JP2012102765A - Hydraulic control device - Google Patents

Abstract

Provided is a hydraulic control device capable of performing hydraulic control in consideration of individual differences of devices, deterioration with time, and the like.
In a hydraulic control device for supplying pressure oil to a hydraulic chamber of an actuator or discharging pressure oil in a hydraulic chamber and controlling pressure in the actuator, hydraulic stiffness detection means for detecting the hydraulic stiffness of the hydraulic chamber. Steps S11 to S13) and correction means (Step S11) for correcting the control amount for supplying and discharging the pressure oil to and from the hydraulic chamber based on the hydraulic stiffness detected by the hydraulic stiffness detection means (Steps S11 to S13). S14).
[Selection] Figure 1

Description

  The present invention relates to a hydraulic control device that controls pressure in an actuator by supplying or discharging hydraulic pressure to a hydraulic chamber of the actuator.

  Conventionally, a belt type continuously variable transmission in a vehicle is configured to control the pressure of each pulley by supplying or discharging hydraulic pressure to a hydraulic chamber attached to each of a pair of pulleys around which the belt is wound. ing. That is, a control valve for supplying and discharging the pressure oil in each hydraulic chamber is provided, and the control valve is controlled to open and close to supply and discharge the pressure oil in the hydraulic chamber. Therefore, the belt-type continuously variable transmission configured in this way changes the groove width of the pulley and opens the transmission ratio by supplying and discharging the pressure oil in the hydraulic chamber of one pulley by opening the control valve. By changing the pressure oil in the hydraulic chamber of the other pulley and opening / closing the other control valve, the clamping pressure for clamping the belt can be changed.

  In addition, since the hydraulic control device in the vehicle drives the oil pump using the power or electric power of the power source of the vehicle, the pressure from the hydraulic chamber and the control valve is kept constant when the transmission ratio and the clamping pressure are kept constant. By eliminating oil leakage, the frequency of driving the oil pump can be reduced, and as a result, fuel consumption can be improved.

  Therefore, Patent Document 1 uses a control valve that opens and closes a port by a balance between the elastic force generated by the elastic body and the electromagnetic force generated in a direction opposite to the elastic force by energizing the solenoid. In order to keep the transmission gear ratio and the clamping pressure constant, there is described an electromagnetic valve configured to stop energization of the solenoid and close the port so as to eliminate leakage of pressure oil from the control valve. Each pulley is provided with a hydraulic pressure supply solenoid valve and a hydraulic pressure discharge solenoid valve configured as described above.

European Patent No. 0985855

  Since the hydraulic control device configured as described above can suppress or prevent leakage of pressure oil from the hydraulic chamber or the electromagnetic valve by closing each electromagnetic valve, the gear ratio and clamping pressure can be reduced. While the pressure is kept constant, it is not necessary to drive the oil pump, and as a result, the fuel consumption of the vehicle can be improved. In addition, the solenoid valve for hydraulic pressure supply and the solenoid valve for hydraulic pressure discharge have less leakage, so the control response of the hydraulic pressure in the hydraulic chamber is improved according to the amount of pressure oil supplied or discharged by opening one solenoid valve. Can be made.

  On the other hand, the control response of the hydraulic pressure is good, but the change in behavior based on the change in hydraulic pressure occurs quickly and accurately. Therefore, the characteristics of the oil, the individual differences of the hydraulic equipment, etc., or deterioration over time were assumed in the design. When it deviates from an assumed value or changes over time, the hydraulic response and the hydraulic controllability are lowered, and a technique for replacing this is necessary.

  The present invention has been made paying attention to the above technical problem, and an object of the present invention is to provide a hydraulic control device capable of performing hydraulic control in consideration of individual differences of devices, deterioration with time, and the like. is there.

  In order to achieve the above object, the invention of claim 1 is directed to a hydraulic control apparatus for controlling pressure in an actuator by supplying pressure oil to a hydraulic chamber of an actuator or discharging pressure oil in a hydraulic chamber. Hydraulic rigidity detection means for detecting the hydraulic rigidity of the chamber, and correction means for correcting a control amount for supplying and discharging pressure oil to and from the hydraulic chamber based on the hydraulic rigidity detected by the hydraulic rigidity detection means. It is characterized by being.

  According to a second aspect of the present invention, in the first aspect of the invention, the hydraulic rigidity detecting means is a degree of change in pressure in the actuator with respect to a supply amount of pressure oil to the hydraulic chamber or a discharge amount of pressure oil from the hydraulic chamber. The hydraulic control device includes means for detecting the hydraulic rigidity based on the hydraulic pressure.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the hydraulic pressure in the hydraulic chamber reaches a target hydraulic pressure when the hydraulic rigidity detecting means detects a state in which the hydraulic rigidity is continuously changing. The hydraulic control device is characterized in that an integration term in hydraulic control is not reset later.

  According to a fourth aspect of the present invention, in any one of the first to third aspects of the present invention, the control device further includes a control valve that supplies or discharges the pressure oil by opening the port, and the correction means includes the control valve. The hydraulic control apparatus includes means for correcting a control amount.

  According to the first aspect of the present invention, the hydraulic rigidity detecting means for detecting the hydraulic rigidity of the hydraulic chamber of the actuator, and the pressure oil is supplied to and discharged from the hydraulic chamber based on the hydraulic rigidity detected by the hydraulic rigidity detecting means. Since a correction means for correcting the control amount is provided, even when the hydraulic stiffness changes due to factors such as oil temperature and deterioration over time, the control amount for supplying and discharging pressurized oil is corrected based on the changed hydraulic stiffness. The hydraulic pressure can be controlled. Therefore, it is possible to suppress or prevent deterioration of controllability due to oversupply or supply shortage of pressure oil, excessive discharge or insufficient discharge.

  According to the invention of claim 2, the hydraulic rigidity detecting means detects the hydraulic rigidity based on the degree of pressure change in the actuator with respect to the amount of pressure oil supplied to the hydraulic chamber or the amount of pressure oil discharged from the hydraulic chamber. Therefore, it is possible to detect the hydraulic rigidity that changes due to various factors, and as a result, it is possible to supply and discharge the pressure oil based on the hydraulic rigidity. Therefore, it is possible to suppress or prevent deterioration of controllability due to oversupply or supply shortage of pressure oil, excessive discharge or insufficient discharge.

  Furthermore, according to the invention of claim 3, even when the hydraulic rigidity reaches the target hydraulic pressure when the hydraulic rigidity detection means detects that the hydraulic rigidity is continuously changing, the integrated term in the hydraulic control is obtained. Even if the oil pressure changes due to the change in oil pressure rigidity after reaching the target oil pressure, when the oil pressure converges to the target oil pressure again, the oil pressure is quickly converged to the target oil pressure using the integration term. Can do.

  According to the invention of claim 4, further comprising a control valve for supplying or discharging the pressure oil by opening the port, and the correcting means includes means for correcting the control amount of the control valve. Based on the hydraulic rigidity detected by the means, the control amount of the control valve that supplies and discharges the pressure oil to and from the hydraulic chamber can be corrected. As a result, it is possible to suppress or prevent deterioration of controllability due to oversupply or supply shortage of pressure oil or excessive discharge or discharge shortage.

It is a flowchart for demonstrating the 1st control example by the hydraulic control apparatus which concerns on this invention. It is a flowchart for demonstrating the 2nd control example by the hydraulic control apparatus which concerns on this invention. It is a flowchart for demonstrating the 3rd control example by the hydraulic control apparatus which concerns on this invention. It is a flowchart for demonstrating the 4th example of control by the hydraulic control apparatus which concerns on this invention. It is a flowchart for demonstrating the 5th control example by the hydraulic control apparatus which concerns on this invention. It is a flowchart for demonstrating the 6th control example by the hydraulic control apparatus which concerns on this invention. It is the schematic which shows an example of the hydraulic circuit in the hydraulic control apparatus which concerns on this invention.

  The present invention controls oil pressure by supplying and discharging pressure oil, and can be used for various devices such as a power transmission device mounted on a vehicle, an aircraft, or the like, or a device used for an industrial machine. Here, the belt type continuously variable transmission 1 mounted on the vehicle will be described as an example. FIG. 7 shows an example of a configuration of the belt-type continuously variable transmission 1 and a hydraulic circuit that supplies and discharges the hydraulic pressure of the belt-type continuously variable transmission 1. First, the configuration of the belt type continuously variable transmission 1 will be briefly described. The belt type continuously variable transmission 1 includes a pair of pulleys 2 and 3 and a belt 4 that is wound around the pulleys 2 and 3 and transmits power. Each of the pulleys 2 and 3 includes movable sheaves 2a and 3a that are movable and rotatable in the axial direction, and fixed sheaves 2b and 3b that are rotatably held. Furthermore, the movable sheaves 2a and 3a are provided with hydraulic chambers 2c and 3c attached to the surface opposite to the surface facing the fixed sheaves 2b and 3b, and the pressure supplied to and discharged from the hydraulic chambers 2c and 3c. By changing the oil amount or the hydraulic pressure, the movable sheaves 2a and 3a are moved in the axial direction or the pressure acting in the axial direction is changed.

  Next, an example of a hydraulic circuit for supplying and discharging pressure oil to and from the hydraulic chambers 2c and 3c will be described with reference to FIG. First, hydraulic supply control valves 5 and 6 and hydraulic discharge control valves 7 and 8 are connected to the hydraulic chambers 2c and 3c, respectively. Among them, the hydraulic discharge control valves 7 and 8 are configured to discharge the pressure oil in the hydraulic chambers 2 c and 3 c to the oil pan 9 by opening. On the other hand, the hydraulic supply control valves 5 and 6 are connected to an oil pump 10 that pumps oil from the oil pan 9. Accordingly, by driving the oil pump 10 with the hydraulic supply control valves 5 and 6 closed, the oil pressure of the oil located between the hydraulic supply control valves 5 and 6 and the oil pump 10 is increased. Can do. Further, an accumulator 11 is provided between the hydraulic pressure supply control valves 5 and 6 and the oil pump 10 in order to suppress or prevent hydraulic pressure control delay. That is, the accumulator 11 is in a transient state such as when the oil pump 10 starts to be driven, and the pressure is increased in a state where the hydraulic pressure located between the hydraulic supply control valves 5 and 6 and the oil pump 10 is reduced. When there is a request, the hydraulic pressure accumulated in the accumulator 11 is supplied to the hydraulic pressure supply control valves 5 and 6. The oil pump 10 may be a mechanical oil pump that is driven by using the power of the power source 12 of the vehicle, or may be an electric oil pump. Further, in the above-described hydraulic circuit, hydraulic pressure detection sensors 15 and 16 and hydraulic chambers 2c and 3c that are provided in oil passages 13 and 14 that communicate with the hydraulic chambers 2c and 3c and detect the hydraulic pressure of the hydraulic chambers 2c and 3c. Oil temperature detection sensors 17 and 18 are provided for detecting the oil temperature.

  The control valves 5, 6, 7, and 8 in the hydraulic circuit configured as described above may be control valves configured to be able to supply and discharge pressure oil by opening and closing ports. The opening and closing of the port may be hydraulic, may utilize a cam mechanism, or may be electrically driven. In addition, when the port is in a closed state, a control valve that causes little leakage of pressure oil is preferable. As an example, there is a poppet valve that presses a valve element against the port to close the valve. The control valve exemplified here is a poppet type solenoid valve, and by energizing the solenoid, an electromagnetic force is generated on the shaft of the magnetic body formed integrally with the valve body, and the electromagnetic force and the valve body are The port is configured to open and close by a balance with the elastic force of the elastic body that presses toward the port side.

  Then, signals such as the hydraulic pressure detection sensors 15 and 16 and the oil temperature detection sensors 17 and 18 or the gear ratio of the belt-type continuously variable transmission 1 are input to an electronic control unit (ECU) 19 based on the signals. A current is output to each control valve 5, 6, 7, 8.

  Next, a control example of the hydraulic control device according to the present invention will be described. FIG. 1 is a flowchart for explaining a first control example for controlling the hydraulic pressure having the above-described configuration. First, a factor that affects the hydraulic rigidity is detected (step S11 to step S13). Specifically, first, the gear ratio of the belt type continuously variable transmission 1 is detected (step S11). This is because the volume of the hydraulic chambers 2c and 3c varies depending on the gear ratio, and the amount of change in hydraulic pressure per unit supply / discharge amount differs. Next, if the differential pressure between the hydraulic pressure in the hydraulic chambers 2c and 3c and the line pressure set by the oil pump 10 is small, the hydraulic pressure change rate when the control valve is opened, that is, the hydraulic pressure change amount per valve opening time is Since they are different, the hydraulic pressure in the hydraulic chambers 2c and 3c is detected (step S12). Furthermore, if the oil temperature is high, the oil volume expands and the oil pressure increases. Conversely, if the oil temperature is low, the volume contracts and the oil pressure decreases, so the oil temperature in the hydraulic chambers 2c and 3c is detected. (Step S13).

  Then, based on the signals detected in steps S11 to S13, an optimum current to be supplied to each control valve 5, 6, 7, 8 is derived from a hydraulic rigidity map prepared in advance (step S14). An electric current is output and this control is once complete | finished (step S15).

  Thus, by detecting a factor that affects the change in hydraulic rigidity in advance, the current based on the hydraulic rigidity can be corrected and output to each control valve 5, 6, 7, 8. Therefore, it is possible to improve the controllability due to the excessive output of the current or the shortage of the output current, that is, the control convergence.

  Next, a second control example using another detection method for detecting hydraulic rigidity will be described. FIG. 2 is a flowchart for explaining the second control example. First, the output current detected immediately before is detected (step S21). In the configuration described above, the electronic control unit 19 repeatedly detects signals from the sensors 15, 16, 17, and 18 in a very short time. Further, the differential pressure between the input side and the output side of the valve when the output current is detected in step S21 is detected (step S22). Then, the hydraulic pressure gradient ΔP under the conditions of step S21 and step S22 is detected (step S23). That is, since the electronic control unit 19 repeatedly detects each signal in a very short time, it calculates or detects the hydraulic pressure gradient ΔP from the detected change in hydraulic pressure. In this way, by detecting the hydraulic pressure gradient ΔP with respect to the immediately preceding control amount, it is possible to estimate or detect whether the hydraulic rigidity is increasing or decreasing, or how much the increase / decrease amount is.

  Then, the hydraulic stiffness at that time is calculated from the hydraulic gradient ΔP under the conditions of step S21 and step S22 (step S24), and the control valve (hydraulic supply control valve 5 (6) is calculated from the hydraulic stiffness calculated in step S24. )) Is derived from a hydraulic stiffness map prepared in advance (step S25), the optimum current is output, and this control is terminated (step S26).

  Thus, by calculating the hydraulic rigidity by detecting the hydraulic gradient ΔP when the control valve is opened immediately before, the control amount of the control valve can be set, and the delay in control responsiveness is suppressed or prevented. be able to.

  Next, a description will be given of a third control example in which the hydraulic rigidity is detected or calculated while the transmission ratio and the clamping pressure are kept constant, and the control amount of the control valve is corrected in consideration of the change in the hydraulic rigidity. . FIG. 3 is a flowchart for explaining a third control example. First, it is determined whether or not the gear ratio and the clamping pressure are constant, that is, whether or not the holding mode is set (step S31). If a negative determination is made in step S31, the previous control is maintained and this control is temporarily terminated.

  If the determination in step S31 is affirmative, the hydraulic gradient ΔP is detected as in the second control example described above (step S32). Next, the hydraulic gradient ΔP detected in step S32 is within or outside the allowable range with −P ′ and P ′ as upper and lower threshold values, and the hydraulic gradient ΔP increases. It is judged whether it is a tendency or a decreasing tendency (step S33). Note that the allowable range of the hydraulic pressure gradient ΔP shown here is, for example, that when the pressure is reduced, the hydraulic pressure reaches the upper limit value of the hydraulic pressure obtained by adding the dead band to the target hydraulic pressure, and the hydraulic pressure discharge control valve 7 (8) is closed. The hydraulic pressure gradient is such that the hydraulic pressure does not exceed the lower limit value of the hydraulic pressure obtained by adding a dead zone to the target hydraulic pressure within the range from when the valve instruction is given until the closing of the valve is completed. Therefore, when the hydraulic gradient ΔP is within the allowable range, the hydraulic rigidity hardly changes, and the hydraulic pressure can be controlled with the current control valve control amount. Therefore, the control valve control amount is changed. This control is temporarily terminated without doing so.

  On the other hand, if the hydraulic gradient ΔP is outside the allowable range in step S33 and tends to increase, that is, if the hydraulic gradient ΔP is greater than or equal to the threshold value P ′, the pressure rise due to the rise in the oil temperature. Judge. Therefore, it is necessary to change the control amount of the hydraulic pressure discharge control valve 7 (8) by judging the hydraulic rigidity at that time. Therefore, first, hydraulic rigidity is derived or calculated based on the above-described first control example or second control example (step S34). Then, the control amount of the hydraulic pressure discharge control valve 7 (8) is corrected so that the hydraulic control based on the hydraulic rigidity can be performed (step S35), and this control is temporarily ended. That is, the current to be supplied to the hydraulic pressure discharge control valve 7 (8) is corrected to be a current based on the hydraulic rigidity derived or calculated in step S34.

  Further, when the hydraulic gradient ΔP is outside the allowable range in step S33 and tends to decrease as opposed to the determination in step S33 described above, that is, when the hydraulic gradient ΔP is less than or equal to the threshold value −P ′. Then, it is determined that the pressure oil is leaking from the hydraulic chamber 2c (3c), the oil passage 13 (14), the hydraulic pressure supply control valve 5 (6), or the like. Therefore, it is necessary to change the control amount of the hydraulic pressure supply control valve 5 (6) by judging the hydraulic rigidity at that time. Therefore, first, hydraulic rigidity is derived or calculated based on the first control example or the second control example described above (step S36). Then, the control amount of the hydraulic pressure supply control valve 5 (6) is corrected so that the hydraulic pressure control based on the hydraulic rigidity can be performed (step S37), and this control is once ended. That is, the current to be supplied to the hydraulic pressure supply control valve 5 (6) is corrected to be a current based on the hydraulic rigidity derived or calculated in step S36.

  As described above, although the oil pressure is normally constant, there is a possibility that the oil pressure rigidity changes due to the oil pressure changing due to the temperature of the pressure oil or leakage due to deterioration over time. Therefore, as in the third control example, a factor that affects the hydraulic stiffness is estimated by the hydraulic gradient ΔP, and the control amount of the control valve is corrected based on the hydraulic stiffness, thereby reducing the delay in the response of the hydraulic control. It can be suppressed or prevented. Specifically, since the target oil pressure allows a certain range, for example, when the oil temperature rises and the pressure increases, the oil pressure gradient increases, so the oil pressure discharge control valve 7 (8 If the pressure oil leaks and the pressure decreases, the time for energizing the solenoid is reduced or the current value to be energized is reduced. By extending the time for energizing the solenoid or increasing the value of the current to be energized, it is possible to suppress or prevent a delay in the response of the hydraulic control.

  Next, fourth and fifth control examples for determining a change in hydraulic rigidity due to disturbance, deterioration with time, and the like by a method different from the third configuration will be described. FIG. 4 is a flowchart for explaining a fourth control example. The fourth control example is for pressure increase control from the start of pressure oil supply until the target hydraulic pressure is reached and pressure increase control is completed. First, the number N of continuous energizations of the hydraulic pressure supply control valve 5 (6) from the start of pressure increase is counted (step S41). In the above-described hydraulic control device, since the port is opened by supplying current to the solenoid of the hydraulic pressure supply control valve 5 (6) and pressure oil is supplied, when the target hydraulic pressure including the dead zone is reached or When the target hydraulic pressure is exceeded, power is cut off. On the other hand, if the hydraulic pressure drops and does not stabilize at the target hydraulic pressure even when the power supply is stopped due to leakage of hydraulic oil in the hydraulic circuit, etc., the hydraulic pressure supply control valve 5 (6) is opened again. The solenoid is energized to valve. Therefore, it is determined whether or not the continuous energization count N counted in step S41 is greater than or equal to the threshold value N '(step S42). If a negative determination is made in step S42, it is determined that no pressure oil has leaked from the hydraulic circuit, and this control is temporarily terminated.

  On the other hand, if a positive determination is made in step S42, there is a possibility that the pressure oil has leaked from the hydraulic circuit. Therefore, it is necessary to correct the supply amount of pressure oil by determining the hydraulic rigidity and setting the control force to be supplied. Therefore, first, hydraulic rigidity is derived or calculated based on the first control example or the second control example described above (step S43). Then, the control amount of the hydraulic pressure supply control valve 5 (6) is corrected so that the hydraulic pressure control based on the hydraulic rigidity can be performed (step S44), and this control is once ended. In other words, the current to be supplied to the hydraulic pressure supply control valve 5 (6) is corrected so as to be a current based on the hydraulic rigidity derived or calculated in step S43.

  By detecting the number N of continuous energizations of the hydraulic pressure supply control valve 5 (6) in this way, by correcting the current energized to the solenoid in the pressure increasing process, a large amount of leaked pressure oil is supplied and the energization time For example, the frequency of the opening / closing operation of the hydraulic pressure supply control valve 5 (6) can be reduced, and the fuel efficiency of the vehicle can be improved.

  And the control example which replaced the 4th control example with pressure reduction control is a 5th control example. First, the number N of continuous energizations energized to the solenoid of the hydraulic pressure discharge control valve 7 (8) is counted (step S51). This is because when the pressure is increased in the fourth control example, while the fifth control example is when the pressure is reduced, the hydraulic discharge control valve 7 (8) used for reducing the pressure is continuous. The number N of energizations is counted. Then, it is determined whether or not the number of continuous energizations N is equal to or greater than a threshold value N '(step S52). If a negative determination is made in step S52, it is determined that the hydraulic pressure has not increased or the hydraulic pressure has changed according to the planned control amount, due to the oil temperature in the hydraulic chamber 2c (3c), etc. This control is temporarily terminated.

  On the other hand, if the determination in step S52 is affirmative, the oil pressure tends to increase due to an increase in the oil temperature in the hydraulic chamber 2c (3c), and there is a possibility that a delay in pressure reduction control will occur with the planned control amount. There is. Therefore, it is necessary to determine the hydraulic rigidity and set the control amount to be discharged to correct the pressure oil discharge amount. Therefore, first, hydraulic rigidity is derived or calculated based on the first control example or the second control example described above (step S53). Then, the control amount of the hydraulic pressure discharge control valve 7 (8) is corrected so that hydraulic control based on the hydraulic rigidity can be performed (step S54), and this control is temporarily ended. That is, the current to be supplied to the hydraulic pressure discharge control valve 7 (8) is corrected to be a current based on the hydraulic rigidity derived or calculated in step S53.

  By controlling in this way, it is possible to reduce the frequency of opening and closing operations of the hydraulic pressure discharge control valve 7 (8) by discharging a large amount of hydraulic pressure that increases as the oil temperature rises. Can improve fuel efficiency.

  In addition, when pressure oil is leaking from the hydraulic circuit or when the oil temperature continues to rise, the deviation between the target oil pressure and the actual oil pressure may not be achieved due to the fact that the actual oil pressure does not follow the target oil pressure. May grow. For this reason, conventionally, the control amount and gain are changed to converge to the target hydraulic pressure, and when the actual hydraulic pressure reaches the target hydraulic pressure, the deviation integrated value (term I) is used to prevent hydraulic hunting. Configured to reset. On the other hand, if the leakage of pressure oil or the change in oil temperature continues as described above, even if the actual oil pressure reaches the target oil pressure, the oil pressure continuously changes. It is necessary to supply and discharge. Therefore, the sixth control example according to the present invention is configured to continue the control even when the actual hydraulic pressure reaches the target hydraulic pressure, that is, not to reset the integrated value. FIG. 6 shows a flowchart for explaining the sixth control example. First, the number N of continuous energizations of the hydraulic pressure supply control valve 5 (6) or the hydraulic pressure discharge control valve 7 (8) is counted (step S61), and is the number counted in step S61 equal to or greater than a threshold value N ′? It is determined whether or not (step S62). Steps S61 and S62 are for determining whether pressure oil is leaking from the hydraulic circuit or the oil temperature is rising, as in the fourth and fifth control examples described above.

  If the determination in step S62 is affirmative, it is estimated that the pressure oil is leaking from the hydraulic circuit or the oil temperature is rising. Then, it is determined whether or not the actual hydraulic pressure has reached the target hydraulic pressure (step S63). When a negative determination is made in step S63, the supply and discharge of the pressure oil is continued and this control is temporarily terminated. On the other hand, if a positive determination is made in step S63, the control is temporarily terminated without resetting the I term (step S64). Therefore, the control of the hydraulic pressure is continuously performed in a state where the integrated term accumulated in the process of the actual hydraulic pressure reaching the target hydraulic pressure remains. As a result, even if the oil pressure fluctuates after reaching the target oil pressure, the oil pressure can be quickly converged to the target oil pressure by continuously using the integral term.

  On the other hand, when a negative determination is made in step S62, it is determined whether or not the target hydraulic pressure is swept or slightly increased or decreased (step S65). Here, the target oil pressure sweeping or slightly increasing / decreasing is a state in which the target oil pressure is slightly changed to improve controllability when the oil pressure followability is not good. Accordingly, when pressure oil is leaking from the hydraulic circuit or when the oil temperature is continuously rising, the hydraulic rigidity continues to change, so that an affirmative determination is made in step S65. If the determination in step S65 is affirmative, it is determined whether or not the target hydraulic pressure has been reached (step S63). If the target hydraulic pressure has not been reached, the supply and discharge of pressure oil is continued. End control. On the other hand, when the target hydraulic pressure is reached, this control is terminated without resetting the I term (step S64).

  Therefore, it is possible to suppress or prevent deterioration of drivability due to the target oil pressure sweeping or slightly increasing / decreasing, that is, the oil pressure increasing / decreasing within the dead zone. Further, since the hydraulic controllability is improved, the frequency of the opening / closing operation of the control valve can be reduced, and as a result, the fuel consumption of the power source can be improved.

  The present invention is not limited to the above-described configuration. For example, another device such as a check valve may be provided in the hydraulic circuit, and the oil pump 10 and the hydraulic supply control valve 5 (6) may be provided. It may be branched between and connected to another hydraulic control device. Further, in each of the above control examples, the gear ratio, the oil temperature, or the oil pressure is given as an example as a factor affecting the hydraulic rigidity, but the present invention is not limited to this.

  2c, 3c ... hydraulic chamber, 5,6 ... hydraulic supply control valve, 7,8 ... hydraulic discharge control valve, 15,16 ... hydraulic detection sensor, 17,18 ... oil temperature detection sensor.

Claims (4)

In the hydraulic control device that controls the pressure in the actuator by supplying the hydraulic oil to the hydraulic chamber of the actuator or discharging the hydraulic oil in the hydraulic chamber,
Hydraulic rigidity detecting means for detecting the hydraulic rigidity of the hydraulic chamber;
A hydraulic control apparatus comprising: a correction unit that corrects a control amount for supplying and discharging pressure oil to and from the hydraulic chamber based on the hydraulic stiffness detected by the hydraulic stiffness detection unit.   The hydraulic rigidity detecting means includes means for detecting the hydraulic rigidity based on a degree of change in pressure in the actuator with respect to a supply amount of pressure oil to the hydraulic chamber or a discharge amount of pressure oil from the hydraulic chamber. The hydraulic control device according to claim 1, characterized in that:   The integral term in the hydraulic control is not reset after the hydraulic pressure in the hydraulic chamber reaches a target hydraulic pressure when the hydraulic rigidity detecting unit detects a state in which the hydraulic rigidity is continuously changing. Item 3. The hydraulic control device according to Item 1 or 2. A control valve for supplying or discharging pressure oil by opening the port;
4. The hydraulic control apparatus according to claim 1, wherein the correction means includes means for correcting a control amount of the control valve.

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