JPS582560B2 - Gear shift control device - Google Patents

Description

[Detailed description of the invention] A continuously variable transmission device that changes the rotational speed of the output shaft steplessly has the following features:
Variable speed motors such as DC motors change speed electrically, and manual shafts are rotated at a constant speed by induction motors, changing the effective radius of the conical trochanter as an element on the transmission system. A mechanical continuously variable transmission that mechanically changes gears is known.

Each of these continuously variable transmissions has the following advantages and disadvantages.

First, regarding variable speed electric motors, they generally exhibit excellent control characteristics, but because they do not generate braking torque during deceleration, they have poor speed stabilization during deceleration when a load with large inertia is applied.

It is also possible to adopt a method that can generate braking torque, such as anti-parallel control of a DC motor, but even in such a method, the amount of braking torque that can be obtained is relatively small due to factors such as heat generation in the rotor. small.

On the other hand, in the case of a mechanical continuously variable transmission, if internal losses due to friction are ignored, "rotational speed of human power shaft / rotational speed of output shaft" becomes "torque applied to output shaft / torque applied to input shaft". Since there is an equal relationship (rotational speed of the human-powered shaft x torque applied to the human-powered shaft = rotational speed of the output shaft x torque applied to the output shaft), the lower the rotational speed of the output shaft, the more torque applied to the output shaft. Since it has a favorable torque characteristic of increasing torque, the speed settling during deceleration when a load with large inertia is applied is much better than that of a variable speed electric motor, but on the other hand, the responsiveness of speed control is relatively poor. bad.

In view of the fact that variable speed electric motors and mechanical continuously variable transmissions are under the circumstances explained above and each has unsatisfactory points, the present invention provides speed change control for speed setting voltage and load fluctuations. An object of the present invention is to provide a speed change control device with improved responsiveness, and the present invention will be described with reference to the drawings as follows.

In FIG. 1, 1 is a variable speed electric motor, 2 is a mechanical continuously variable transmission driven by the variable speed electric motor, and 3 is a load.

The rotational speed of the output shaft of the mechanical continuously variable transmission (output shaft of the speed change control device) is controlled by a signal voltage applied to the speed setting section 4.

The speed control system using the above signal voltage includes a speed voltage generator 5 that is driven by the output shaft of the mechanical continuously variable transmission 2 and generates a positive voltage proportional to the rotational speed of the output shaft, and a voltage comparator 6.
and a thyristor phase control circuit 7;
A part that changes the gear ratio of the mechanical continuously variable transmission 2 (hereinafter referred to as a gear change element).

), a potentiometer 9 as a voltage generator for generating a voltage for determining the position of the speed change element, a voltage comparator 10, and a second system having a differential amplifier 11. .

The second system connects the human voltage input to the gear setting section 4 to a resistor 12.
The voltage generated by the potentiometer 9 is compared with the voltage generated by the potentiometer 9 in a voltage comparator 10, and the comparison voltage is applied to the servo motor 8 via a differential amplifier 11.

As a result, the speed change element of the mechanical continuously variable transmission 2 is moved such that the effective radius of the conical wheel on the transmission system takes a value corresponding to the magnitude of the human power signal voltage.

The first system operates as described above with the second diameter assuming a position responsive to the input signal.

In this system, a voltage generated by a speed voltage generator 5 and an input signal voltage are compared by a voltage comparator 6, and a thyristor phase control circuit 7 is controlled by the comparison voltage.

The second system sets the speed change element of the mechanical continuously variable transmission 2 at a position corresponding to the human power signal voltage, and the speed voltage E2 of the output shaft (voltage generated in the speed voltage generator 5)
exceeds the signal voltage E1 for speed setting, negative voltage △E=
Since E1-E2<0 is applied to the comparator 10 through the discriminator 13, such as a diode, which allows it to pass, the above correspondence is temporarily broken.

On the other hand, contrary to the above, when the speed voltage E2 of the output shaft is less than the signal voltage E1 for speed setting, the phase control circuit 7
Or a positive voltage signal is given, in which case discriminator 1
No signal is provided to comparator 10 through 3.

The negative voltage ΔE applied through the discriminator 13 is for braking, and the resistor 12 mentioned above is provided to make this negative voltage ΔE relatively large.

If the discriminator 13 includes an appropriate amplifying section, the resistor 12 can be omitted (only the resistor 12 can be omitted).

When an extra negative voltage ΔE is applied to the comparator 10, the servo motor 8 moves the speed change element of the mechanical continuously variable transmission to the normal position (1:1 between the human input signal voltage and the voltage generated by the potentiometer 9).
(shift element position determined by the correspondence between the two).

The reason why the negative voltage ΔE is applied to the comparator 10 and the speed change element moves to the deceleration side is that the voltage generated in the speed voltage generator 5 exceeds the human power signal voltage, in other words,
The problem is that unless some kind of braking is applied to the variable electric motor and the mechanical continuously variable transmission, the fidelity of speed control is compromised.

As can be easily understood by comparing this cause with the result of moving the speed change element toward the deceleration side, the braking that is required due to the existence of the cause is automatically caused by the movement of the speed change element toward the deceleration side as a result. It is scheduled to take place.

As pointed out earlier, conventional mechanical continuously variable transmissions have excellent torque characteristics, but on the other hand, they have poor speed response.

This is the deceleration signal voltage p→q→r→ as shown in Figure 2a.
When s is added and an instruction is given to reduce the rotational speed of the output shaft from N1 to N2, the transmission element of the mechanical continuously variable transmission asymptotically moves from the position corresponding to the rotational speed N1 to the position opposite to the rotational speed N2. This is to do so.

(The movement of the transmission element becomes slower as the rotational speed of the output shaft approaches the desired rotational speed.

) According to the present invention, the situation that occurs when a deceleration signal voltage is applied as shown in FIG. When the speed change element of the mechanical continuously variable transmission is requested to move from the position corresponding to point q to the position corresponding to point r so that the speed voltage E2 takes a value equal to E1, the movement of the speed change element is asymptotic. "Shift position corresponding to point q and giving a rotational speed of N1 to the output shaft" → "corresponding to a signal voltage lower than point r and giving a rotational speed of N1 to the output shaft corresponding to point r" The shift element is moved with a temporary overrun in the process of "shift position that provides a rotation speed lower than the desired rotation speed N2" → "shift position corresponding to rotation speed N2", and the shift As explained earlier, the negative voltage ΔE=E1-E2<0 is used for the temporary overrun that occurs in the element.

FIG. 2b shows a difference voltage ΔE<0 obtained by comparing the speed voltage corresponding to the rotational speed of the output shaft and the signal voltage whose setting has been changed, which is added to the comparator 10 of the second system via the discriminator 13. It is shown that by entering the target, the time required for the rotational speed of the output shaft to settle to N2 becomes shorter than when the negative voltage ΔE is not additionally applied.

In this figure, t1 and t2 represent the rotational speed of the output shaft by N2.
It is the elapsed time from the time when the signal indicating that the output shaft should be changed is input until the time when the rotational speed of the output shaft actually becomes N2, t1 is the time when the negative voltage △E is additionally input to the comparator, and t2 is This is a case of control in a state where negative voltage ΔE does not exist.

The reason why the elapsed time is t1, which is smaller than t2, is due to the addition of negative voltage △E, so the servo motor 8 should move the speed change element by an amount corresponding to negative voltage △E to a position that gives a rotational speed lower than N2. This is because the signal can be replaced by the signal.

This replacement stops when ΔE=E1-E2 becomes 0 or a positive value.

As explained above, the speed change control device according to the present invention combines a variable speed electric motor and a mechanical continuously variable transmission, and reduces the rotational speed of the output shaft in relation to the control system of the mechanical continuously variable transmission. (Deceleration) is performed with good responsiveness to human input signals.

[Brief explanation of drawings]

FIG. 1 is a block diagram illustrating the configuration of a speed change control device according to the present invention, and FIG. 2 is a graph diagram for explaining the control effect thereof. 1... Variable speed electric motor, 2... Mechanical continuously variable transmission, 3
Load, 4 Speed setting section, 5 Speed voltage generator, 6 Voltage comparator, 7 Phase control circuit, 8
... Servo motor, 9 ... Potentiometer, 10
... Voltage comparator, 11... Differential amplifier, 12...
Resistance, 13... discriminator.

Claims (1)

[Claims] 1 Consists of a variable speed electric motor and a mechanical continuously variable transmission in which a human shaft is driven by the variable speed electric motor, and a signal voltage proportional to the rotational speed of the output shaft of the mechanical continuously variable transmission is used as the signal voltage for speed setting. A first system that controls the speed of a variable speed electric motor and a mechanical continuously variable transmission that determine the position of the speed change element as a part that changes the gear ratio in correspondence with the speed setting signal voltage and a mechanical continuously variable transmission. The correspondence between the speed change element of the mechanical continuously variable transmission and the speed setting signal voltage is determined by determining that the signal voltage proportional to the rotational speed of the output shaft of the step-change transmission has become larger than the speed setting signal voltage. A speed change control device comprising: a second system for temporarily breaking the signal voltage and moving the speed change element of the mechanical continuously variable transmission to the deceleration side based on the difference between these signal voltages.