shift device

Abstract

Provided is a shift device capable of stabilizing the torque of a motor regardless of the temperature of the motor. The shift device (100) includes: a shift switching member (21); a drive section (14); a temperature detecting section (16a); and a control section (16) configured to perform control to adjust the control gain based on the temperature detected by the temperature detecting section (16a).

Description

Technical Field

[0001] This invention relates to a gear shifting device, and more particularly to a gear shifting device having a gear shifting component comprising a plurality of valleys corresponding to the shifting position. Background Technology

[0002] Previously, it was known that there were shifting devices that included shifting components with multiple valleys corresponding to shifting positions (for example, see Patent Document 1).

[0003] Patent Document 1 discloses a shift-by-wire system comprising a positioning plate (shifting member) with multiple valleys corresponding to shift positions. The shift-by-wire system includes: a rotary actuator including a motor, an electronic control unit, and a shifting position switching device including the aforementioned positioning plate. The rotary actuator is configured to drive the positioning plate of the shifting position switching device to rotate. The electronic control unit is configured to control the rotation of the rotary actuator. The motor has a rotor, a stator, and an expansion member. A receiving hole for accommodating the expansion member is formed in the rotor. The expansion member is configured to expand according to the ambient temperature.

[0004] In Patent Document 1, the expansion member expands when the ambient temperature is higher than a specified temperature, thereby abutting against the inner surface of the receiving hole. Therefore, in the motor, when the ambient temperature is higher than the specified temperature, no air gap is formed between the expansion member and the inner surface of the receiving hole, allowing magnetic flux to flow easily in the rotor. Consequently, when the ambient temperature is higher than the specified temperature, and the magnetic flux decreases due to the increased resistance of the stator coils, the expansion member facilitates the flow of magnetic flux in the rotor.

[0005] On the other hand, the expansion member in Patent Document 1 does not expand when the ambient temperature is below a specified temperature, thus it does not come into contact with the inner surface of the receiving hole. That is, an air gap is formed between the expansion member and the inner surface of the receiving hole. Therefore, in the motor, when the ambient temperature is below the specified temperature, the magnetic flux is difficult to flow in the rotor due to the air gap between the expansion member and the inner surface of the receiving hole. Consequently, when the ambient temperature is below the specified temperature, and the magnetic flux increases due to the decrease in resistance of the stator coils, the magnetic flux is still difficult to flow in the rotor due to the expansion member.

[0006] Thus, in the drive-by-wire shifting system of the aforementioned Patent Document 1, a constant magnetic flux flows independently of the ambient temperature by utilizing the expansion of an expansion component that corresponds to the ambient temperature.

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-99180

[0008] However, in the shift-by-wire system of Patent Document 1, when the ambient temperature is low, the motor's rotational resistance increases due to the increased viscosity of the grease inside the motor, while the magnetic flux inside the motor remains constant, resulting in a decrease in motor torque. Conversely, in the same system, when the ambient temperature is high, the motor's rotational resistance decreases due to the decreased viscosity of the grease inside the motor, while the magnetic flux inside the motor remains constant, leading to an excess of motor torque. Therefore, the shift-by-wire system of Patent Document 1 suffers from instability in motor torque due to ambient temperature (motor temperature). Summary of the Invention

[0009] This invention was made to solve the problems mentioned above. One object of this invention is to provide a shifting device that can stabilize the torque of a motor regardless of its temperature.

[0010] To achieve the above objectives, a gear shifting device according to one aspect of the present invention includes: a gear shifting component comprising a plurality of valleys corresponding to a gear shifting position; a drive unit comprising a motor having a rotor and a stator for driving the gear shifting component; a temperature detection unit for detecting the temperature of the motor; and a control unit configured to perform control gain adjustment based on the temperature detected by the temperature detection unit.

[0011] In one aspect of the shifting device of the present invention, as described above, a control unit is provided that adjusts the control gain based on the temperature detected by the temperature detection unit. Therefore, by adjusting the control gain based on the motor temperature detected by the temperature detection unit, it is possible to match changes in the resistance of the motor coil and the viscosity of the lubricating grease that occur with temperature variations, appropriately adjusting the voltage supplied to the motor, and thus appropriately adjusting the magnetic flux flowing within the motor. As a result, the motor torque can be stabilized regardless of the motor temperature.

[0012] In the shifting device described above, the control unit is preferably configured to adjust the control gain during the initial stage of motor driving.

[0013] With this configuration, the control gain is adjusted during the initial stage of motor operation, thereby allowing for appropriate adjustment of the voltage supplied to the motor during this initial stage, and consequently, appropriate adjustment of the magnetic flux flowing through the motor. As a result, the motor can output a stable torque from the initial stage of operation, regardless of its temperature.

[0014] In the shifting device of the above aspect, the control unit is preferably configured to, in the event of a malfunction of the temperature detection unit, perform control by setting the control gain to the smaller of the high-temperature side control gain corresponding to the high-temperature side temperature detected by the temperature detection unit and the low-temperature side control gain corresponding to the low-temperature side temperature detected by the temperature detection unit.

[0015] With this configuration, in the event of a malfunction in the temperature detection unit, the smaller of the high-temperature side control gain and the low-temperature side control gain is used as the control gain, thus reducing the driving force of the motor. As a result, the shift switching component can be moved slowly, so even in the event of a malfunction in the temperature detection unit, overshoot (excessive movement) of the shift switching component up to the rotation angle corresponding to the shift position can be suppressed.

[0016] In the shifting device of the above aspect, the control unit is preferably configured to perform control by inferring the control gain corresponding to the temperature detected by the temperature detection unit through linear interpolation based on the upper limit temperature of the operating temperature range and the upper limit control gain corresponding to the upper limit temperature, and the lower limit temperature of the operating temperature range and the lower limit control gain corresponding to the lower limit temperature.

[0017] With this configuration, the control gain can be inferred simply by storing the upper limit control gain and the lower limit control gain in the storage unit. Therefore, compared with the case where the control gain is inferred by a mapping table based on the motor temperature (ambient temperature) and the control gain corresponding to the motor temperature, the storage capacity required for the control unit's storage unit can be reduced.

[0018] In the shifting device described above, the control unit is preferably configured to adjust the control gain based on the temperature detected by the temperature detection unit and the type of operation, thereby achieving different control gains. Furthermore, the type of operation refers to operations including learning at the lowest possible position and shifting / changing gears, which are performed within the shifting device.

[0019] With this configuration, the control gain can be adjusted not only based on the temperature detected by the temperature detection unit, but also based on the type of action, thus enabling a more appropriate control gain.

[0020] In this case, it is preferable to further include: a positioning member that establishes the shift position when embedded in any one of the multiple valleys of the shift switching member, and a control unit configured to adjust the control gain as a type of action based on the learning action of the bottom position of each of the multiple valleys into which the positioning member is embedded, and the shift position switching action caused by changing the multiple valleys into which the positioning member is embedded, so as to have different control gains.

[0021] With this configuration, the motor can be driven by appropriate control gain during learning and shifting actions at the valley position, so that even during either learning or shifting action, the positioning component can be reliably embedded in the multiple valleys of the positioning component.

[0022] Furthermore, in the shifting device mentioned above, the following structure is also considered.

[0023] (Note 1)

[0024] That is, in the shifting device for adjusting the control gain in the initial stage of driving the motor, the control unit is configured to adjust the control gain in the first cycle of the motor control cycle in the initial stage of motor driving.

[0025] With this configuration, the control gain is adjusted in the first cycle of the control cycle, thereby allowing the voltage supplied to the motor to be appropriately adjusted from the start of motor operation. This, in turn, allows for appropriate adjustment of the magnetic flux flowing through the motor from the start of operation. As a result, the motor can output a stable torque from the start of operation regardless of its temperature.

[0026] (Note 2)

[0027] In the event of a malfunction in the temperature detection unit, in the shifting device that sets the control gain to the high-temperature side control gain, the control unit is configured to set the smaller of the upper limit control gain corresponding to the upper limit temperature of the operating temperature range or the lower limit control gain corresponding to the lower limit temperature of the operating temperature range as the control gain.

[0028] With this configuration, the minimum control gain is applied, thus further reducing the motor's driving force and allowing the shifting component to move more slowly. As a result, overshoot (excessive movement) of the shifting component up to the rotational angle corresponding to the shift position can be further suppressed.

[0029] (Note 3)

[0030] In a shifting device equipped with a control unit that infers a control gain corresponding to the temperature detected by the temperature detection unit through the above-mentioned linear interpolation, the control unit is configured to perform control by inferring the control gain through linear interpolation based on an upper limit temperature (which is the upper limit side temperature) and an upper limit control gain (which is the upper limit side control gain), a temperature (which is the temperature detected by the temperature detection unit) and a correlation expression defined by the control gain, i.e., a point of change, and a control gain (which is the point of change) corresponding to the point of change, i.e., a point of change control gain), a specified temperature between the point of change and the upper limit side temperature, and a control gain (which is the specified temperature) corresponding to the specified temperature, i.e., a specified control gain, a lower limit temperature (which is the lower limit side temperature) and a lower limit control gain (which is the lower limit side control gain).

[0031] Based on this configuration, it is possible to add a change point control gain and a specified control gain to the upper limit control gain and the lower limit control gain, and infer the control gain through linear interpolation, so that a more appropriate control gain can be inferred.

[0032] (Note 4)

[0033] In this case, the control unit is configured to perform control by inferring the control gain through linear interpolation based on a first correlation formula obtained using the upper limit temperature and the upper limit control gain, and the specified temperature and the specified control gain, when the temperature detected by the temperature detection unit is above the change point and below the specified temperature; when the temperature detected by the temperature detection unit is above the change point and below the specified temperature, the control unit is configured to perform control by inferring the control gain through linear interpolation based on a second correlation formula obtained using the specified temperature and the specified control gain, and the change point and the change point control gain; and when the temperature detected by the temperature detection unit is above the lower limit temperature and below the change point, the control unit is configured to perform control by inferring the control gain through linear interpolation based on a third correlation formula obtained using the lower limit temperature and the lower limit control gain, and the change point and the change point control gain.

[0034] Based on this configuration, the control gain can be inferred through the first correlation equation, the second correlation equation, and the third correlation equation. Compared with the case where the control gain is inferred through a mapping table based on the motor temperature (ambient temperature) and the control gain corresponding to the motor temperature, the storage capacity required by the storage unit of the control unit can be reduced, and a more appropriate control gain can be inferred.

[0035] (Note 5)

[0036] In the shifting device of the above aspect, the control unit includes: a first control unit that calculates a target rotational angular velocity of the motor based on a target rotational angle of the motor and the rotational angle of the motor; and a second control unit that calculates a target torque of the motor based on the target rotational angular velocity and the rotational angular velocity of the motor. The control unit is configured to adjust the control gain contained in each of the first control unit and the second control unit based on the temperature detected by the temperature detection unit.

[0037] With this configuration, the control gain of the first control unit and the second control unit can be adjusted to a control gain corresponding to the temperature, so that the target rotational angular velocity and the target torque of the motor can be calculated to a more appropriate value.

[0038] (Note 6)

[0039] In this case, the control unit also has a current vector control unit that controls the drive of the motor based on the target torque calculated by the second control unit, the rotational angular velocity of the motor, the rotational angle of the motor, and the current flowing through the motor. The control unit is configured to adjust the control gain of the current vector control unit based on the temperature detected by the temperature detection unit.

[0040] With this configuration, the control gain of the current vector control unit can be adjusted to a control gain corresponding to temperature, thus enabling more appropriate motor drive control. Attached Figure Description

[0041] Figure 1 This is an exploded perspective view of a gear shifting device according to one embodiment.

[0042] Figure 2 This is a cross-sectional view of a gear shifting device according to one embodiment.

[0043] Figure 3 This is a perspective view showing the connection between the drive force transmission mechanism and the drive-side component of a shifting device according to one embodiment.

[0044] Figure 4 This is a block diagram of the motor control of a shifting device according to one embodiment.

[0045] Figure 5 This is a block diagram of the motor control current vector control of a shifting device according to one embodiment.

[0046] Figure 6 This is a block diagram of the first control unit for motor control of a shifting device according to one embodiment.

[0047] Figure 7 This is a block diagram of the second control unit for motor control of a shifting device according to one embodiment.

[0048] Figure 8This is a schematic diagram illustrating an example of the linear interpolation correlation formula between the first control unit and the second control unit of the motor control of a shifting device applicable to one embodiment.

[0049] Figure 9 This is a block diagram of the third control unit for motor control of a shifting device according to one embodiment.

[0050] Figure 10 This is a block diagram of the fourth control unit for motor control of a shifting device according to one embodiment.

[0051] Figure 11 This is a schematic diagram illustrating an example of the linear interpolation correlation formula of the third and fourth control units of the motor control of the shifting device applicable to one embodiment.

[0052] Figure 12 This is a flowchart illustrating the control gain adjustment process of a shifting device according to one embodiment.

[0053] Figure 13 This is a flowchart illustrating the control gain adjustment process of a gear shifting device according to a modified embodiment.

[0054] Explanation of reference numerals in the attached figures

[0055] 14…Drive unit; 14a…Motor; 16…Control unit; 16a…Temperature detection unit; 21…Shifting component; 21a…Valley section; 22…Positioning component; 100…Shifting device; 141…Rotor; 142…Stator. Detailed Implementation

[0056] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0057] Reference Figures 1 to 11 The structure of the gear shifting device 100 mounted on electric vehicles and other vehicles will be explained.

[0058] like Figure 1 as well as Figure 2 As shown, in a vehicle, when a passenger (driver) performs a gear shifting operation via an operating unit such as a gear lever (or shift switch), electrical gear shifting control is performed on the transmission mechanism. Specifically, the position of the gear lever is input to the shifting device 100 via a shift sensor located on the operating unit. Furthermore, based on a control signal sent from a dedicated control unit (control board) located on the shifting device 100, the transmission mechanism is switched to any one of the following shift positions: P (Park), R (Reverse), N (Neutral), and D (Drive), corresponding to the passenger's gear shifting operation. This type of gear shifting control is also known as shift-by-wire. Furthermore, the P, R, N, and D positions are examples of "shifting positions" in this technical solution.

[0059] The shifting device 100 includes an actuator 1 and a shifting mechanism 2 (see reference 21) that includes a shifting component 21. Figure 3 ).

[0060] Actuator 1 drives gear shifting component 21 (see reference) based on the passenger's (driver's) gear shifting operation. Figure 3 The actuator 1 includes a housing 11, an outer cover 12, a middle cover 13, a drive unit 14, an output shaft 15, a control unit 16, and a connection terminal 17. Here, the drive unit 14 is configured as a drive shifting switching member 21. Specifically, the drive unit 14 has a motor 14a and a drive force transmission mechanism 14b.

[0061] The outer casing 11 and the outer cover 12 form a storage space 18 for housing the motor 14a, the control unit 16, and the drive force transmission mechanism 14b. The middle cover 13 is housed inside the storage space 18 and is positioned between the drive force transmission mechanism 14b and the control unit 16.

[0062] Motor 14a is an IPM (Interior Permanent Magnet) type brushless three-phase motor. Motor 14a is fixed to the middle cover 13 by fastening components.

[0063] The motor 14a has a rotor 141, a stator 142, and a shaft 143. Here, the direction in which the shaft 143 extends is defined as the Z direction, the side of the outer cover 12 in the Z direction is defined as the Z1 direction, and the side of the outer casing 11 in the Z direction is defined as the Z2 direction.

[0064] N-pole magnets and S-pole magnets, which serve as permanent magnets, are alternately embedded in the rotor 141 at equal angular intervals around the axis of rotation of the shaft 143. The stator 142 has multi-phase (U-phase, V-phase, and W-phase) excitation coils that generate magnetic force by being energized. The shaft 143 is configured to rotate together with the rotor 141 around the axis of rotation.

[0065] The drive force transmission mechanism 14b is configured to be connected to the shaft 143 and transmit drive force from the motor 14a to the output shaft 15. Here, the drive force transmission mechanism 14b is configured as a reduction gear section.

[0066] The output shaft 15 is configured to transfer the driving force of the motor 14a to the gear shifting component 21 (see reference). Figure 3 Output. The output shaft 15 extends along the Z direction. The output shaft 15 is connected to the output side of the drive force transmission mechanism 14b. The output shaft 15 is also connected to the input side of the gear shifting component 21. Thus, the output shaft 15 and the gear shifting component 21 operate as a single unit.

[0067] The control unit 16 is configured to control the motor 14a. The control unit 16 is a control board on which electronic components are mounted. The control unit 16 includes a CPU (Central Processing Unit), a storage unit with RAM (Random Access Memory) and ROM (Read Only Memory), a temperature detection unit 16a, and a rotation angle sensor 16b. The storage unit stores a motor control program for controlling the motor 14a. The motor control program will be described in detail later.

[0068] The temperature detection unit 16a is configured to detect the temperature of the motor 14a. Specifically, the temperature detection unit 16a detects the ambient temperature (ambient air temperature) near the motor 14a within the storage space 18. The rotation angle sensor 16b is a sensor that detects the amount of rotation (rotation angle) of the shaft 143.

[0069] Connection terminal 17 is a busbar that connects the control device, which is an external device, to the control unit 16. Connection terminal 17 is electrically connected to the wiring cable, thereby electrically connecting the control device and the control unit 16.

[0070] like Figure 3 As shown, the gear shifting mechanism 2 is connected to the manual slide valve (not shown) of the hydraulic valve body in the hydraulic control circuit section (not shown) within the transmission mechanism section (not shown) and the parking mechanism section (not shown). The transmission mechanism section is configured to drive the gear shifting mechanism 2, thereby mechanically switching the gear shifting state (P position, R position, N position, and D position).

[0071] The gear shifting mechanism 2 includes the aforementioned gear shifting component 21 and a positioning component 22 having a pin 22a. The gear shifting component 21 is a positioning plate. The gear shifting component 21 has multiple (four) valleys 21a arranged to correspond to shift positions (P position, R position, N position, and D position). The positioning component 22 is configured to establish the shift position when the pin 22a is engaged with any one of the multiple valleys 21a of the gear shifting component 21, which is rotated by the actuator 1. The positioning component 22 is a stop spring. The positioning component 22 is configured to hold the positioning plate at a rotation angle corresponding to the shift position (P position, R position, N position, and D position).

[0072] (Motor control program)

[0073] like Figure 4As shown, the control unit 16, as a functional module of the motor control program, includes a speed calculation unit 161, a first control unit 162, a second control unit 163, and a current vector control unit 164. The speed calculation unit 161 is configured to calculate the rotational angular velocity Mv of the motor 14a based on the rotation angle Ap of the motor 14a.

[0074] The first control unit 162 is configured to calculate the target rotational angular velocity Rv of the motor 14a based on the target rotation angle Rp and the rotation angle Ap of the motor 14a. Specifically, the first control unit 162 is a proportional control unit (P control unit). That is, the first control unit 162 is configured to calculate the target rotational angular velocity Rv of the motor 14a based on the difference between the target rotation angle Rp and the rotation angle Ap of the motor 14a, and using a first proportional gain Kp1 (refer to...). Figure 6 ), calculate the target rotational angular velocity Rv of motor 14a.

[0075] The second control unit 163 is configured to calculate the target torque Rt of the motor 14a based on the target rotational angular velocity Rv and the rotational angular velocity Mv of the motor 14a. Specifically, the second control unit 163 is a proportional control unit (P control unit). That is, the second control unit 163 calculates the target torque Rt of the motor 14a based on the difference between the target rotational angular velocity Rv of the motor 14a and the rotational angular velocity Mv of the motor 14a, and utilizes the second proportional gain Kp2 (refer to...). Figure 7 ), calculate the target torque Rt of motor 14a.

[0076] The current vector control unit 164 is configured to control the drive of the motor 14a based on the target torque Rt, the rotational angular velocity Mv of the motor 14a, the rotational angle Ap of the motor 14a, and the currents Iu, Iv and Iw flowing through the motor 14a calculated by the second control unit 163.

[0077] Specifically, such as Figure 5 As shown, the current vector control unit 164, as a functional module of the motor control program, includes a three-phase to two-phase conversion unit 164a, a torque-current vector conversion unit 164b, a third control unit 164c, a fourth control unit 164d, a non-interference control unit 164e, a two-phase to three-phase conversion unit 164f, and a duty cycle calculation unit 164g.

[0078] The three-phase to two-phase conversion unit 164a is configured to convert the currents Iu, Iv, and Iw flowing to the U-phase coil, V-phase coil, and W-phase coil into two-phase currents Iq and I based on the currents Iu, Iv, and Iw and the rotation angle Ap. The torque-to-current vector conversion unit 164b is configured to convert the target torque Rt into the target current RIq and the target current RI.

[0079] The third control unit 164c is configured to calculate the voltage Vq1 based on the target current RIq and the current Iq of the motor 14a. Specifically, the third control unit 164c is a proportional-integral (PI) control unit. That is, the third control unit 164c is configured to calculate the voltage Vq1 based on the difference between the target current RIq and the current Iq of the motor 14a, using the third proportional gain Kp3 (see reference). Figure 9 ) and the first integral gain Ki1 (refer to Figure 9 ), calculate voltage Vq1.

[0080] The fourth control unit 164d is configured to calculate the voltage Vd1 based on the target current RId and the current Id of the motor 14a. Specifically, the fourth control unit 164d is a proportional-integral (PI) control unit. That is, the fourth control unit 164d is configured to calculate the voltage Vd1 based on the difference between the target current RId and the current Id of the motor 14a, using a fourth proportional gain Kp4 (see reference). Figure 10 ) and the second integral gain Ki2 (refer to Figure 10 ), calculate voltage Vd1.

[0081] The non-interference control unit 164e is configured to calculate voltages Vq2 and Vd2 based on the rotational angular velocity Mv, current Iq, and current Id of the motor 14a, to suppress interference when converting the two-phase voltages to three-phase voltages in the two-phase to three-phase conversion unit 164f. The two-phase to three-phase conversion unit 164f is configured to convert the two-phase voltages Vq1 + Vq2 and Vd1 + Vd2 into three-phase voltages Vu, Vv, and Vw based on the rotation angle Ap, voltage Vq1 + Vq2, and voltage Vd1 + Vd2. The duty cycle calculation unit 164g is configured to calculate duty cycles Du, Dv, and Dw based on the three-phase voltages Vu, Vv, and Vw.

[0082] <Adjusting the control gain>

[0083] like Figures 6 to 11 As shown, the control unit 16 in this embodiment is configured to calculate the duty cycle Du, duty cycle Dv, and duty cycle Dw, which correspond to the temperature characteristics of the motor 14a, which vary according to factors such as the resistance of the coil and the viscosity of the lubricating grease. In other words, the control unit 16 is configured to adjust the control gain based on the temperature detected by the temperature detection unit 16a. Specifically, the control unit 16 is configured to change the first proportional gain Kp1, the second proportional gain Kp2, the third proportional gain Kp3, the fourth proportional gain Kp4, the first integral gain Ki1, and the second integral gain Ki2, which are the control gains, based on the temperature (ambient temperature) of the motor 14a detected by the temperature detection unit 16a.

[0084] First, refer to Figures 6-8 The adjustment of the first proportional gain Kp1 of the first control unit 162 and the second proportional gain Kp2 of the second control unit 163 will be explained.

[0085] like Figure 6 as well as Figure 7 As shown, the control unit 16 is configured to adjust the control gains of each component of the first control unit 162 and the second control unit 163 based on the temperature detected by the temperature detection unit 16a. Specifically, the control unit 16 is configured to adjust the first proportional gain Kp1 of the first control unit 162 and the second proportional gain Kp2 of the second control unit 163 based on the temperature detected by the temperature detection unit 16a. An example of adjusting the first proportional gain Kp1 will be described below. Furthermore, the adjustment of the second proportional gain Kp2 is performed using the same process as the adjustment of the first proportional gain Kp1, so its description is omitted.

[0086] Specifically, such as Figure 8 As shown, the control unit 16 is configured to perform control by inferring a first proportional gain Kp1 (control gain) corresponding to the temperature detected by the temperature detection unit 16a through linear interpolation of the upper limit temperature of the operating temperature range (e.g., -40°C to 120°C) and the upper limit control gain corresponding to the upper limit temperature, and the lower limit temperature of the operating temperature range and the lower limit control gain corresponding to the lower limit temperature.

[0087] In detail, the control unit 16 is configured to perform control by inferring the control gain through linear interpolation based on the upper limit temperature Tmax and the upper limit control gain Kmax, the change point Tc and the change point control gain Kc, the specified temperature Tn and the specified control gain Kn, and the lower limit temperature Tmin and the lower limit control gain Kmin.

[0088] Here, the upper limit temperature Tmax is an example of the upper limit side temperature. The upper limit temperature Tmax is, for example, 120°C. The upper limit control gain Kmax is an example of the upper limit side control gain. The change point Tc is the temperature detected by the temperature detection unit 16a and the temperature that changes sloping according to the correlation formula defined by the control gain. The change point Tc is, for example, -10°C. The change point control gain Kc is the control gain corresponding to the change point Tc. The specified temperature Tn is the temperature between the change point Tc and the upper limit temperature Tax (upper limit side temperature). The specified temperature Tn is, for example, 20°C. The specified control gain Kn is the control gain corresponding to the specified temperature Tn. The lower limit temperature Tmin is an example of the lower limit side temperature. The lower limit temperature Tmin is, for example, -40°C. The lower limit control gain Kmin is an example of the lower limit side control gain.

[0089] That is, the control unit 16 is configured to, when the temperature detected by the temperature detection unit 16a is above a predetermined temperature Tn and below an upper limit temperature Tmax, perform control by inferring a first proportional gain Kp1 (control gain) through linear interpolation based on a first correlation equation obtained using the upper limit temperature Tmax and the upper limit control gain Kmax, and the predetermined temperature Tn and the predetermined control gain Kn. The first correlation equation is a first-order expression representing the correlation between temperature and control gain. In the first correlation equation, as the temperature increases, the control gain decreases.

[0090] Furthermore, the control unit 16 is configured to, when the temperature detected by the temperature detection unit 16a is above the change point Tc but below the specified temperature Tn, perform control by inferring the first proportional gain Kp1 (control gain) through linear interpolation based on a second correlation equation obtained using the specified temperature Tn and the specified control gain Kn, and the change point Tc and the change point control gain Kc. The second correlation equation is a first-order expression representing the correlation between temperature and control gain. In the second correlation equation, as the temperature increases, the control gain decreases.

[0091] The control unit 16 is configured to, when the temperature detected by the temperature detection unit 16a is above the lower limit temperature Tmin and below the change point Tc, perform control by inferring the first proportional gain Kp1 (control gain) through linear interpolation based on a third correlation equation obtained using the lower limit temperature Tmin and the lower limit control gain Kmin, and the change point Tc and the change point control gain Kc. The third correlation equation is a first-order expression representing the correlation between temperature and control gain. In the third correlation equation, the control gain decreases as the temperature increases.

[0092] Here, for example, when the temperature of motor 14a is temperature T1, the control gain K1 is calculated using the third correlation formula and the formula K1 = Kmax + (Kc - Kmax)·(T1 - Tmin) / (Tc - T1). The calculated control gain K1 is applied to the first control unit 162 as the first proportional gain Kp1. The first and second correlation formulas are also used to calculate the control gain corresponding to the temperature of motor 14a.

[0093] Next, refer to Figures 9-11 The adjustments to the third proportional gain Kp3 and the first integral gain Ki1 of the third control unit 164c, and the fourth proportional gain Kp4 and the second integral gain Ki2 of the fourth control unit 164d are explained.

[0094] like Figure 9 as well as Figure 10As shown, the control unit 16 is configured to adjust the control gain of the current vector control unit 164 based on the temperature detected by the temperature detection unit 16a. The control unit 16 is also configured to adjust the control gains of each component in the third control unit 164c and the fourth control unit 164d based on the temperature detected by the temperature detection unit 16a. Specifically, the control unit 16 is configured to adjust the third proportional gain Kp3, the first integral gain Ki1 of the third control unit 164c, the fourth proportional gain Kp4 of the fourth control unit 164d, and the second integral gain Ki2 of the fourth control unit 164d based on the temperature detected by the temperature detection unit 16a. An example of adjusting the third proportional gain Kp3 will be described below. Furthermore, the adjustments to the first integral gain Ki1 of the third control unit 164c, the fourth proportional gain Kp4 of the fourth control unit 164d, and the second integral gain Ki2 of the fourth control unit 164d are performed using the same process as the adjustment of the third proportional gain Kp3, so their description is omitted.

[0095] Specifically, such as Figure 11 As shown, the control unit 16 is configured to perform control by inferring a third proportional gain Kp3 (control gain) corresponding to the temperature detected by the temperature detection unit 16a through linear interpolation of the upper limit temperature of the operating temperature range (e.g., -40°C to 120°C) and the upper limit control gain corresponding to the upper limit temperature, and the lower limit temperature of the operating temperature range and the lower limit control gain corresponding to the lower limit temperature.

[0096] In detail, the control unit 16 is configured to perform control by inferring the control gain based on linear interpolation of the upper limit temperature Tmax and the upper limit control gain Kmax, the change point Tc and the change point control gain Kc, the specified temperature Tn and the specified control gain Kn, and the lower limit temperature Tmin and the lower limit control gain Kmin.

[0097] Specifically, the control unit 16 is configured to, when the temperature detected by the temperature detection unit 16a is above a predetermined temperature Tn and below an upper limit temperature Tmax, perform control by inferring the third proportional gain Kp3 (control gain) through linear interpolation based on a fourth correlation equation obtained using the upper limit temperature Tmax and the upper limit control gain Kmax, and the predetermined temperature Tn and the predetermined control gain Kn. The fourth correlation equation is a first-order expression representing the correlation between temperature and control gain. In the fourth correlation equation, the control gain increases as the temperature increases.

[0098] Furthermore, the control unit 16 is configured to, when the temperature detected by the temperature detection unit 16a is above the change point Tc but below the specified temperature Tn, perform control by inferring the third proportional gain Kp3 (control gain) through linear interpolation based on the fifth correlation equation obtained using the specified temperature Tn and the specified control gain Kn, and the change point Tc and the change point control gain Kc. The fifth correlation equation is a first-order expression representing the correlation between temperature and control gain. In the fifth correlation equation, the control gain increases as the temperature increases.

[0099] The control unit 16 is configured to, when the temperature detected by the temperature detection unit 16a is above the lower limit temperature Tmin and below the change point Tc, perform control by inferring the third proportional gain Kp3 (control gain) through linear interpolation based on the sixth correlation equation obtained using the lower limit temperature Tmin and the lower limit control gain Kmin, and the change point Tc and the change point control gain Kc. The sixth correlation equation is a first-order expression representing the correlation between temperature and control gain. In the sixth correlation equation, the control gain increases as the temperature increases.

[0100] Here, for example, when the temperature of motor 14a is temperature T2, the control gain K2 is calculated using the sixth correlation equation and the formula K2 = Kmin + (Kc - Kmin)·(T2 - Tmin) / (Tc - Tmin). The calculated control gain K2 is then applied as the third proportional gain Kp3 to the third control unit 164c. Similarly, the fourth and fifth correlation equations are used to calculate the control gain corresponding to the temperature of motor 14a.

[0101] Because the adjustment of the control gain using the aforementioned linear interpolation suppresses the increase in processing load on the control unit 16, it is only performed during the initial stage of motor 14a control. That is, the control unit 16 is configured to adjust the control gain during the initial stage of motor 14a driving. More specifically, the control unit 16 is configured to adjust the control gain during the first cycle of the control cycle for motor 14a during the initial stage of motor 14a driving. In other words, the control unit 16 is configured to adjust the control gain only during the control cycle immediately after receiving a shift position switching request from the control device.

[0102] Furthermore, in the adjustment of the control gain using the aforementioned linear interpolation, if the temperature detection unit 16a malfunctions, an appropriate control gain is not calculated, so the minimum control gain is applied for safety. That is, the control unit 16 is configured to, in the event of a malfunction in the temperature detection unit 16a, set the control gain to the smaller of the high-temperature side control gain corresponding to the high-temperature side temperature detected by the temperature detection unit 16a and the low-temperature side control gain corresponding to the low-temperature side temperature detected by the temperature detection unit 16a. Here, the malfunction of the temperature detection unit 16a occurs when the sensor output value is fixed at either the upper or lower limit. Specifically, in the first control unit 162 and the second control unit 163, in the event of a malfunction in the temperature detection unit 16a, the control unit 16 is configured to set the lower limit control gain Kmin corresponding to the upper limit temperature Tmax of the operating temperature range as the control gain. Furthermore, the control unit 16 is configured such that, in the case of a malfunction in the temperature detection unit 16a, it performs control by setting the lower limit control gain Kmin corresponding to the lower limit temperature Tmin of the operating temperature range as the control gain.

[0103] The control gain using this linear interpolation is adjusted to different gains depending on the type of operation of the shifting device 100. Specifically, the control unit 16 is configured to adjust the control gain based on the temperature detected by the temperature detection unit 16a and the type of operation, resulting in different control gains. More specifically, the control unit 16 is configured to adjust the control gain based on the learning action (position learning) of the bottom positions of the multiple valleys 21a into which the positioning member 22 is embedded, and the shifting action caused by changing the multiple valleys 21a into which the positioning member 22 is embedded, resulting in different control gains. That is, the first to sixth correlation formulas applied to the learning action are stored in the storage unit for each control gain, and other first to sixth correlation formulas applied to the shifting action are also stored in the storage unit for each control gain.

[0104] The learning operation for the valley position is performed during vehicle manufacturing and dealer inspections. Here, based on the operator's selection of the valley position learning operation mode, the control device notifies the control unit 16 to perform the valley position learning operation. The gear shifting operation is performed during normal operation by the user. Here, based on the operator switching from the valley position learning operation mode to the gear shifting operation mode, the control device notifies the control unit 16 to perform the gear shifting operation.

[0105] (Control gain adjustment processing)

[0106] The following is for reference Figure 12The control gain adjustment process of the control unit 16 will be explained. The control gain adjustment process is a process of adjusting the control gain based on the ambient temperature (ambient air temperature) around the motor 14a.

[0107] In step S1, it is determined whether the temperature detection unit 16a has malfunctioned. That is, it is determined whether the output value of the temperature detection unit 16a is fixed at the upper limit or the lower limit. If the temperature detection unit 16a has not malfunctioned, the process proceeds to step S2 to obtain the measured value measured by the temperature detection unit 16a. Alternatively, if the temperature detection unit 16a has malfunctioned, the process proceeds to step S3 to fix the ambient temperature, which is the measured value measured by the temperature detection unit 16a, at 120°C or -40°C. Specifically, the first control unit 162 and the second control unit 163 fix the ambient temperature at 120°C. Furthermore, the third control unit 164c and the fourth control unit 164d fix the ambient temperature at -40°C.

[0108] In step S4, it is determined whether it is the first cycle of the control cycle. If it is not the first cycle of the control cycle, the control gain adjustment process ends. Otherwise, if it is the first cycle of the control cycle, proceed to step S5.

[0109] In step S5, it is determined whether the type of operation of the shifting device 100 notified by the control device is a shift switching operation. If the type of operation of the shifting device 100 is not a shift switching operation, proceed to step S6; if the type of operation of the shifting device 100 is a shift switching operation, proceed to step S7. In step S7, the control gain is adjusted. That is, based on the first to sixth correlation equations applied during the shift switching operation and the temperature obtained from the temperature detection unit 16a, the first proportional gain Kp1, the second proportional gain Kp2, the third proportional gain Kp3, the fourth proportional gain Kp4, the first integral gain Ki1, and the second integral gain Ki2 are adjusted to the minimum control gain. Furthermore, if the temperature detection unit 16a malfunctions, the first proportional gain Kp1, the second proportional gain Kp2, the third proportional gain Kp3, the fourth proportional gain Kp4, the first integral gain Ki1, and the second integral gain Ki2 are adjusted to the minimum control gain. After step S7, the control gain adjustment process ends.

[0110] In step S6, it is determined whether the type of operation of the shifting device 100 notified by the control device is a position learning operation. If the type of operation of the shifting device 100 is not a position learning operation, the control gain adjustment process ends; if the type of operation of the shifting device 100 is a position learning operation, the process proceeds to step S8. In step S8, the control gain is adjusted. That is, based on the first to sixth correlation equations applied during the position learning operation and the temperature obtained from the temperature detection unit 16a, the first proportional gain Kp1, the second proportional gain Kp2, the third proportional gain Kp3, the fourth proportional gain Kp4, the first integral gain Ki1, and the second integral gain Ki2 are adjusted to the minimum control gain. Furthermore, if the temperature detection unit 16a malfunctions, the first proportional gain Kp1, the second proportional gain Kp2, the third proportional gain Kp3, the fourth proportional gain Kp4, the first integral gain Ki1, and the second integral gain Ki2 are adjusted to the minimum control gain. After step S8, the control gain adjustment process ends.

[0111] (Effects of this implementation method)

[0112] In this embodiment, the following effect can be obtained.

[0113] In this embodiment, as described above, a control unit 16 is configured to adjust the control gain based on the temperature detected by the temperature detection unit 16a. By adjusting the control gain based on the temperature of the motor 14a detected by the temperature detection unit 16a, changes in the resistance of the motor 14a's coil and the viscosity of the lubricating grease that occur with temperature variations can be matched, and the voltage supplied to the motor 14a can be appropriately adjusted. Therefore, the magnetic flux flowing within the motor 14a can be appropriately adjusted. As a result, the torque of the motor 14a can be stabilized regardless of its temperature.

[0114] Furthermore, in this embodiment, as described above, the control unit 16 is configured to adjust the control gain during the initial stage of motor 14a operation. Therefore, by adjusting the control gain during the initial stage of motor 14a operation, the voltage supplied to the motor 14a can be appropriately adjusted, thus allowing for appropriate adjustment of the magnetic flux flowing within the motor 14a during this initial stage. As a result, regardless of the temperature of the motor 14a, the motor 14a can output a stable torque during the initial stage of operation.

[0115] Furthermore, in this embodiment, as described above, in the event of a malfunction in the temperature detection unit 16a, the control unit 16 is configured to perform control by setting the control gain to the smaller of the high-temperature side control gain corresponding to the high-temperature side temperature detected by the temperature detection unit 16a and the low-temperature side control gain corresponding to the low-temperature side temperature detected by the temperature detection unit 16a. Therefore, in the event of a malfunction in the temperature detection unit 16a, the smaller of the high-temperature side control gain and the low-temperature side control gain is applied as the control gain, thus reducing the driving force of the motor 14a. As a result, the shift switching member 21 can be moved slowly, so even in the event of a malfunction in the temperature detection unit 16a, overshoot (excessive movement) of the shift switching member 21 up to the rotation angle corresponding to the shift position can be suppressed.

[0116] Furthermore, in this embodiment, as described above, the control unit 16 is configured to perform control by inferring the control gain corresponding to the temperature detected by the temperature detection unit 16a through linear interpolation based on the upper limit temperature and the upper limit control gain, and the lower limit temperature and the lower limit control gain. Therefore, the control gain can be inferred simply by storing the upper limit control gain and the lower limit control gain in the storage unit. This reduces the required storage capacity of the control unit 16 compared to inferring the control gain through a mapping table based on the motor temperature and the control gain corresponding to the motor temperature.

[0117] Furthermore, in this embodiment, as described above, the control unit 16 is configured to adjust the control gain based on the temperature detected by the temperature detection unit 16a and the type of operation, thereby achieving different control gains. Therefore, the control gain can be adjusted not only based on the temperature detected by the temperature detection unit 16a but also based on the type of operation, resulting in a more appropriate control gain.

[0118] Furthermore, in this embodiment, as described above, the positioning member 22 is used to establish the shift position when the shift device 100 is installed in any one of the multiple valleys 21a embedded in the shift switching member 21. The control unit 16 is configured to control the control gain according to the learning action at the valley position and the shift position switching action, so that the control gains are different from each other. As a result, during the learning action at the valley position and the shift switching action, the motor 14a can be driven with an appropriate control gain, so even if it is either the learning action or the shift switching action, the positioning member 22 can be reliably embedded in the multiple valleys 21a of the positioning member 22.

[0119] [Variation Example]

[0120] The embodiments disclosed herein should be considered illustrative rather than limiting in all respects. The scope of the invention is not limited to the description of the above embodiments but is shown by the technical solutions, and includes all changes (modifications) within the scope of the technical solutions.

[0121] For example, in the above embodiment, although an example of the control unit 16 adjusting the control gain during the initial stage of driving the motor 14a is shown, the present invention is not limited thereto. In the present invention, the control unit may also be configured to adjust the control gain each time the motor is driven.

[0122] Furthermore, while the above embodiment illustrates an example where the control unit 16 is configured to perform control by setting the control gain to a high-temperature side control gain corresponding to the high-temperature side temperature detected by the temperature detection unit 16a in the event of a malfunction in the temperature detection unit 16a, the present invention is not limited thereto. In the present invention, the control unit may also stop the control operation in the event of a malfunction in the temperature detection unit.

[0123] Furthermore, while the above embodiment illustrates an example where the control unit 16 is configured to perform control by inferring the control gain corresponding to the temperature detected by the temperature detection unit 16a through linear interpolation based on the upper limit temperature and the upper limit control gain, and the lower limit temperature and the lower limit control gain, the present invention is not limited thereto. In the present invention, the control unit may also be configured to perform control by inferring the control gain corresponding to the temperature detected by the temperature detection unit through a table based on the motor temperature (ambient temperature) and the control gain.

[0124] Furthermore, while the above embodiment illustrates an example where the control unit 16 is configured to adjust the control gain based on the temperature detected by the temperature detection unit 16a and the type of operation to achieve different control gains, the present invention is not limited thereto. In the present invention, the control unit may also be configured to adjust the control gain based on the temperature detected by the temperature detection unit and the type of operation to achieve the same control gain.

[0125] Furthermore, although the above embodiment shows that the control unit 16 is configured to determine whether the type of operation of the shifting device 100 notified from the control device is a shifting operation and whether it is a learning operation, the present invention is not limited thereto. In the present invention, the control unit may also be configured to only determine whether the type of operation of the shifting device notified from the control device is a shifting operation. That is, as... Figure 13 As shown, in relation to Figure 12Following steps S1 to S4 as shown, step S205 determines whether a gear shifting action has occurred. If a gear shifting action has occurred, the process proceeds to step S206, where the control gain is adjusted, and then the control gain adjustment process ends. If a gear shifting action has not occurred, the control gain adjustment process ends directly.

[0126] Furthermore, in the above embodiments, although an example of the control processing of the control unit 16 is shown using a process-driven flowchart that processes sequentially along the processing flow for ease of explanation, the present invention is not limited thereto. In the present invention, the control processing of the control unit can also be performed using an event-driven (event-driven type) processing method that executes processing on an event-by-event basis. In this case, it can be performed entirely as an event-driven method, or it can be performed as a combination of event-driven and process-driven methods.

Claims

1. A gear shifting device, characterized in that, have: The gear shifting component includes multiple valleys corresponding to the gear shifting position; The drive unit includes a motor having a rotor and a stator, which drives the aforementioned gear shifting component; The temperature detection unit detects the temperature of the aforementioned motor; and The control unit is configured to adjust the control gain based on the temperature detected by the temperature detection unit. The control unit is configured to, in the event of a malfunction in the temperature detection unit, set the control gain to the smaller of the high-temperature side control gain corresponding to the high-temperature side temperature detected by the temperature detection unit and the low-temperature side control gain corresponding to the low-temperature side temperature detected by the temperature detection unit.

2. The gear shifting device according to claim 1, characterized in that, The control unit is configured to adjust the control gain during the initial stage of driving the motor.

3. The shifting device according to claim 1 or 2, characterized in that, The control unit is configured to perform control by inferring the control gain corresponding to the temperature detected by the temperature detection unit through linear interpolation based on the upper limit temperature of the operating temperature range and the upper limit control gain corresponding to the upper limit temperature, the lower limit temperature of the operating temperature range and the lower limit control gain corresponding to the lower limit temperature.

4. The shifting device according to claim 1 or 2, characterized in that, The control unit is configured to adjust the control gain based on the temperature detected by the temperature detection unit and the type of operation, so as to achieve different control gains.

5. The shifting device according to claim 3, characterized in that, The control unit is configured to adjust the control gain based on the temperature detected by the temperature detection unit and the type of operation, so as to achieve different control gains.

6. The shifting device according to claim 4, characterized in that, It also includes a positioning component that enables the shift position to be established when it is embedded in any one of the multiple valleys of the shift switching component. The control unit is configured to adjust the control gain based on the learning action of the valley bottom position of each of the plurality of valleys into which the positioning member is embedded, and the switching action of the shift position caused by changing the plurality of valleys into which the positioning member is embedded, so that the control gains are different from each other.

7. The gear shifting device according to claim 5, characterized in that, It also includes a positioning component that enables the shift position to be established when it is embedded in any one of the multiple valleys of the shift switching component. The control unit is configured to adjust the control gain based on the learning action of the valley bottom position of each of the plurality of valleys into which the positioning member is embedded, and the switching action of the shift position caused by changing the plurality of valleys into which the positioning member is embedded, so that the control gains are different from each other.

Images