of the operation state of the toroidal CVT. Can do.

  Further, in this embodiment, by increasing the offset amount feedback gain kx with respect to the increase in the output disk rotation speed No, the shift control can be performed with a substantially constant response regardless of the operation state of the toroidal CVT. it can.

  Next, another aspect of the present embodiment will be described.

  In the above description, the case where the tilt angle feedback gain kφ and the offset amount feedback gain kx are set based on the output disk rotational speed No has been described. However, in the present embodiment, the tilt angle feedback gain kφ and the offset amount feedback gain kx can be set based on the roller rotation speed Nr. The roller rotation speed Nr may be directly detected by a sensor, or may be acquired based on the input disk rotation speed Ni, the output disk rotation speed No, and the roller tilt angle φ. Further, since the roller rotation speed Nr and the peripheral speed Vr of the contact portion between the disk and the roller are in a correspondence relationship, the roller rotation speed Nr can also be acquired by acquiring the peripheral speed Vr of the contact portion between the disk and the roller. it can. As the peripheral speed Vr here, the peripheral speed of the contact portion between the input disk and the roller may be used, or the peripheral speed of the contact portion between the output disk and the roller may be used.

  As described above, assuming that the slip at the contact point between the input / output disk and the roller is very small and the peripheral speeds of the input disk, the roller, and the output disk at the contact point are equal, the relationship of RrNr = riNi = roNo. The formula holds. Where Rr is the roller contact point rotation radius (= Rosin θo), ri is the input disk contact point rotation radius (= Ro (1 + k0−cos (θo + φt))), and ro is the output disk contact point rotation radius (= Ro (1 + k0−cos). (θo−φt))).

  By substituting this relational expression into the expressions (8) to (13), a physical model (operating point) of the toroidal CVT using the roller rotation speed Nr (peripheral speed Vr of the contact portion between the disk and the roller) and the input torque Tin. Neighboring linear model) can be obtained. As in the case described above, the stability condition of the control system can be obtained from this physical model using the Fluwitz stability determination method. The result of numerical calculation of the stability limit is shown in FIG.

  FIG. 13A shows a stability limit characteristic (curve) relating to the tilt angle feedback gain Kφ when the offset amount feedback gain Kx is fixed and the peripheral speed Vr and the roller tilt angle (operating point) φo are changed. . On the other hand, FIG. 13B shows a stability limit characteristic (curve) with respect to the offset amount feedback gain Kx when the tilt angle feedback gain Kφ is fixed and the peripheral speed Vr and the roller tilt angle (operating point) φo are changed. Indicates. Each curve in FIGS. 13A and 13B shows a stability limit curve for different roller tilt angles φo.

  In the stability limit curve shown in FIG. 13A, the tilt angle feedback gain Kφ decreases as the peripheral speed Vr increases. The amount of change in the tilt angle feedback gain Kφ with respect to the change in the roller tilt angle φo is extremely small. Therefore, when the gain schedule related to the tilt angle feedback gain Kφ is performed based on the peripheral speed Vr, the responsiveness and stability of the control system are ensured without adding the roller tilt angle φ (speed ratio γ) to the gain schedule parameter. be able to. From the stability limit curve shown in FIG. 13 (a), the feedback gain setting means 87 has a tilt angle so that the tilt angle feedback gain Kφ decreases as the peripheral speed Vr (roller rotation speed Nr) increases. It is preferable to set the feedback gain Kφ.

  Further, in the stability limit curve shown in FIG. 13B, the offset amount feedback gain Kx increases as the peripheral speed Vr increases. The amount of change in the offset amount feedback gain Kx with respect to the change in the roller tilt angle φo is extremely small. Therefore, when the gain schedule related to the offset amount feedback gain Kx is performed based on the peripheral speed Vr, the responsiveness and stability of the control system is ensured without adding the roller tilt angle φ (speed ratio γ) to the gain schedule parameter. Can do. From the stability limit curve shown in FIG. 13 (b), the feedback gain setting means 87 uses the offset amount feedback gain so that the offset amount feedback gain Kx increases as the peripheral speed Vr (roller rotation speed Nr) increases. It is preferable to set Kx.

  From the above-described physical model, the transfer function G1 between the control command value output from the subtractor 86 and the trunnion stroke xt, and between the control command value output from the subtractor 86 and the roller tilt angle φt. It can be seen that both of the transfer functions G2 can be expressed using the peripheral speed Vr (roller rotational speed Nr) and the input torque Tin. Therefore, these transfer functions G1 and G2 not only change according to the change in the peripheral speed Vr (roller rotation speed Nr), but also change according to the change in the input torque Tin. Therefore, it is more preferable that the feedback gain setting means 87 sets the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the peripheral speed Vr (roller rotation speed Nr) and the input torque Tin. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the peripheral speed Vr (roller rotation speed Nr) and the input torque Tin.

  Further, since the input torque Tin and the input / output disk pressing force Fa are in a corresponding relationship, both the transfer functions G1 and G2 described above also change according to the change in the input / output disk pressing force Fa. Therefore, the feedback gain setting means 87 can set the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the peripheral speed Vr (roller rotation speed Nr) and the input / output disk pressing force Fa. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the peripheral speed Vr (roller rotation speed Nr) and the input / output disk pressing force Fa.

  As described above, in this aspect, by setting the tilt angle feedback gain kφ and the offset amount feedback gain kx based on the roller rotation speed Nr (the peripheral speed Vr of the contact portion between the disk and the roller), the roller rotation These feedback gains kφ and kx are changed according to the change of several Nr (peripheral speed Vr of the contact portion between the disk and the roller). Accordingly, appropriate feedback control can be performed according to the operating state of the toroidal CVT, and the response and stability of the shift control can be sufficiently ensured. Further, since the roller tilt angle φ (gear ratio γ) is not used as a gain schedule parameter for these feedback gains kφ, kx, the responsiveness and stability of the shift control can be sufficiently ensured, so that the feedback gain kφ, It is possible to reduce the capacity of the control map for setting kx and shorten the time required for control map adaptation.

  Furthermore, by adding the input torque Tin or the input / output disk pressing force Fa to the gain schedule parameters related to the feedback gains kφ and kx, more appropriate feedback control can be performed according to the operating state of the toroidal CVT.

  In addition, by reducing the tilt angle feedback gain kφ with respect to the increase in the roller rotation speed Nr (the peripheral speed Vr of the contact portion between the disk and the roller), the response is almost constant regardless of the operation state of the toroidal CVT. Shift control can be performed.

  Further, by increasing the offset amount feedback gain kx with respect to the increase in the roller rotation speed Nr (circumferential speed Vr of the contact portion between the disk and the roller), the speed is changed with a substantially constant response regardless of the operation state of the toroidal CVT. Control can be performed.

  Further, in the present embodiment, the tilt angle feedback gain kφ and the offset amount feedback gain kx can be set based on the output torque Tout to the output disk 40. The output torque Tout may be detected directly by a sensor or may be estimated by a known method.

  In the present embodiment, when considering a toroidal CVT physical model (linear model in the vicinity of the operating point) using the input disk rotational speed Ni and the output torque Tout, it can be expressed by the following equations (27) to (32). .

  As in the case described above, the stability condition of the control system can be obtained from the equations (27) to (32) using the Fluwitz stability determination method, and the results of numerical calculation of the stability limit are shown in FIGS. .

  FIG. 14A shows a stability limit characteristic regarding the tilt angle feedback gain Kφ when the input torque Tin and the roller tilt angle (operating point) φo are changed with the offset amount feedback gain Kx fixed in the equation (18). (Curve) is shown. On the other hand, FIG. 14B shows a case where the offset torque feedback gain Kx is fixed and the output torque Tout and the roller tilt angle (operating point) φo are changed under the stable condition obtained from the equations (27) to (32). The stability limit characteristic (curve) regarding the tilt angle feedback gain Kφ of FIG.

  In the stability limit curve shown in FIG. 14A, the tilt angle feedback gain Kφ increases as the roller tilt angle φo decreases. Therefore, when the gain schedule related to the tilt angle feedback gain Kφ is performed by the input torque Tin, it is necessary to add the roller tilt angle φ (speed ratio γ) to the gain schedule parameter.

  On the other hand, in the stability limit curve shown in FIG. 14B, the tilt angle feedback gain Kφ increases as the output torque Tout increases. Then, although the tilt angle feedback gain Kφ is slightly increased with respect to the decrease of the roller tilt angle φo, the increase width is extremely smaller than that in the case of FIG. Therefore, when the gain schedule related to the tilt angle feedback gain Kφ is performed by the output torque Tout, the responsiveness and stability of the control system are ensured without adding the roller tilt angle φ (speed ratio γ) to the gain schedule parameter. be able to. From the stability limit curve shown in FIG. 14B, the feedback gain setting means 87 sets the tilt angle feedback gain Kφ so that the tilt angle feedback gain Kφ increases as the output torque Tout increases. It is preferable. Further, since the maximum value of the output torque Tout changes according to the gear ratio γ, the range of the output torque Tout becomes wider on the deceleration side.

  Further, FIG. 15A shows the stability regarding the offset amount feedback gain Kx when the tilt angle feedback gain Kφ is fixed and the input torque Tin and the roller tilt angle (operating point) φo are changed in the equation (18). The limit characteristic (curve) is shown. On the other hand, in FIG. 15B, the output torque Tout and the roller tilt angle (operating point) φo are changed by fixing the tilt angle feedback gain Kφ under the stable condition obtained from the equations (27) to (32). The stability limit characteristic (curve) regarding the offset amount feedback gain Kx in the case is shown.

  In the stability limit curve shown in FIG. 15A, the offset amount feedback gain Kx increases as the roller tilt angle φo increases. Therefore, when the gain schedule related to the offset amount feedback gain Kx is performed by the input torque Tin, the roller tilt angle φ (speed ratio γ) needs to be added to the gain schedule parameter.

  On the other hand, in the stability limit curve shown in FIG. 15B, the offset amount feedback gain Kx decreases as the output torque Tout increases. Further, although the offset amount feedback gain Kx slightly increases with the increase of the roller tilt angle φo, the increase width is extremely smaller than that in the case of FIG. Therefore, when the gain schedule for the offset amount feedback gain Kx is performed by the output torque Tout, the responsiveness and stability of the control system is ensured without adding the roller tilt angle φ (speed ratio γ) to the gain schedule parameter. Can do. From the stability limit curve shown in FIG. 15B, the feedback gain setting means 87 can set the offset amount feedback gain Kx so that the offset amount feedback gain Kx decreases with an increase in the output torque Tout. preferable.

  From the equations (27) to (32), the transfer function G1 between the control command value output from the subtractor 86 and the trunnion stroke xt, and the control command value output from the subtractor 86 and the roller tilt angle. It can be seen that the transfer function G2 between φt can be expressed using the input disk rotational speed Ni and the output torque Tout. Therefore, these transfer functions G1 and G2 not only change according to the change of the output torque Tout, but also change according to the change of the input disk rotational speed Ni. Therefore, it is more preferable that the feedback gain setting means 87 sets the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the input disk rotational speed Ni and the output torque Tout. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the input disk rotational speed Ni and the output torque Tout.

  Further, from the relational expression of RrNr = riNi = roNo, the transfer functions G1 and G2 can be expressed by using both the output disk rotational speed No and the output torque Tout. It changes depending on the response. Therefore, the feedback gain setting means 87 can also set the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the output disk rotational speed No and the output torque Tout. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the output disk rotational speed No and the output torque Tout.

  Further, both the transfer functions G1 and G2 can be expressed by using the roller rotation speed Nr (circumferential speed Vr of the contact portion between the disk and the roller) and the output torque Tout. It changes depending on the change of. Therefore, the feedback gain setting means 87 can set the tilt angle feedback gain Kφ and the offset amount feedback gain Kx based on the roller rotation speed Nr (circumferential speed Vr) and the output torque Tout. Thus, each of the tilt angle feedback gain Kφ and the offset amount feedback gain Kx is changed with respect to at least one change in the roller rotation speed Nr (circumferential speed Vr) and the output torque Tout.

  As described above, in this aspect, by setting the tilt angle feedback gain kφ and the offset amount feedback gain kx based on the output torque Tout, these feedback gains kφ and kx are changed according to the change in the torque Tout. Change. Accordingly, appropriate feedback control can be performed according to the operating state of the toroidal CVT, and the response and stability of the shift control can be sufficiently ensured. Further, since the roller tilt angle φ (gear ratio γ) is not used as a gain schedule parameter for these feedback gains kφ, kx, the responsiveness and stability of the shift control can be sufficiently ensured, so that the feedback gain kφ, It is possible to reduce the capacity of the control map for setting kx and shorten the time required for control map adaptation.

  Further, by adding any one of the input disk rotation speed Ni, the output disk rotation speed No, and the roller rotation speed Nr (circumferential speed Vr) to the gain schedule parameter regarding the feedback gains kφ and kx, the operation state of the toroidal CVT can be obtained. Accordingly, more appropriate feedback control can be performed.

  Further, by increasing the tilt angle feedback gain kφ with respect to the increase in the output torque Tout, the shift control can be performed with a substantially constant response regardless of the operation state of the toroidal CVT.

  Further, by decreasing the offset amount feedback gain kx with respect to the increase in the output torque Tout, the shift control can be performed with a substantially constant response regardless of the operation state of the toroidal CVT.

  In the above description, a case has been described in which the tilt angle feedback gain kφ and the offset amount feedback gain kx are set based on two operating conditions to change these feedback gains kφ and kx. However, in the present embodiment, these feedback gains kφ and kx may be set based on one operating condition. And each gain of PID control may be changed according to driving conditions. Furthermore, only one of the feedback gains kφ and kx may be changed according to the operating conditions. It is also preferable to add the operating oil temperature to the operating conditions.

  As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to such embodiment at all, and it can implement with a various form in the range which does not deviate from the summary of this invention. Of course.

It is a figure which shows the structure of the toroidal type CVT of embodiment. It is a figure which shows the speed change mechanism. It is a figure which shows the structure of trunnion stroke and tilt angle control. It is a figure which shows the structure for the shift control in a controller. It is a figure explaining the design method of a control system. It is a figure which shows a roller tilt angle etc. It is a figure which shows a trunnion wire hanging diameter. It is a figure which shows the value of feedback gain kphi and kx. It is a figure explaining the control system of an embodiment. It is a figure which shows the calculation result of the stability limit of a control system. It is a figure which shows the calculation result of the stability limit of a control system. It is a figure which shows the experimental result of the shift control of embodiment. It is a figure which shows the calculation result of the stability limit of a control system. It is a figure which shows the calculation result of the stability limit of a control system. It is a figure which shows the calculation result of the stability limit of a control system.

Explanation of symbols

  10 input shaft, 20 end load mechanism, 30 (30a, 30b) input disk, 35 (35a-1, 35a-2, 35b-1, 35b-2) roller, 36 (36a-1, 36a-2, 36b-) 1, 36b-2) Trunnion, 40 (40a, 40b) Output disk, 45 Output gear, 52 Flow control valve, 60 Counter gear, 70 Output shaft, 80 Controller, 81,86 Subtractor, 82 Tilt angle feedback control means , 85 Offset amount feedback control means, 87 Feedback gain setting means.

Claims (19)

A toroidal transmission member having an input / output disk and a roller for transmitting power between the input / output disks by frictional engagement between the input / output disk, a pressing device that presses the input / output disk in a direction approaching the roller, and rotation of the roller Shift control of a toroidal CVT having a shift control unit that controls the transmission ratio by changing the tilt angle of the roller by offsetting the rotation axis of the roller from a position where the shaft and the rotation axis of the input / output disk are orthogonal to each other. A device for performing
And feedback control means for performing feedback control related to the offset amount of B over La rotary shaft,
By setting based on feedback gains related to the offset amount of B over La rotary shaft to the output disk rotation speed, the feedback gain setting means for changing the feedback gain in response to changes in the output disk rotational speed,
A toroidal CVT control device characterized by comprising: The toroidal CVT control device according to claim 1,
The feedback gain setting means, by setting based on feedback gains related to the offset amount of B over La rotary shaft to the output disk rotation speed and the input disc torque, at least one change in the output disk rotational speed between the input disk torque A control device for a toroidal CVT, wherein the feedback gain is changed accordingly. The toroidal CVT control device according to claim 1,
The feedback gain setting means, by setting based on feedback gains related to the offset amount of B over La rotary shaft to the output disk speed and the input and output disks pressure, at least the output disk speed and the input and output disks pressure A control device for a toroidal CVT, wherein the feedback gain is changed according to one change. The toroidal CVT control device according to claim 1,
The feedback gain setting means, by setting based on feedback gains related to the offset amount of B over La rotary shaft to the output disk speed and output disks torque, at least one change in the output disk speed and output disks torque A control device for a toroidal CVT, wherein the feedback gain is changed accordingly. A control device for a toroidal CVT according to any one of claims 1 to 4,
The feedback gain setting means, the control device of the toroidal CVT, characterized in that to increase the feedback gain related offset of the roller rotation axis with respect to the output disk rotation speed increase. A toroidal transmission member having an input / output disk and a roller for transmitting power between the input / output disks by frictional engagement between the input / output disk, a pressing device that presses the input / output disk in a direction approaching the roller, and rotation of the roller a shift control unit which controls the gear ratio by changing the tilt angle of the roller by the rotation axis of the shaft and input and output disks can be offset the rotation axis of the roller from a position perpendicular, the shift control of the toroidal CVT having A device for performing
Feedback control means for performing feedback control on at least one of the roller tilt angle and the offset amount of the roller rotation shaft;
A feedback gain setting means for changing the feedback gain according to a change in the roller rotational speed by setting a feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotational axis based on the roller rotational speed;
Control device for a toroidal type CVT, characterized in that it comprises a. A control device for a toroidal CVT according to claim 6 ,
The feedback gain setting means, by setting on the basis of the offset amount of the at least one input a feedback gain and roller rotational speed about the disk torque of the roller tilt angle and the roller rotation axis, at least the input disk torque and roller rotational speed control device for a toroidal type CVT, wherein the benzalkonium changing the feedback gain according to one variation. A control device for a toroidal CVT according to claim 6 ,
The feedback gain setting means sets the feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotation shaft based on the roller rotation speed and the input / output disk pressing force , so that the roller rotation speed and the input / output disk are set. A control device for a toroidal CVT, wherein the feedback gain is changed in accordance with at least one change in pressing force . A control device for a toroidal CVT according to claim 6 ,
The feedback gain setting means, by setting on the basis of the offset amount of the feedback gain for the at least one roller rotation speed output disk torque of the roller tilt angle and the roller rotation axis, at least the roller speed and output disks torque A control device for a toroidal CVT, wherein the feedback gain is changed according to one change. A control device for a toroidal CVT according to any one of claims 6 to 9 ,
The feedback gain setting means, the control device of the toroidal CVT, characterized in that to reduce the feedback gain about the roller tilt angle with respect to the roller rotation speed increase. A control device for a toroidal CVT according to any one of claims 6 to 10,
The feedback gain setting means, the control device of the toroidal CVT, characterized in that to increase the feedback gain related offset of the roller rotation axis relative to the roller rotation speed increase. A control apparatus for a toroidal type CVT according to any one of claims 6-11,
The toroidal CVT control apparatus , wherein the roller rotation speed is obtained from any one of a roller rotation speed, a peripheral speed of a contact portion between the input disk and the roller, and a peripheral speed of a contact portion between the roller and the output disk . The toroidal CVT control device according to any one of claims 6 to 11 ,
A toroidal CVT control device that acquires the roller rotation speed based on an input disk rotation speed, an output disk rotation speed, and a roller tilt angle . A toroidal transmission member having an input / output disk and a roller for transmitting power between the input / output disks by frictional engagement between the input / output disk, a pressing device that presses the input / output disk in a direction approaching the roller, and rotation of the roller a shift control unit which controls the gear ratio by changing the tilt angle of the roller by the rotation axis of the shaft and input and output disks can be offset the rotation axis of the roller from a position perpendicular, the shift control of the toroidal CVT having A device for performing
Feedback control means for performing feedback control on at least one of the roller tilt angle and the offset amount of the roller rotation shaft;
A feedback gain setting means for changing the feedback gain according to a change in the output disk torque by setting a feedback gain related to at least one of the roller tilt angle and the offset amount of the roller rotation axis based on the output disk torque;
Control device for a toroidal type CVT, characterized in that it comprises a. The toroidal CVT control device according to claim 14 ,
The feedback gain setting means, by setting based on at least the input disk speed and output disks torque feedback gain for one of the offset amount of the roller tilt angle and the roller rotation axis, the input disk rotation speed and the output disk torque control device for a toroidal type CVT, wherein the benzalkonium changing the feedback gain according to a change in at least one. A control device for a toroidal CVT according to claim 14 or 15,
The feedback gain setting means, the control device of the toroidal CVT, characterized in that to increase the feedback gain about the roller tilt angle relative to the increase of the output disk torque. The toroidal CVT control device according to any one of claims 14 to 16 , comprising:
The feedback gain setting means reduces the feedback gain related to the offset amount of the roller rotation shaft with respect to the increase of the output disk torque, and controls the toroidal CVT. A control device for a toroidal CVT according to any one of claims 6 to 17,
The toroidal CVT control device , wherein the roller tilt angle is acquired by a roller tilt angle or a gear ratio . A control device for a toroidal CVT according to any one of claims 1 to 18,
The toroidal CVT of the toroidal CVT, wherein the offset amount of the roller rotation shaft is obtained from any of the offset amount of the roller rotation shaft, the change amount of the roller tilt angle, the change amount of the transmission ratio, and the change amount of the input disk rotation speed . Control device.

Images