JP2007263159A - Selection assisting device of automatic transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a selection assisting device of an automatic transmission enabling a range selecting operation in a failure by employing mechanical connection between a select lever and a range position selecting device, while increasing the degree of freedom in layout by reducing the size of the select lever and obtaining a select lever operational force characteristics depending on requirement. <P>SOLUTION: A control unit 22 comprises a drive command value calculation part 31 which calculates a drive command value to an assist actuator from the operation state of the select lever, based on an ideal value for ideal operation feeling and the actual value of all or a part of parameters, constituting a transfer function ä1/(Js<SP>2</SP>+Ds+K)} from the operational force applied to the select lever to displacement of the resultant operational position. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention belongs to a technical field of a selection assist device for an automatic transmission that assists a driver's select lever operating force in a vehicle equipped with the automatic transmission.

  Conventionally, a select lever of an automatic transmission is mechanically connected to a manual valve of the automatic transmission via an operating force transmission means such as a rod or a cable. The operating force of the driver input to the select lever is transmitted to the manual valve via the operating force transmission means, and the range position is switched according to the operation amount (see, for example, Patent Document 1).

On the other hand, what uses what is called shift-by-wire technique in which the select lever and the manual valve are electrically connected is known. In this prior art, an actuator that operates a manual valve is provided, and the range position is switched by driving the actuator by changing the rotation operation of the select lever into an electric signal (see, for example, Patent Document 2).
JP-A-9-323559 JP 2003-97694 A

  When the select lever is operated, a mechanical operating reaction force such as friction of the operating force transmission means, resistance of detent, etc. is generated, and thus a large operating force is required. Therefore, in order to reduce the necessary operating force of the driver, it is necessary to set the length of the select lever to a length that can obtain a sufficient lever force.

  Therefore, the former of the above prior arts has a problem that the shape becomes large due to the length of the select lever, so that there are many restrictions on the installation place and the degree of freedom in layout in the vehicle interior is low.

  On the other hand, in the latter, the selection lever can be designed shorter by adopting the actuator, and the degree of freedom in layout becomes higher than that in the former. However, since the select lever and the manual valve are not mechanically connected, the range cannot be switched during a failure.

  The present invention has been made paying attention to the above-mentioned problem, and the object of the present invention is to reduce the size of the select lever while enabling the range switching operation at the time of failure by mechanically connecting the select lever and the range position switching device. It is an object of the present invention to provide a selection assist device for an automatic transmission that can increase the degree of freedom in layout and can obtain a select lever operating force characteristic according to demand.

  In order to achieve the above object, in the select assist device for an automatic transmission according to the present invention, a select lever and a select position switching device for the automatic transmission are connected by a select operation force transmission system, and the select operation force transmission system In an automatic transmission select assist device provided with an assist actuator for assisting a select operation force by a driver, an operation state detecting means for detecting an operation state of the select lever is provided, and an assist for controlling driving of the assist actuator is provided. Control means is provided, and the assist control means actually sets all or some of the parameters for the transfer function from the operation force applied to the select lever to the displacement of the operation position generated as a result. And the ideal value to obtain an ideal operation feeling Drive command value calculating means for calculating a drive command value to the assist actuator from the operation state of the select lever, and the parameter has a check force so as to be easily located at an operation position corresponding to each range switching position. A spring constant corresponding to an inclination of a generated force with respect to an operation position of a check mechanism provided to be applied to the select lever, a viscous friction coefficient with respect to a component of a viscous friction force generated in proportion to an operation speed of the select lever, It is a select lever rotation axis conversion inertia obtained by converting the inertia of each part of the select assist device into the inertia on the rotation axis of the select lever.

  The check mechanism in the claims is a combination of the check mechanism and the detent mechanism in the embodiment.

  According to the first aspect of the present invention, while maintaining the mechanical connection between the select lever and the range position switching device, assisting the lever operating force of the driver with the assist actuator, ensuring the range switching operation at the time of failure, The expansion of the layout freedom by the miniaturization of the lever can be achieved together.

  In the following, an embodiment for realizing a selection assist device for an automatic transmission according to the present invention will be described. Example 1 corresponding to claims 1 and 2, Example 2 corresponding to claim 3, and implementation corresponding to claim 4 Description will be made based on Example 3, Example 4 corresponding to Claim 5, and Example 5 corresponding to Claim 6.

First, the configuration will be described.
FIG. 1 is a side view showing a configuration of an automatic transmission apparatus according to a first embodiment, and FIG. 2 is a perspective view of a main part showing a detailed structure of an assist actuator.

  The automatic transmission apparatus according to the first embodiment includes a selection mechanism unit 1, a control cable 8, an assist actuator 9, a control cable 18, an automatic transmission 19, and a control unit (assist force control means) 22 as main components. It is said.

  The selection mechanism unit 1 has a selection lever 2 that is operated by a driver, and is provided, for example, in a center cluster 3 beside the driver's seat. At the upper end of the select lever 2, a select knob 4 is attached for the driver to hold during the select operation. The select lever 2 is rotated about the fulcrum shaft 5 and is set to 100 mm, which is 250 mm shorter than a conventional general select lever.

  A push-pull control cable 8 is connected to the lower end of the select lever 2 via a select lever joint 7. The control cable 8 is rotatably connected to the input lever 10 of the assist actuator 9 via the input lever joint 11. That is, the rotational movement of the select lever 2 is converted into a linear movement, and the operating force generated by the operation of the select lever 2 is transmitted to the input lever 10.

  The input lever 10 is connected to an output lever 13 via an output shaft 12 that is rotatably provided. The output shaft 12 is provided with a worm gear 14 that meshes with a motor output shaft 16 of an electric motor 15 having a speed reduction mechanism.

  A push-pull control cable 18 is connected to the output lever 13 via an output lever joint 17. The control cable 18 is connected to the control arm 20 of the automatic transmission 19. That is, the rotational movement of the output lever 13 is converted into a linear movement by the control cable 18, and the combined force of the driver's operating force and the driving force of the electric motor 15 is transmitted to the control arm 20 of the automatic transmission 19.

  A contact 24 for position detection is attached and fixed to the worm gear 14. The contactor 24 rotates integrally with the worm gear 14 and makes electrical contact with a carbon resistor printed on a substrate (not shown), thereby outputting a voltage signal corresponding to the stroke angle of the select lever 2 to the control unit 22. . The contactor 24 and the carbon resistance constitute a potentiometer (operation position detecting means) 25.

  The potentiometer 25 detects the stroke angle of the select lever 2 at any time with the angle when the select lever 2 is stopped at the P range position as the base point angle.

  The control unit 22 sets the assist force based on the detected stroke angle of the select lever 2 and performs PWM control on the output duty ratio of the electric motor 15.

FIG. 3 shows a control block diagram of the control unit 22.
The change in the stroke of the select lever 2 that has been subjected to the range switching operation in the select mechanism unit 1 is input to the potentiometer 25 of the assist actuator 9 via the control cable 8. In the potentiometer 25, a stroke angle corresponding to the operation amount of the select lever 2 is detected and input to the control unit 22 as a stroke angle signal.

The drive command value calculation unit 31 includes a multiplier 311 and calculates the drive command value with the operation position from the potentiometer 25 as an input.
Here, the gain multiplied by the operation position by the multiplier 311 is expressed by the expression Ki-K, where K is a check spring constant and Ki is an ideal value of K.
The motor drive control unit 32 drives the assist actuator 9 according to the drive command value.

Next, the detent structure of the automatic transmission 19 will be described.
FIG. 4 is a perspective view showing a detent structure of the automatic transmission 19.
The control arm 20 is provided with a rotation shaft 26, and a detent plate 27 is supported on the rotation shaft 26. At the upper end of the detent plate 27, a valley portion 27b corresponding to five ranges (P, R, N, D, and L) is formed between the cam peaks 27a. Then, the detent pin 29 formed at the tip of the spring plate 28 is engaged with the valley portion 27b and the selected range position is maintained, thereby preventing an unintended range select due to vehicle vibration or the like. Yes.

  That is, the rotating shaft 26 is rotated by the operating force of the select lever 2, and the detent plate 27 is moved relative to the detent pin 29 in accordance with the rotation. At this time, the detent pin 29 gets over the cam crest 27 a and engages with the valley portion 27 b corresponding to the adjacent range, and the engaged state is held by the elastic force of the spring plate 28. This elastic force becomes a main load force when the select lever 2 is operated.

  Note that one end of the parking pole 30 is rotatably connected to the detent plate 27. When the select lever 2 is moved to the P range, the parking pole 30 prevents rotation of the parking gear 32 via the cam-like plate 31 and locks driving wheels (not shown). Thereby, when the vehicle is parked on the slope road in the P range, a vehicle load is applied so as to lock the driving wheel according to the slope, and acts as a force for biting the parking pole 30.

Next, the check mechanism unit will be described.
In the automatic transmission select assist device according to the first embodiment, the output shaft 12 described with reference to FIG. 2 is further provided with a check plate 51 that functions in the same manner as the detent plate 27 described above, and includes a detent pin 29 and a spring plate. Those that work in the same manner as 28 are provided as check pins 52 and springs 53.
An outline of this configuration is shown in FIG. FIG. 13 is a schematic diagram of a configuration related to detent force and check force in the first embodiment.
By this check mechanism and detent mechanism, a detent force described later is synthesized.

By the way, this check mechanism may be configured to be coaxial with the rotation axis of the select lever 2, as shown in FIG.
Considering that the rigidity of both the rod and cable is finite (not infinite), the configuration shown in FIG. 14 in which the motor check mechanism is brought on the select lever shaft has a second-order transfer function of the plant. An approximation error in the case of approximation by (1 / (Js ² + Ds + K)) hardly occurs, and it is considered that the performance can be easily obtained.

Next, details of the drive command value calculation unit 31 of the control unit 22 of the select assist device for the automatic transmission according to the first embodiment will be described.
FIG. 9 is a graph showing the relationship between the check force with respect to the operation position and the combined generation force of the detent force.
FIG. 10 is a graph showing the relationship between the spring constant of the combined force of the check force and the detent force with respect to the operation position.

The spring constant K indicates the slope of the generated force shown in FIG.
Therefore, as shown in FIG. 10, it changes with respect to the operation position.
Therefore, the processing of the drive command value calculation unit 31 is not limited to simply multiplying the gain by the multiplier 311. This will be further described below.

FIG. 11 is a block diagram of the drive command value calculation unit 31 of the control unit 22 of the select assist device for the automatic transmission according to the first embodiment.
The drive command value calculation unit 31 includes a multiplier 311, a table data unit 312, an ideal table data unit 313, and an adder 314.
The multiplier 311 performs an operation of multiplying the calculated gain K-Ki and the operation position.
The table data unit 312 outputs a spring constant K for the operation position from the actual spring constant characteristics.

The ideal table data unit 313 outputs an ideal spring constant Ki for the operation position from the ideal spring constant characteristic.
The adder 314 performs an operation of subtracting the output of the ideal table data 313 from the output of the table data unit 312, that is, an operation of K-Ki.

The calculation of the drive command value calculation unit 31 can also be performed based on the characteristics of the generated force in FIG.
FIG. 12 is a block diagram of another example of the drive command value calculation unit 31 of the control unit 22 of the select assist device for the automatic transmission according to the first embodiment.
In the example of FIG. 12, as described in FIG. 9, the actual characteristics of the combined generated force of the detent mechanism and the check mechanism with respect to the operation position are used as the table data unit 315, and the generated force with respect to the operation position is output. Using the ideal characteristic of the combined generated force as the ideal table data unit 316, the generated force for the operation position is output.

By subtracting this, a value corresponding to a value obtained by multiplying K-Ki by the operation position is calculated.
In other words, the table data unit 315 outputs what corresponds to the operation position × K, and the ideal table data unit 316 outputs what corresponds to the operation position × Ki. Then, the operation position × (K−Ki) is obtained by subtracting this.
Therefore, in the configuration of FIG. 12, the multiplier 311 is excluded.

Next, the operation will be described.
[Select lever assist control processing]
FIG. 5 is a flowchart showing a flow of assist control processing of the select lever 2 executed by the control unit 22.

  In step S1, the stroke angle (operation position) is read from the stroke angle signal of the potentiometer 25, and the process proceeds to step S2.

  In step S2, the operation direction of the select lever 2 is calculated from the stroke angle of the select lever 2 and the increase / decrease difference between the stroke angles read in the previous control cycle, and the process proceeds to step S3.

  In step S3, a drive command value is calculated from the input stroke angle signal.

  In step S4, the output duty ratio of the electric motor 15 is controlled according to the drive command value, and this control is terminated.

[Operation reaction force characteristics of automatic transmission]
FIG. 6 is a characteristic diagram showing an operation reaction force generated in the select lever 2 in the P → R range direction, more precisely, the select knob 4 held by the driver. This operation reaction force characteristic is an axis detected as an operation reaction force on the output shaft 12 of the assist actuator 9 when the driver operates the select lever 2 in the P → R range direction without driving the electric motor 15. The torque is converted as an operation reaction force Fm [N] generated in the select knob 4 and compared with the stroke angle acquired by the potentiometer 25.

  This operation reaction force is a combination of the load force generated by the detent of the automatic transmission 19 described above and the frictional force of the control cables 8 and 18 and the inertia of the electric motor 15. That is, in order to switch the range in the absence of the assist force by the electric motor 15, a manual operation force greater than the operation reaction force Fm is required.

As shown in FIG. 6, the operation reaction force Fm generated when the select lever 2 is operated in the P → R range direction is initially opposite to the operation direction of the select lever 2 (D → N range) between the ranges. Direction), changes direction after the peak, occurs in the same direction as the operation direction (P → R range direction), and converges to zero near the range switching position (stop position). This characteristic is caused by the load force generated when the detent pin 29 gets over the cam crest 27 a of the detent plate 27. That is, until the detent pin 29 gets over the cam mountain 27a, a resistance force is generated by the urging force of the spring plate 28. After the detent pin 29 gets over the cam mountain 27a, the detent pin 29 moves to This is because a pulling force (inertial force) is generated by falling into the groove.
Note that a force similar to the detent force is applied to the check mechanism. This is called check power. Since the explanation is the same as the detent force, it will be omitted.

[Target operation reaction force characteristics]
FIG. 7 is a characteristic diagram showing the target operation reaction force of the select lever 2 in the P → R range direction. This target operation reaction force characteristic is obtained by setting in advance a target operation reaction force Ft [N] that provides a favorable operation characteristic with a sense of moderation for the driver according to the stroke angle of the select lever 2. Based on this, ideal characteristics shown in FIGS. 9 and 10 are generated.

[Background of control methods]
Conventionally, for example, as a feedback method, a table of ideal FS characteristics (relationship between operation position and required operation force) of the operation force is searched from the operation position, and the target operation force is set. Then, the difference between the target operating force and the detected actual operating force is calculated, and the drive command value is calculated so that the difference becomes smaller.

  However, the time required for range switching is about 200 to 300 msec in normal operation. In such a time, the transient delay of the operation force with respect to the target operation force exists to such an extent that it cannot be ignored. As a result, in reality, the target operating force is dynamically processed in consideration of the above-described delay of the operating force with respect to the target operating force, so that the resultant operating force approaches an ideal value. There is a need. Such a countermeasure method requires trial and error tuning and has a problem that control design becomes difficult.

  Also, if a feedback controller that can follow the actual operating force with little delay with respect to the target operating force can be designed, the conventional example simply sets the target operating force from the operating position. Even if the operation acceleration is increased, the operation force does not change, and this means that the equivalent inertia decreases as the operation acceleration increases. Here, in addition, if the inertia is constant, the operation force increases as the operation acceleration is increased. Since the normal select lever without assist has constant inertia, there is a problem that when the assist is performed by the conventional method, for example, simple feedback, the operation feels strange due to the assist control being performed. .

Further, when an operation reaction force (= operation force) proportional to the operation speed is appropriately applied, a calm operation feeling can be added. However, if the target operating force set at the operating position is to be realized as in the conventional example, the operating force does not increase even if the operating speed is changed. That is, there is a problem that even if it is appropriate as a feeling of calm at a certain speed, it is insufficient in a portion where the operation speed becomes large in the latter half of the operation.
The select assist device for the automatic transmission according to the first embodiment solves these problems.

[Control action to bring it closer to the ideal state]
In the first embodiment, a control model is set as shown in FIG.
FIG. 8 is a block diagram including the control model of the first embodiment.
That is, in the configuration of Example 1, J is the inertia around the select lever shaft, D is the viscous friction coefficient around the select lever shaft, K is the spring constant of the combined force of detent force and check force, and Ji is the ideal value of J , Di is the ideal value of D, and Ki is the ideal value of K.

Here, the transfer function from the operation force to the operation position is set to 1 / (Js ² + Ds + K).
As shown in FIG. 11, the drive command value calculation unit 31 first obtains an actual spring constant K from the operation position in the table data unit 312. Next, an ideal spring constant Ki is obtained in the ideal table data section 313 from the operation position. K-Ki is calculated and output by the adder 314, and the operation command value is calculated by multiplying the operation position as a gain.
As a result, a drive command value corresponding to the deviation between the ideal state and the actual state is given without control delay.

The determination of the drive command value may be obtained by a process of multiplying the operation force by K or Ki as shown in FIG.
Therefore, for example, since the control delay due to feedback control or the like is not negligible, it is possible to realize control close to the ideal state without performing tuning such as giving an unnatural control amount to a part of the control path. it can.

  In other words, if the characteristics of inertia and check + detent to be controlled are obtained, a driving force command value that can automatically obtain an ideal operation feeling can be calculated by using these values as control parameters. Therefore, there is no need to perform trial and error tuning for obtaining an ideal operation feeling as described above. In addition, the inertia and check + detent characteristics that provide an ideal feeling of operation can be used even if the object to be controlled changes once they are basically obtained once. In other words, in the case of tuning, when it is installed in a different vehicle type, it is necessary to tune again, but in the case of the first embodiment, the setting of the ideal operation feeling can be used even in the case of a different vehicle type. It can be done.

In the select assist device for the automatic transmission according to the first embodiment, the inertia constant and check + detent spring constant, which are parameters of the transfer function to be controlled, are ideally changed. The inertia is not changed by changing the operation speed or the operation acceleration, and is fixed to the ideal inertia.
As a result, the user does not feel uncomfortable operation due to the assist control being performed. In addition, although it is appropriate as a feeling of calm at a certain speed, it is possible to eliminate a shortage in a portion where the operation speed becomes large as in the latter half of the operation.

Next, the effect will be described.
In the automatic transmission select assist device of the present embodiment, the following effects can be obtained.

(1) The select lever 2 has a projection amount of about 150 mm less than the conventional select lever, and the select lever 2 and the control arm 20 are connected via control cables 8 and 18. The degree of freedom of the interior layout of the vehicle is greater than that of the product, and the select lever 2 can be set at an arbitrary position in the vehicle interior such as an instrument panel.
Further, since the select lever 2 and the control arm 20 are mechanically connected by the control cables 8 and 18, the driver can manually switch the range position even when the assist actuator 9 or the control unit 22 fails.

Further, the control unit 22 applies all or a part of the parameters constituting the transfer function {1 / (Js ² + Ds + K)} from the operation force applied to the select lever to the displacement of the operation position generated as a result. A drive command value calculation unit 31 that calculates a drive command value to the assist actuator from the operation state of the select lever based on an actual value of the parameter and an ideal value that obtains an ideal feeling of operation. A check mechanism provided so as to apply a check force to the select lever 2 so as to be easily positioned at the operation position corresponding to each range switching position, a spring constant corresponding to the inclination of the generated force with respect to the operation position of the detent mechanism, Viscous friction coefficient for viscous friction force component generated in proportion to operation speed and select assist device Since the inertia of each part is converted to the inertia on the rotary axis of the select lever 2, the ideal operating state can be obtained without performing trial and error tuning. It is possible to prevent an uncomfortable feeling caused by performing the assist control.

  (2) Some parameters used for the calculation of the drive command value are spring constants, and the potentiometer 25 detects the operating position of the select lever 2, so that the spring as a characteristic that changes with respect to the operating position. By bringing the constant closer to the ideal state, a control state close to the ideal can be obtained.

The select assist device for an automatic transmission according to the second embodiment is an example in which a drive command value is obtained in consideration of a spring force acting on the select lever and a viscous force acting on the select lever.
First, the configuration will be described.
FIG. 15 is a control block diagram of the control unit 22 in the select assist device for the automatic transmission according to the second embodiment.

  In the second embodiment, first, as shown in FIG. 16, a speed sensor 91 for detecting the speed of the operation transmitted from the select lever 2 is provided. As the speed sensor 91, for example, the same part as the potentiometer 25 is divided into a movable side and a fixed side, a light emitting part and a light receiving part are provided on the fixed side that does not move by the operation of the select lever 2, and moves by the operation of the select lever 2. There are some which provide a plurality of reflecting parts on the side and detect the speed by the number of reflections for a predetermined time.

The drive command value calculation unit 33 includes a multiplier 331, a multiplier 332, and an adder 333.
The multiplier 331 multiplies Ki-K as a gain with the detected operation position as an input, and outputs the result.
The multiplier 332 takes the detected operation speed as an input, multiplies Di-D as a gain, and outputs the result.
The adder 333 adds the output of the multiplier 331 and the output of the multiplier 332, and outputs the result as a drive command value.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Action considering viscosity]
In the second embodiment, the gain obtained by subtracting the actual viscous friction coefficient around the select lever axis from the ideal viscous friction coefficient around the select lever axis. As a result, a control amount corresponding to the ideal viscosity and the actual deviation can be obtained, and the ideal state can be brought closer to the ideal state without any control delay.
Further, in the second embodiment, since the drive command value is calculated in consideration of the spring constant and the viscosity, it is possible to approach an ideal operation feeling without trial and error tuning.

Explain the effect.
The select assist device for an automatic transmission according to the second embodiment has the following effects in addition to the above (1).
(3) Some parameters used for the calculation of the drive command value are a spring constant and a viscous friction coefficient. The operation state detecting means includes a potentiometer 25 for detecting the operation position of the select lever, and a speed for detecting the operation speed. Since the sensor 91 is used, a spring constant as a characteristic that changes with respect to the operation position and a viscous friction coefficient as a characteristic that changes with respect to the operation speed are brought closer to the ideal state, thereby obtaining a control state that is closer to the ideal. be able to.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

The select assist device for an automatic transmission according to the third embodiment is an example in which a drive command value is obtained in consideration of a spring force acting on the select lever, a viscous force acting on the select lever, and an inertia acting on the select lever.
First, the configuration will be described.
In the third embodiment, as shown in FIG. 16, the output shaft 12 is provided with a torque sensor (input operating force detection means) 21 that detects distortion (twist) generated between the input lever 10 and the worm gear 14. The operation force signal detected by the torque sensor 21 is amplified by an amplification amplifier (not shown) and transmitted to the control unit 22 via the wire harness 23. Based on the detection signal of the torque sensor 21, the operation force in the select lever operation can be estimated.

FIG. 17 is a control block diagram of the control unit 22 in the select assist device for the automatic transmission according to the third embodiment.
The drive command value calculation unit 34 according to the third embodiment includes multipliers 341, 342, 343, and an adder 344.
The multiplier 341 performs an operation of multiplying the input operation force by a gain corresponding to the ratio between the actual value and the ideal value of the inertia around the select lever shaft represented by J / Ji-1.

The multiplier 342 calculates the difference between the ideal value and the actual value of the spring constant in consideration of the actual value of the inertia around the select lever shaft and the ideal value represented by Ki × (J / Ji) −K as a gain at the operation position. Performs multiplication.
The multiplier 343 multiplies the difference between the actual value of the viscous friction coefficient considering the ideal value and the actual value of the inertia around the select lever shaft expressed by D × (J / Ji) −D as the gain at the operation position. I do.
The adder 344 performs an operation of subtracting the outputs of the multipliers 342 and 343 from the output of the multiplier 341.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Action taking inertia into account]
In the third embodiment, the multiplier 341 calculates the drive command value to be multiplied by the input operation force by using the difference J / Ji−1 from the previous ratio of the ideal value Ji of the inertia J and J around the select lever axis as a gain. Is provided. Inertia is also taken into account so that the multiplier 342 that multiplies the spring constant by the operating position and the multiplier 343 that multiplies the viscous friction coefficient by the operating speed include J / Ji in the arithmetic expression.

As a result, the drive command value is calculated as a control amount corresponding to the deviation so as to bring the actual value J closer to the characteristic of the ideal value Ji of the inertia. As a result, a state closer to the ideal operation state can be realized without a control delay.
In the third embodiment, the spring constant and the inertia are taken into consideration, and the drive command value is calculated. Therefore, the operation feeling can be brought closer to an ideal operation without trial and error tuning.

Explain the effect. In addition to the above (1), the select assist device for the automatic transmission according to the third embodiment has the following effects.
(4) Some parameters used for calculating the drive command value are a spring constant and a rotary shaft equivalent inertia of the select lever 2. The operation state detecting means includes a potentiometer 25 for detecting the operation position of the select lever, Since the speed sensor 91 detects the speed and the torque sensor 21 detects the operation force input to the select lever 2, the operation state caused by the spring constant and inertia can be made closer to the ideal state.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

The select assist device for an automatic transmission according to the fourth embodiment is an example in which a drive command value is obtained in consideration of a spring force acting on the select lever, a viscous force acting on the select lever, and an inertia acting on the select lever.
First, the configuration will be described.
FIG. 18 is a control block diagram of the control unit 22 in the select assist device for the automatic transmission according to the fourth embodiment.
In the drive command value calculation unit 34, the multiplier 345 has a viscous friction coefficient in consideration of an actual value and an ideal value of inertia around the select lever shaft represented by Di × (J / Ji) −D as a gain at the operation position. The calculation is performed by multiplying the difference between the ideal value and the actual value.
Since other configurations are the same as those of the third embodiment, the description thereof is omitted.

The operation will be described.
[Action taking inertia into account]
In the fourth embodiment, in addition to the multipliers 341 and 342, the multiplier 345 multiplies the ideal value of the viscous friction coefficient by the ratio J / Ji of the inertia J and J ideal value Ji around the select lever shaft. The calculation to subtract the actual value of the viscous friction coefficient from is performed.
As a result, inertia is also taken into account in the calculation of the gain that eliminates the deviation between the ideal value and the actual value of the viscous friction coefficient.

As a result, the drive command value is calculated as a control amount corresponding to the deviation so as to bring the actual value J closer to the characteristic of the ideal value Ji of the inertia. As a result, a state closer to the ideal operation state can be realized without a control delay.
In the third embodiment, the spring constant, viscosity, and inertia are taken into consideration, and the drive command value is calculated. Therefore, it is possible to approach an ideal operation feeling without trial and error tuning.

FIG. 19 is a graph showing ideal characteristics, actual detent + check generation force characteristics, and test results in Example 4.
The inertia J around the select lever shaft is 0.0135 kg · m ² , the ideal inertia Ji is 0.0090 kg · m ² (Ji / J = 1.5), and the viscous friction coefficient D around the select lever shaft is 1.0 Nms. The ideal viscous friction coefficient Di is set to 1.4 Nms (Di = D / 0.7). Further, the test was performed on the condition that the graph of the actual value and the ideal value of the detent characteristic and the check characteristic is as shown in FIG.
First, an ideal characteristic of the operation force with respect to the operation position (operation angle) is as shown in FIG. On the other hand, the test results are as shown in FIG. In FIG. 19 (a), the drive command value is converted into the operation force at the upper position at most operation positions, and the resultant operation force is a line positioned at the lower position at most operation positions. It was.

  By performing the assist as in the fourth embodiment, the same operating position-operating force characteristics as operating the select lever having the ideal characteristics (Ji, Di, ideal check) can be obtained. Therefore, the operational feeling is the same. As for the operation position-operation force characteristic, the ideal position of the operation position-operation force characteristic is reduced from 8 deg to about 3.5 deg. As a result, the operating force also crosses 0N in the vicinity of 4.5 deg, which is close to 3.5 deg. Since this is influenced by inertia and viscosity, it is considered that the 0N crossing position of the operation force and the check and detent do not completely match. However, since the actual check and detent characteristics generate a positive force (in the direction of increasing the operation) until the operation position reaches 8 deg, the driving force command value increases to around 8.5 deg. Assist side). As described above, in the fourth embodiment, it is possible to obtain an operational feeling equivalent to operating an ideal characteristic mechanism based on a difference between an actual characteristic and an ideal characteristic, instead of simply reducing the operating force. Operation force assist can be performed.

Explain the effect. The select assist device for an automatic transmission according to the fourth embodiment has the following effects in addition to the effect (1).
(5) Some parameters used for the calculation of the drive command value are the spring constant, the viscous friction coefficient, and the rotary lever equivalent inertia of the select lever. The operation state detecting means is a potentiometer that detects the operation position of the select lever. 25, the speed sensor 91 for detecting the operation speed, and the torque sensor 21 for detecting the operation force input to the select lever 2, the operation state caused by the spring constant, viscosity, and inertia is made closer to the ideal state. be able to.
Since other functions and effects are the same as those of the third embodiment, description thereof is omitted.

The fifth embodiment is an example in which the operation speed is obtained by calculation.
First, the configuration will be described.
FIG. 20 is a control block diagram of the control unit 22 in the select assist device for the automatic transmission according to the fifth embodiment.
In the fifth embodiment, the speed sensor 91 is not provided as shown in FIG.

In the drive command value calculation unit 34 of the fifth embodiment, the operation speed calculation unit 346 performs a differential calculation of the input operation position and outputs the operation speed.
Since other configurations are the same as those of the fourth embodiment, description thereof is omitted.

The operation will be described.
[Action to reduce costs]
In the fifth embodiment, since the operation position is performed by differential calculation, the speed sensor 91 that is likely to cause a problem in cost can be omitted.
This reduces the cost.

Explain the effect.
The select assist device for an automatic transmission according to the fifth embodiment has the following effects in addition to the effect (1).
(6) Since the operation speed of the select lever 2 is obtained by calculation by differentiating the operation position, the sensor can be omitted and the cost can be suppressed.
Since other functions and effects are the same as those of the fourth embodiment, description thereof is omitted.

(Other embodiments)
As mentioned above, although embodiment of this invention has been demonstrated based on Examples 1-5, the concrete structure of this invention is not limited to Examples 1-5, and the summary of invention Any design change within a range that does not deviate from the above is included in the present invention.
For example, in the first embodiment, the torque sensor 21 is used as the input operation force detection means for detecting the input operation force of the select lever 2. However, the input operation is performed based on the supply current value to the electric motor 15, the rotation speed of the electric motor 15, and the like. It is good also as a structure which estimates force.
In the first embodiment, the configuration in which the select lever 2 and the control arm 20 of the automatic transmission 19 are connected by the control cables 8 and 18 is shown. However, the operation force transmitting means for transmitting the operation force of the select lever 2 to the control arm 20 is arbitrary. It is good also as a structure using a rod or linkage.

The shape and size of the select lever 2 are arbitrary, and may be a switch shape that can be operated with a fingertip. In addition, the target operation reaction force characteristic is also changed to a characteristic that provides good operation characteristics according to the shape of the select lever 2.
In the first to fifth embodiments described above, any of the embodiments may be adopted as the best mode according to the characteristics of the system and vehicle used, the space situation, the cost requirements, and the like. A part of the fifth embodiment may be combined.

1 is a side view illustrating a configuration of an automatic transmission according to a first embodiment. It is a principal part perspective view which shows the detailed structure of an assist actuator. It is a control block diagram of a control unit. It is a perspective view which shows the structure of the detent of an automatic transmission. It is a flowchart which shows the flow of the assist control process of the select lever performed with a control unit. It is a characteristic view which shows the operation reaction force which generate | occur | produces in a select lever in the P → R range direction. It is a characteristic view which shows the target operation reaction force of the select lever in the P → R range direction. FIG. 3 is a block diagram including a control model of the first embodiment. It is a graph which shows the relationship between the check force with respect to an operation position, and the synthetic | combination generation force of a detent force. It is a graph which shows the relationship of the spring constant of the check force with respect to an operation position, and the synthetic | combination force of a detent force. FIG. 3 is a block diagram of a drive command value calculation unit of the control unit of the select assist device for the automatic transmission according to the first embodiment. It is a block diagram of the other example of the drive command value calculating part of the control unit of the selection assistance apparatus of the automatic transmission of Example 1. It is the schematic of the structure regarding the detent force in Example 1, and a check force. It is the schematic of the other example of the structure regarding the detent force in Example 1, and a check force. FIG. 6 is a control block diagram of a control unit in a select assist device for an automatic transmission according to a second embodiment. It is a principal part perspective view which shows the detailed structure of the assist actuator in the select assist apparatus of the automatic transmission of Example 2. FIG. FIG. 6 is a control block diagram of a control unit 22 in a select assist device for an automatic transmission according to a third embodiment. FIG. 9 is a control block diagram of a control unit 22 in a select assist device for an automatic transmission according to a fourth embodiment. It is a graph which shows the ideal characteristic in Example 4, an actual detent + check generating force characteristic, and a test result. FIG. 10 is a control block diagram of a control unit 22 in a selection assist device for an automatic transmission according to a fifth embodiment.

Explanation of symbols

1 select mechanism 2 select lever 3 center cluster 4 select knob 5 fulcrum shaft 7 select lever joint 8 control cable 9 assist actuator 10 input lever 11 input lever joint 12 output shaft 13 output lever 14 worm gear 15 electric motor 16 motor output shaft 17 output Lever joint 18 Control cable 19 Automatic transmission 20 Control arm 21 Torque sensor 22 Control unit 23 Wire harness 24 Contact 25 Potentiometer 26 Rotating shaft 27 Detent plate 27a Cam mountain 27b Valley 28 Spring plate 29 Detent pin 300 Parking pole 301 Cam shape Plate 302 Parking gear 31 Drive command value calculation unit 32 Motor drive control unit 33 Drive command value calculation 34 Drive command value calculation unit 51 Check plate 52 Check pin 53 Spring 91 Speed sensor 311 Multiplier 312 Table data unit 313 Ideal table data 313 Ideal table data unit 314 Adder 315 Table data unit 316 Ideal table data unit 331 Multiplier 332 Multiplication 333 Adder 341 Multiplier 342 Multiplier 343 Multiplier 344 Adder 345 Multiplier 346 Operation speed calculator

Claims (6)

The select lever and the automatic transmission select position switching device are connected by a select operation force transmission system, and the select operation force transmission system is provided with an assist actuator for assisting the select operation force by the driver. In the device
An operation state detecting means for detecting an operation state of the select lever is provided,
Provide assist control means for controlling the drive of the assist actuator,
The assist control means includes
With respect to the parameters constituting the transfer function from the operating force applied to the select lever to the resulting displacement of the operating position, actual values and ideal operating feelings of all parameters or some parameters are obtained. Drive command value calculating means for calculating a drive command value to the assist actuator from an operation state of the select lever based on an ideal value,
The parameter is
A spring constant corresponding to the slope of the generated force with respect to the operation position of the check mechanism provided to apply a check force to the select lever so as to be easily located at the operation position corresponding to each range switching position;
A viscous friction coefficient for a viscous friction force component generated in proportion to the operation speed of the select lever;
A select lever rotating shaft equivalent inertia in which the inertia of each part of the select assist device is converted into an inertia on the rotating shaft of the select lever.
A select assist device for an automatic transmission. In the automatic transmission select device according to claim 1,
The part of the parameter used for calculating the drive command value is the spring constant, and the operation state detection means detects an operation position of the select lever.
A select assist device for an automatic transmission. In the automatic transmission select assist device according to claim 1,
The some parameters used for calculating the driving command value are the spring constant and the viscous friction coefficient,
The operation state detection means is means for detecting an operation position of the select lever and means for detecting an operation speed.
A select assist device for an automatic transmission. In the automatic transmission select assist device according to claim 1,
The partial parameters used for calculating the drive command value are the spring constant and the rotary shaft equivalent inertia of the select lever,
The operation state detection means is means for detecting an operation position of the select lever, means for detecting an operation speed, and means for detecting an operation force input to the select lever.
A select assist device for an automatic transmission. In the automatic transmission select assist device according to claim 1,
The partial parameters used for calculating the driving command value are the spring constant, the viscous friction coefficient, and the rotary shaft equivalent inertia of the select lever.
The operation state detection means is means for detecting an operation position of the select lever, means for detecting an operation speed, and means for detecting an operation force input to the select lever.
A select assist device for an automatic transmission. In the automatic transmission select assist device according to any one of claims 3 to 5,
The operation speed of the select lever is obtained by calculation by differentiating the operation position.
A select assist device for an automatic transmission.

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