shift device

Abstract

The present application provides a shift device capable of not hindering learning of shift positions of a first control unit and a second control unit from each other. The shift device (100) is configured to acquire shift positions when a positioning member (22) is moved in a manner of continuously passing through a valley portion (21a), a valley portion (21b), a valley portion (21c), and a valley portion (21d) by driving the motor (11) with a voltage output from either one of a first drive system (17) and a second drive system (18).

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. Background Technology

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

[0003] Patent Document 1 disclosed above discloses a shifting device having a positioning plate comprising multiple (four) valleys. The shifting device includes a motor, a stop spring, and a controller. The positioning plate is a shifting mechanism driven by the motor to switch gears (P position, N position, R position, and D position). The stop spring is configured to fix the positioning plate in place. The controller is configured to learn (acquire) the shifting position when the motor drives the stop spring to move continuously through multiple valleys.

[0004] Here, in the gear shifting device of the aforementioned Patent Document 1, in order to control the vehicle's forward movement, reverse movement, and braking, gear shifting is required to continue even if the controller malfunctions.

[0005] Therefore, in order to realize the shifting device described above, it is considered to apply a shift-by-wire system equipped with a first microcomputer and a second microcomputer (for example, see Patent Document 2).

[0006] The drive-by-wire shifting system described in Patent Document 2 includes a motor, a positioning plate, and a stop spring. In this system, during gear shifting, the motor is controlled by either a first microcomputer or a second microcomputer. Furthermore, because the system includes both a first and a second microcomputer capable of controlling the motor, even if one of the microcomputers malfunctions during gear shifting, the other microcomputer can continue to drive the motor. However, Patent Document 2 does not disclose the motor drive control performed by the first and second microcomputers when obtaining the shift position.

[0007] Therefore, by applying a drive-by-wire shifting system like that in Patent Document 2 to the shifting device of Patent Document 1, a shifting device equipped with a first microcomputer and a second microcomputer can be realized. That is, a shifting device that can continue shifting even if the controller malfunctions can be realized.

[0008] Patent Document 1: Japanese Patent Application Publication No. 2016-75364

[0009] Patent Document 2: Japanese Patent Application Publication No. 2018-40426

[0010] In the aforementioned shifting device equipped with a first microcomputer and a second microcomputer, although not explicitly stated in Patent Document 2, the shifting positions of the first and second microcomputers are learned. As an example of learning the shifting position, in this shifting device, to easily output the torque required to drive the positioning plate in the motor during shifting position learning, it is possible to apply voltage to the motor from both the first and second microcomputers. That is, it is possible to apply voltage to the motor from both the first and second microcomputers to drive it, and identify the position of the stop spring, thereby learning the shifting position. In this case, it is assumed that while the shifting position learning of the first microcomputer has ended, the learning of the second microcomputer has not yet ended; the first microcomputer brakes the motor, while the second microcomputer drives the motor. Therefore, in such a shifting device, it is assumed that the motor control performed by the first microcomputer and the motor control performed by the second microcomputer interfere with each other, thus hindering the learning of the shifting positions between the first microcomputer (first control unit) and the second microcomputer (second control unit). Summary of the Invention

[0011] The present invention was made to solve the problems mentioned above. One object of the present invention is to provide a shifting device that can learn the shifting positions of the first control unit and the second control unit without hindering them.

[0012] 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 motor comprising a rotor and a stator and driving the gear shifting component; a first drive system comprising a first control unit controlling a voltage of the drive motor; a second drive system separately provided from the first drive system and comprising a second control unit controlling a voltage of the drive motor; and a positioning component for establishing a gear shifting position when the gear shifting component is embedded in any one of the plurality of valleys, configured such that the gear shifting position is obtained when the positioning component is moved by driving the motor by a voltage output from either the first drive system or the second drive system in a manner that continuously passes through the plurality of valleys.

[0013] In one aspect of the shifting device of the present invention, as described above, a shifting position is obtained when a positioning member is moved by driving a motor using voltage output from either the first or second drive system to continuously pass through multiple valleys. Therefore, during the learning of the shifting position by the first and second control units, the shifting position is learned by controlling the motor using either the first or second drive system, and by recognizing the position of the stop spring by both the first and second control units. Thus, during shifting position learning, voltage is applied to the motor only from either the first or second control unit, preventing interference between the motor control performed by the first and second control units. As a result, since the motor control performed by the first and second control units is independent of each other, the learning of the shifting position by both the first and second control units is not hindered. Furthermore, even in the event of an malfunction in either the first or second control unit, the other control unit can continue the motor drive control, ensuring the continuation of motor drive control.

[0014] In the shifting device of the above aspect, it is preferably configured such that when the positioning member is moved by driving a motor with a voltage output from either the first drive system or the second drive system in a manner that continuously passes through multiple valleys, the positioning member is positioned in the interval of the bottom of each of the multiple valleys, and the movement of the positioning member driven by the motor driven by the voltage output from either the first drive system or the second drive system is stopped for a predetermined time.

[0015] With this configuration, based on the arrangement of the positioning component in the interval of the bottom of each of the multiple valleys, the movement of the positioning component is stopped for a predetermined time. This eliminates the vibration caused by the motor drive and the deviation between the actual position of the positioning component and the measured position of the positioning component. Therefore, it can suppress the aforementioned vibration and the deterioration of the measurement accuracy of the position of the positioning component caused by the aforementioned deviation.

[0016] In this case, it is preferable to configure the system such that, based on the condition that the movement of the positioning component is stopped for a predetermined time, the voltage is output again from either the first drive system or the second drive system, thereby driving the motor again.

[0017] With this configuration, the movement of the positioning component is stopped for a specified time and then driven again, thereby enabling the position of the bottom of each of the multiple valleys to be learned in a static state, thus enabling high-precision learning of the shift position.

[0018] In the shifting device that drives the motor again, it is preferably configured such that the first control unit and the second control unit can communicate with each other, thereby determining the time to drive the motor again by either the first drive system or the output voltage of the second drive system.

[0019] With this configuration, the timing of the motor being driven again by one of the drive systems can be changed according to the control cycle of the first drive system and the other drive system in the second drive system, which has no output voltage. Therefore, the motor can be driven again while the first control unit and the second control unit are synchronized.

[0020] In the shifting device of the above aspect, it is preferably configured such that: the first control unit and the second control unit can communicate, and if either the first drive system or the second drive system detects that at least one shifting position corresponding to each of the plurality of valleys has not been obtained in the other drive system through communication between the first control unit and the second control unit, the obtained shifting position corresponding to each of the plurality of valleys is eliminated.

[0021] With this configuration, if the shift position fails to be obtained in another drive system, the shift position already obtained in one drive system is eliminated. This prevents the shift switching component from being driven by only one drive system, and thus prevents the manufacture of a shifting device that is driven by only one of the first and second drive systems.

[0022] In the shifting device of the above aspect, it is preferable to further include: a first motor rotation angle sensor and a second motor rotation angle sensor, which measure the rotation angle of the motor; and a first output shaft sensor and a second output shaft sensor, which measure the rotation angle of the output shaft connected to the shifting component, wherein a first control unit performs control to obtain the shifting position based on the respective measured values ​​of the first motor rotation angle sensor and the first output shaft sensor, and a second control unit performs control to obtain the shifting position based on the respective measured values ​​of the second motor rotation angle sensor and the second output shaft sensor.

[0023] With this configuration, when the positioning member is moved by driving the motor with voltage output from a drive system and continuously passing through multiple valleys, the first control unit and the second control unit can each obtain the shift position in parallel. Therefore, compared with the case where the shift position is obtained separately by the first control unit and the shift position is obtained separately by the second control unit, the shift position can be obtained more efficiently.

[0024] Furthermore, in the shifting device mentioned above, the following structure is also considered.

[0025] (Note 1)

[0026] That is, it also includes: a drive force transmission mechanism that includes an output shaft connected to a gear shifting component and transmits drive force from a motor to the gear shifting component; a first motor rotation angle sensor and a second motor rotation angle sensor that measure the rotation angle of the motor; and a first output shaft sensor and a second output shaft sensor that measure the rotation angle of the output shaft, configured such that when a gear shifting position is obtained, the motor is driven by a first drive system based on the measured values ​​of the first motor rotation angle sensor and the output shaft sensor, or the motor is driven by a second drive system based on the measured values ​​of the second motor rotation angle sensor and the second output shaft sensor.

[0027] With this configuration, each of the first drive system and the second drive system can independently control the drive motor, so even if one of the first drive system or the second drive system malfunctions, the other drive system can be used to continue driving the motor.

[0028] (Note 2)

[0029] In the shifting device of the above aspect, the configuration is such that the first control unit and the second control unit can communicate, and either the first drive system or the second drive system controls the drive of the motor based on the communication result from the other drive system.

[0030] With this configuration, the motor drive is controlled based on the deviation between the control cycle of the first control unit and the control cycle of the second control unit, thereby eliminating the aforementioned deviation and enabling the first control unit and the second control unit to synchronize. Attached Figure Description

[0031] Figure 1 This is a perspective view of the overall structure of the shifting device in this embodiment.

[0032] Figure 2 This is a diagram showing the structure of the positioning plate that constitutes the shifting device of this embodiment.

[0033] Figure 3 This is a cross-sectional view showing the actuator unit that constitutes the shifting device of this embodiment.

[0034] Figure 4 This diagram shows the internal structure of the reduction mechanism in the actuator unit of the shifting device constituting this embodiment, with the gearbox removed from the main body.

[0035] Figure 5 This diagram illustrates the engagement state (capable of transmitting driving force) of the intermediate gear in the actuator unit constituting the shifting device of this embodiment.

[0036] Figure 6 This is a diagram showing the engagement state (non-transmission state) of the intermediate gear in the actuator unit constituting the shifting device of this embodiment.

[0037] Figure 7 This is a block diagram illustrating the first drive system and the second drive system of this embodiment.

[0038] Figure 8 This is a graph showing the relationship between the output value of the output shaft angle sensor (output shaft angle), the output value of the rotor rotation angle sensor (motor rotation angle), and the number of motor rotations in the shifting device of this embodiment.

[0039] Figure 9 This is a schematic diagram showing the state of the roller of the shifting device in this embodiment when it moves from position R toward position N.

[0040] Figure 10 This is a schematic diagram showing the state of the roller of the shifting device in this embodiment when it moves from the N position toward the R position.

[0041] Figure 11 This is a schematic diagram illustrating an example of the energizing mode when the motor is driven by the second drive system of the shifting device of this embodiment.

[0042] Figure 12 This is a schematic diagram showing the state in which the shifting device of this embodiment stops at the bottom of each of the multiple valleys for a predetermined time.

[0043] Figure 13 This is a schematic diagram showing the state in which the motor is braked by the second drive system of the shifting device in this embodiment.

[0044] Figure 14 This is a flowchart illustrating the shift position learning process of the shift device in this embodiment.

[0045] Explanation of reference numerals in the attached figures

[0046] 11…motor

[0047] 17…First Drive System

[0048] 18…Second drive system

[0049] 21… Positioning plate (gear shifting component)

[0050] 21a, 21b, 21c, 21d… Tanibe

[0051] 22… Stop spring (positioning component)

[0052] 100… Gear shifting device

[0053] 111…rotor

[0054] 112…Stator

[0055] 171…First MCU (First Control Unit)

[0056] 181…Second MCU (Second Control Unit) Detailed Implementation

[0057] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0058] Reference Figures 1 to 13 The structure of the shifting device 100 will be described. Furthermore, in this application specification, "rotor rotation angle" and "motor rotation angle" have the same meaning.

[0059] The gear shifting device 100 is installed in automobiles and other vehicles. For example... Figure 1 As shown, when the passenger (driver) performs a gear shifting operation via the gear lever (or shift switch) or other operating unit, the vehicle performs electric shifting control 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 control signals sent from the dedicated first MCU (Micro Controller Unit) 171 and second MCU 181 (described later) 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 shifting operation. This shifting control is also known as shift-by-wire (SBW).

[0060] The shifting device 100 includes an actuator unit 1 and a shifting mechanism 2 driven by the actuator unit 1. Furthermore, the shifting mechanism 2 is mechanically connected to the manual spool valve (not shown) of the hydraulic valve body in the hydraulic control circuit (not shown) within the transmission mechanism and to the parking mechanism. Moreover, it is configured such that the shifting states of the transmission (P position, R position, N position, and D position) are mechanically switched by driving the shifting mechanism 2.

[0061] Actuator unit 1 includes: motor 11, drive force transmission mechanism 12, and first output shaft sensor 13 (see reference). Figure 7 ), second output shaft sensor 14 (refer to) Figure 7 ), First motor rotation angle sensor 15 (refer to) Figure 7 ), second motor rotation angle sensor 16 (refer to) Figure 7 ), First drive system 17 (refer to) Figure 7) and the second drive system 18 (refer to Figure 7 ).

[0062] like Figure 1 As shown, the gear shifting mechanism 2 includes a positioning plate 21 (an example of a "gear shifting component" in the technical solution) and a stop spring 22 (an example of a "positioning component" in the technical solution). The stop spring 22 is configured to hold the positioning plate 21 at each of the rotation angle positions corresponding to the P position, R position, N position, and D position.

[0063] like Figure 2 As shown, the positioning plate 21 has multiple (four) valleys 21a, 21b, 21c, and 21d (multiple valleys) arranged in a manner corresponding to shift positions (P position, R position, N position, and D position). Furthermore, a cam surface Ca with a continuous undulating shape is formed on the positioning plate 21 using the valleys 21a, 21b, 21c, and 21d. Additionally, adjacent valleys (e.g., valleys 21a and 21b, valleys 21b and 21c, etc.) are separated from each other by a ridge M having a top T. The base end of the stop spring 22 (see reference) Figure 2 The housing fixed to the transmission mechanism (refer to) Figure 2 ), and at the free end (refer to Figure 2 A roller portion 22a is mounted on the side of the stop spring 22. Furthermore, the roller portion 22a of the stop spring 22 always presses against the cam surface Ca (any one of the valley portions 21a, 21b, 21c, 21d, or the mountain portion M). Moreover, the stop spring 22 establishes the shift position when engaged with any one of the multiple valley portions 21a, 21b, 21c, and 21d.

[0064] In addition, such as Figure 2 As shown, a wall portion 121a is provided in the valley portion 21a located at the outermost end to prevent the stop spring 22 from moving beyond the valley portion 21a. A wall portion 121d is provided in the valley portion 21d located at the outermost end to prevent the stop spring 22 from moving beyond the valley portion 21d. Specifically, the wall portion 121a is provided in the valley portion 21a located at the end in the direction of arrow A of the positioning plate 21. In addition, the wall portion 121d is provided in the valley portion 21d located at the end in the direction of arrow B of the positioning plate 21.

[0065] In addition, such as Figure 1 As shown, the positioning plate 21 is fixed to the output shaft 12b described later (see reference). Figure 3At the lower end (Z2 side), the positioning plate 21 and the output shaft 12b rotate integrally around the rotation axis C1. Therefore, the stop spring 22 is configured such that the roller 22a slides along the cam surface Ca as the positioning plate 21 rotates (oscillates) in either direction (arrow A) or (arrow B). Thus, the roller 22a engages with any one of the valleys 21a, 21b, 21c, and 21d using the force of the stop spring 22. Furthermore, the stop spring 22 is configured such that the roller 22a selectively engages with any one of the valleys 21a, 21b, 21c, and 21d of the positioning plate 21, thereby holding the positioning plate 21 at rotation angle positions corresponding to positions P, R, N, or D, respectively. This allows positions P, R, N, or D to be established.

[0066] Next, the detailed structure of actuator unit 1 will be described.

[0067] like Figure 3 As shown, the motor 11 consists of a rotor 111 supported relative to the motor housing and capable of rotation, and a stator 112 arranged around the rotor 111 in a manner opposite each other with magnetic gap. In addition, the motor 11 is configured to drive the positioning plate 21.

[0068] Furthermore, the motor 11 is a surface magnet type (SPM) three-phase motor in which permanent magnets are assembled on the surface of the rotor 111. Specifically, the rotor 111 has a shaft pinion 111a and a rotor core 111b.

[0069] The pinion 111a of the rotor 111 rotates around the same rotation axis C1 with the output shaft 12b. In addition, a gear section 121 with a helical gear groove is integrally formed on the pinion 111a in the outer peripheral region from the central part to the lower end (Z2 side).

[0070] The stator 112 has a stator core 112a fixed in the motor housing and a multi-phase (U-phase, V-phase and W-phase) excitation coil (not shown) that generates magnetic force by energizing.

[0071] like Figure 3 as well as Figure 4 As shown, the drive force transmission mechanism 12 is configured to transmit the drive force of the motor 11 to the positioning plate 21. The drive force transmission mechanism 12 includes a reduction mechanism 12a and an output shaft 12b.

[0072] The deceleration mechanism 12a is configured to rotate the positioning plate 21 while reducing the rotational speed transmitted from the motor 11 side.

[0073] Specifically, the reduction mechanism 12a includes: a gear section 121 of the rotor 111, an intermediate gear 122 having a gear section 122a that meshes with the gear section 121, an intermediate gear 123 that is arranged on the lower surface side (Z2 side) with the same axis as the intermediate gear 122 and engages with the intermediate gear 122, and a final gear 124 having a gear section 124a that meshes with the gear section 123a of the intermediate gear 123.

[0074] In addition, such as Figure 5 as well as Figure 6 As shown, on the intermediate gear 122, a plurality of (6) elongated holes 122b extending circumferentially along the major axis are formed between the rotation center portion and the outer peripheral portion (gear portion 122a). The plurality of elongated holes 122b are arranged at 60-degree intervals from each other circumferentially. In addition, the intermediate gear 123 has an elliptical main body portion 123b on which the gear portion 123a is provided, and a plurality of (two) cylindrical engaging protrusions 123c protruding upward from the upper surface (Z1 side) of the main body portion 123b opposite to the gear portion 123a. The engaging protrusions 123c are arranged on the peripheral portions on both sides of the main body portion 123b in the major axis direction. Furthermore, the intermediate gear 123 and intermediate gear 122 are configured to be arranged adjacent to each other from below to above (Z1 side), and each of the engaging protrusions 123c arranged at 180° intervals is inserted (engaged) into the two elongated holes 122b of the corresponding intermediate gear 122.

[0075] Furthermore, the engaging protrusion 123c engages with the elongated hole 122b of the intermediate gear 122 by a gap Ba of a predetermined size (circumferential length). That is, the amount of rotation configured to allow relative free rotation (free rotation) between the intermediate gear 122 and the intermediate gear 123 is the amount (predetermined angular width) of the circumferential gap Ba generated in the mutually engaging engaging protrusion 123c and the elongated hole 122b. Furthermore, Figure 5 This illustrates the state in which driving force can be transmitted from intermediate gear 122 to intermediate gear 123. Figure 6 This illustrates a state where driving force cannot be transmitted from intermediate gear 122 to intermediate gear 123.

[0076] The output shaft 12b is configured to output the driving force of the motor 11 to the positioning plate 21. The output shaft 12b is connected to the output side of the reduction mechanism 12a. The output shaft 12b is also connected to the input side of the positioning plate 21. Thus, the output shaft 12b and the positioning plate 21 move as a unit.

[0077] like Figure 7As shown, the first output shaft sensor 13 is configured to detect the rotation angle of the output shaft 12b. For example, the first output shaft sensor 13 is composed of a Hall element. Furthermore, the rotational position (output angle) of the output shaft 12b is detected as a continuous output shaft angle. The second output shaft sensor 14 is configured to detect the rotation angle of the output shaft 12b. For example, the second output shaft sensor 14 is composed of a Hall element. Furthermore, the rotational position (output angle) of the output shaft 12b is detected as a continuous output shaft angle.

[0078] The first motor rotation angle sensor 15 is configured to detect the rotation angle of the rotor 111 of the motor 11. For example, the first motor rotation angle sensor 15 is configured to be an MR sensor (Magneto Resistive Sensor). The second motor rotation angle sensor 16 is configured to detect the rotation angle of the rotor 111 of the motor 11. For example, the second motor rotation angle sensor 16 is configured to be an MR sensor.

[0079] The first drive system 17 is configured to control the drive motor 11 based on the measured values ​​of the first output shaft sensor 13 and the first motor rotation angle sensor 15. The first drive system 17 is configured to control the motor 11 independently of the second drive system 18. Specifically, the first drive system 17 includes a first MCU 171 (an example of the "first control unit" in the technical solution), a storage unit (not shown), a first driver 172, and a first inverter 173.

[0080] The first MCU 171 is electrically connected to the storage unit. The first MCU 171 is electrically connected to the first output shaft sensor 13. The first MCU 171 is electrically connected to the first motor rotation angle sensor 15. The first MCU 171 is electrically connected to the first driver 172. The first driver 172 is electrically connected to the first inverter 173.

[0081] The first MCU 171 is configured to control the voltage that drives the motor 11. The first MCU 171 is a substrate component on which electronic components are mounted. The storage unit is a storage device having memory such as ROM (Read Only Memory) and RAM (Random Access Memory). The first driver 172 is configured to send signals to control the first inverter 173. The first driver 172 is an electronic component. The first inverter 173 has a plurality of (6) drive FETs (Field Effect Transistors) 174 that are switched on / off according to signals from the first driver 172. In the first inverter 173, the switching of the plurality of drive FETs 174 on / off results in the output of a sinusoidal three-phase AC voltage (U phase, V phase, and W phase). The first inverter 173 has an upper arm 173a having a plurality of (three) drive FETs 174 and a lower arm 173b having a plurality of (three) drive FETs 174.

[0082] The second drive system 18 is configured to control the motor 11 based on the measured values ​​of the second output shaft sensor 14 and the second motor rotation angle sensor 16. The second drive system 18 is configured to control the motor 11 independently of the first drive system 17. Specifically, the second drive system 18 includes a second MCU 181 (an example of the "second control unit" in the technical solution), a storage unit (not shown), a second driver 182, and a second inverter 183.

[0083] The second MCU 181 is electrically connected to the storage unit. The second MCU 181 is electrically connected to the second output shaft sensor 14. The second MCU 181 is electrically connected to the second motor rotation angle sensor 16. The second MCU 181 is electrically connected to the second driver 182. The second driver 182 is electrically connected to the second inverter 183. Furthermore, the first MCU 171 and the second MCU 181 can communicate with each other.

[0084] The second MCU 181 is configured to control the voltage that drives the motor 11. The second MCU 181 is a substrate component that mounts electronic components onto a substrate. The storage unit is a storage device having memory such as ROM and RAM. The second driver 182 is configured to send signals to control the second inverter 183. The second driver 182 is an electronic component. The second inverter 183 has a plurality of (6) drive FETs 184 that are switched on / off based on signals from the second driver 182. In the second inverter 183, the switching on / off of the plurality of drive FETs 184 outputs a sinusoidal three-phase AC voltage (U phase, V phase, and W phase). The second inverter 183 has an upper arm 183a having a plurality of (three) drive FETs 184 and a lower arm 183b having a plurality of (three) drive FETs 184.

[0085] Next, the relationship between the shift position movement, the output value of the second output shaft sensor 14, and the output value of the second motor rotation angle sensor 16 will be explained. Furthermore, the relationship between the output value of the first output shaft sensor 13 and the output value of the first motor rotation angle sensor 15 is the same as the relationship between the output values ​​of the second output shaft sensor 14 and the second motor rotation angle sensor 16.

[0086] like Figure 8 As shown, as the number of rotations of the motor 11 increases (0 times, 1 time, 2 times... 7 times), the positioning plate 21 connected to the output shaft 12b rotates in the order of shifting positions P, R, N, and D. At this time, the stop spring 22 is engaged in the valleys 21a, 21b, 21c, and 21d in that order. Furthermore, the output value of the second output shaft sensor 14 increases with the increase in the number of rotations of the motor 11.

[0087] For example, such as Figure 9 as well as Figure 10 As shown, currently, roller 22a is embedded in valley 21b (R position) (interval 1). Motor 11 (refer to) Figure 3 ) is driven thereby via the reduction mechanism 12a (see reference) Figure 1 The positioning plate 21 rotates in the direction of arrow A. Furthermore, a predetermined clearance Ba is provided between the intermediate gear 122 and the intermediate gear 123 (see reference). Figure 6 Therefore, with roller 22a fully embedded in the valley bottom of valley 21b, although intermediate gear 122 rotates with the rotation of rotor 111, it does not rotate because the engaging protrusion 123c inside the elongated hole 122b engages in a manner that prevents the transmission of driving force via gap Ba. As a result, in interval 1, the second motor rotates the angle sensor 16 (see reference 16). Figure 8The rotation angle (rad) of the motor 11 detected by the second output shaft sensor 14 increases linearly, while the rotation angle (rad) of the motor 11 increases linearly. Figure 8 The rotation angle (output shaft angle (rad)) of the output shaft 12b detected is constant.

[0088] Then, in section 2, one end of the elongated hole 122b of the intermediate gear 122 engages with the engaging protrusion 123c of the intermediate gear 123 in a manner capable of transmitting driving force. Therefore, the driving force of the motor 11 is transmitted through the gear section 121, the intermediate gear 122, the intermediate gear 123, and the final gear 124 (see reference). Figure 3 ) and directed to output shaft 12b (refer to Figure 1 The transmission is as follows: Furthermore, as the positioning plate 21 rotates in the direction of arrow A, the roller 22a moves upwards towards the mountain M via the inclined surface on the valley 21c (N position) side of the valley 21b (R position). Additionally, in section 2, the second motor rotates the angle sensor 16 (see reference...) Figure 8 The rotation angle (rad) of motor 11 detected by the second output shaft sensor 14 increases linearly. Figure 8 The rotation angle (rad) of the output shaft 12b detected increases at a constant rate.

[0089] Then, in interval 3, after roller 22a crosses the mountain M at the boundary between valley 21b (R position) and valley 21c (N position), positioning plate 21 rotates before motor 11 (intermediate gear 122). That is, positioning plate 21 is always subjected to force by roller 22a toward valley 21b, so using this force, positioning plate 21 rotates before motor 11 within the range of the gap Ba of elongated hole 122b. Then, roller 22a falls toward the valley bottom V of valley 21b (see reference). Figure 8 (Interval 3). At this time, the rotation angle of motor 11 increases, and on the other hand, the rotation angle (rad) of output shaft 12b increases sharply as roller 22a falls into (sucks in) valley V.

[0090] Furthermore, the movement of the shift position from P to R and from N to D is the same as the movement from R to N described above.

[0091] In addition, such as Figure 8 as well as Figure 10 As shown, the rotation direction of motor 11 is reversed, thereby the shift position moves to the R position via the N position (interval 4), interval 5 and interval 6.

[0092] Furthermore, the operation at position N (interval 4) is the same as that in interval 1. That is, the rotation angle (rad) of motor 11 detected by the second motor rotation angle sensor 16 decreases linearly, while the rotation angle (rad) of output shaft 12b detected by the second output shaft sensor 14 remains constant.

[0093] Furthermore, the operation of interval 5 is the same as that of interval 2. That is, in interval 5, the rotation angle of motor 11 decreases linearly, and the rotation angle (rad) of output shaft 12b decreases at a constant rate.

[0094] Furthermore, the operation of interval 6 is the same as that of interval 3. That is, the rotation angle of motor 11 decreases, and on the other hand, the rotation angle (rad) of output shaft 12b decreases sharply as roller 22a falls into (sucks in) valley V.

[0095] (Learning the shift positions of the second drive system)

[0096] In the shifting device 100, for example at the factory, the rotation angle of the motor 11 (rotor 111) corresponding to the valley bottom V is acquired (learned) for each shifting device 100. That is, the rotation angle of the motor 11 (rotor 111) corresponding to the valley bottom V (center of the gap Ba) for each of the multiple shifting positions (P position, R position, N position, and D position) is acquired (learned). Specifically, the gap width W contained in the reduction mechanism section 12a is detected in the valleys 21a, 21b, 21c, and 21d corresponding to the multiple shifting positions (P position, R position, N position, and D position). Then, the center of the detected gap Ba width W is learned as the valley bottom V (shifting position). Furthermore, the acquisition of the rotation angle of the motor 11 corresponding to the valley bottom V is performed by the first MCU 171 and the second MCU 181.

[0097] Here, in the shifting device 100 of this embodiment, the control of the motor 11 by the first drive system 17 and the control of the motor 11 by the second drive system 18 are performed independently. Therefore, when learning the shift position, it is necessary to prevent interference between the control of the motor 11 by the first drive system 17 and the control of the motor 11 by the second drive system 18. Therefore, in order to prevent drive interference between the first drive system 17 and the second drive system 18, when obtaining the shift position (P position, R position, N position, and D position), only one of the first drive system 17 and the second drive system 18 is used to control the motor 11.

[0098] Specifically, the shifting device 100 is configured to obtain a shifting position (P position, R position, N position, and D position) when the stop spring 22 is moved continuously through valleys 21a, 21b, 21c, and 21d (multiple valleys) by driving the motor 11 with voltage output from the second drive system 18. That is, in the shifting device 100, when a shifting position (P position, R position, N position, and D position) is obtained, the motor 11 is driven by the second drive system 18 based on the measured values ​​of the second motor rotation angle sensor 16 and the second output shaft sensor 14.

[0099] Furthermore, when the stop spring 22 is moved, the first MCU 171 is configured to control the shift position (P position, R position, N position, and D position) based on the measured values ​​of the first motor rotation angle sensor 15 and the first output shaft sensor 13. The second MCU 181 is configured to control the shift position (P position, R position, N position, and D position) independently of the first MCU 171, based on the measured values ​​of the second motor rotation angle sensor 16 and the second output shaft sensor 14.

[0100] Here, when the motor 11 is driven solely by the second drive system 18, the on / off state of each of the multiple (6) drive FETs 184 of the second drive system 18 is switched, thereby changing the energizing mode of the drive current output to the motor 11. Furthermore, all drive FETs 174 of the first drive system 17 are set to off.

[0101] exist Figure 11 An example of the energizing mode of the drive current output to motor 11 is shown. In the first drive system 17, all drive FETs 174 are turned off. In the second drive system 18, the U-phase drive FET 184 of the upper arm 183a is turned on, the V-phase drive FET 184 of the upper arm 183a is turned off, and the W-phase drive FET 184 of the upper arm 183a is turned off. In the second drive system 18, the U-phase drive FET 184 of the lower arm 183b is turned off, the V-phase drive FET 184 of the lower arm 183b is turned on, and the W-phase drive FET 184 of the lower arm 183b is turned on.

[0102] Thus, the driving current flows from the U phase of the upper arm 183a through the excitation coil of the motor 11 to the V phase and W phase of the lower arm 183b, thereby driving the motor 11.

[0103] In addition, such as Figure 12As shown, in the shifting device 100, in order to improve the positional accuracy of the shifting position obtained by the first output shaft sensor 13 and the second output shaft sensor 14, the movement of the stop spring 22 is stopped for a predetermined time in the valley bottom V of each of the valleys 21a, 21b, 21c, and 21d (multiple valleys). Figure 12 Although the case of valley bottom V of valley 21b is described as an example, the same applies to the valley bottom V of valleys 21a, 21c and 21d, where the movement of stop spring 22 is stopped for a specified time.

[0104] That is, the first output shaft sensor 13 and the second output shaft sensor 14 are mounted on the output shaft 12b via springs (not shown). The output shaft 12b rotates due to the driving force transmitted from the motor 11, so the spring vibrates along with the rotation of the output shaft 12b. Therefore, after the movement of the stop spring 22 is stopped, the first output shaft sensor 13 and the second output shaft sensor 14 also temporarily vibrate due to the vibration of the spring. Thus, in order to restore the measurement accuracy of the first output shaft sensor 13 and the second output shaft sensor 14, the movement of the stop spring 22 is stopped for a predetermined time.

[0105] Furthermore, in the shifting device 100, as the stop spring 22 moves, a deviation (sensor delay) occurs between the actual position of the stop spring 22 and the measured position of the stop spring 22 as measured by the first output shaft sensor 13 and the second output shaft sensor 14. Therefore, in order to eliminate the sensor delay, the movement of the stop spring 22 is stopped for a predetermined time.

[0106] Thus, the shifting device 100 is configured such that when the drive motor 11 moves the stop spring 22, based on the case that the stop spring 22 is positioned in the interval (interval 1 and interval 4) of the valley bottom V of each valley 21a, valley 21b, valley 21c and valley 21d, the movement of the stop spring 22 driven by the motor 11 driven by the voltage output from the second drive system 18 is stopped for a predetermined time.

[0107] Specifically, the second MCU 181 is configured to determine, regardless of whether the driving motor 11 is engaged, that if the measured value of the second output shaft sensor 14 remains unchanged for a predetermined number of times, it has reached the valley bottom V interval (interval 1 and interval 4) of each of the valleys 21a, 21b, 21c, and 21d. Similarly, the first MCU 171 is configured to determine, regardless of whether the driving motor 11 is engaged, that if the measured value of the first output shaft sensor 13 remains unchanged for a predetermined number of times, it has reached the valley bottom V interval (interval 1 and interval 4) of each of the valleys 21a, 21b, 21c, and 21d.

[0108] The second MCU181 is as follows Figure 13 As shown, the configuration is such that, based on the determination that the valley bottom V of each valley 21a, valley 21b, valley 21c and valley 21d has been reached, all drive FETs 184 of the lower arm 183b of the second inverter 183 are grounded, thereby controlling the drive braking (short braking) of the motor 11.

[0109] The second MCU181 is configured to control the movement of the stop spring 22 to stop for a predetermined time after the drive braking of the motor 11. That is, the second MCU181 is configured to calculate the predetermined time based on the condition that the drive braking of the motor 11 has occurred. Similarly, the first MCU171 is configured to calculate the predetermined time based on the braking of the drive braking of the motor 11.

[0110] The shifting device 100 is configured such that, based on the condition that the movement of the stop spring 22 is stopped for a predetermined time, the voltage is output from the second drive system 18 again, thereby driving the motor 11 again. Thus, in the shifting device 100, the gap width W can be measured in each of the valleys 21a, 21b, 21c, and 21d while the measurement accuracy is restored and the sensor delay is eliminated.

[0111] Here, in the shifting device 100, as described above, the first MCU 171 and the second MCU 181 independently measure (calculate) the predetermined time. Therefore, if the control cycle of the first MCU 171 and the control cycle of the second MCU 181 are inconsistent, even though the first drive system 17 is in a state where the predetermined time has been measured, there is a concern that the second drive system 18 may drive the motor 11 again. In this case, the error between the actual position of the valley V and the acquired (learned) position of the valley V in the first drive system 17 increases.

[0112] Therefore, the shifting device 100 is configured such that the first MCU 171 and the second MCU 181 communicate with each other, thereby the second drive system 18 determines the timing of re-driving the motor 11. Specifically, the second MCU 181 is configured to control the timing of re-driving the motor 11 based on the deviation of the control cycles of the first MCU 171 and the second MCU 181 identified through communication with the first MCU 171.

[0113] In the shifting device 100, both the first drive system 17 and the second drive system 18 are configured to acquire (learn) shift positions (P position, R position, N position, and D position). Therefore, even if the learning of the shift position in the first drive system 17 fails, as long as the learning of the shift position in the second drive system 18 is successful, the shift position can be switched using only the drive motor 11 of the second drive system 18. To eliminate this possibility, in the shifting device 100, if the learning of the shift position in one of the first drive system 17 and the second drive system 18 fails, the learning of the shift position in the other drive system 17 and the second drive system 18 is reset.

[0114] Specifically, the second drive system 18 is configured such that the first MCU 171 and the second MCU 181 communicate with each other, thereby eliminating the obtained shift positions corresponding to each of valley 21a, valley 21b, valley 21c and valley 21d when it is detected that at least one of the corresponding shift positions of valley 21a, valley 21b, valley 21c and valley 21d has not been obtained in the first drive system 17.

[0115] (Gear shift position learning and processing)

[0116] The following is for reference Figure 14 The shift position learning process performed by driving motor 11 via the second drive system 18 will be explained. The shift position learning process is a process of obtaining (learning) the shift position while communicating between the first drive system 17 and the second drive system 18.

[0117] In step S1, in the second MCU 181, to rotate the positioning plate 21 assembled at position N and set it to position D, the target position of motor 11 is set to position D. At this time, in the second MCU 181, based on the preset position D, the target position of motor 11 is set to position D. Additionally, the first MCU 171, relative to the first drive system 17, sends information indicating that shift position learning has begun in the second drive system 18. In step S2, in the second MCU 181, motor 11 is driven to switch the shift position to position D.

[0118] In step S3, the second MCU 181 determines whether the shift position is D or P. If the shift position is D or P, proceed to step S4; otherwise, proceed to step S5. In step S4, the second MCU 181 reverses the rotation direction of the motor 11. At this time, the first MCU 171 relative to the first drive system 17 sends information to the second drive system 18 indicating that the rotation direction of the motor 11 has been reversed.

[0119] In step S5, the rotation angle of the output shaft 12b is obtained by the second output shaft sensor 14 in the second MCU181. In step S6, the rotation angle of the motor 11 is obtained by the second motor rotation angle sensor 16 in the second MCU181. In step S7, the second MCU181 determines whether it is any one of valleys 21a, 21b, 21c, and 21d (multiple valleys). If it is any one of the multiple valleys, the process proceeds to step S8; otherwise, it proceeds to step S10.

[0120] In step S8, the second MCU 181 determines whether a predetermined time has elapsed. If the predetermined time has elapsed, the second MCU 181 proceeds to step S9; otherwise, step S8 is repeated. At this time, information indicating that the predetermined time has elapsed in the first drive system 17 is sent to the second MCU 181 of the second drive system 18.

[0121] In step S9, the second MCU 181 stores the learning values ​​in its storage unit. Specifically, the second MCU 181 stores the positions of the valley bottoms V of valleys 21a, 21b, 21c, and 21d corresponding to positions P, R, N, and D as learning values ​​in its storage unit. At this time, the second MCU 181 of the second drive system 18 sends a message indicating that the positions of the valley bottoms V of valleys 21a, 21b, 21c, and 21d were stored as learning values ​​in the storage unit in the first drive system 17.

[0122] In step S10, the second MCU 181 determines whether the learning operation has ended. Specifically, the second MCU 181 determines whether the positions of the valley bottoms V corresponding to each of the P, R, N, and D positions (valleys 21a, 21b, 21c, and 21d) are stored as learning values ​​in the storage unit. If the learning operation has ended, the process proceeds to step S11, where the shift position learning process ends after the motor 11 is stopped. At this time, the second MCU 181 of the second drive system 18 sends a message indicating that the learning operation in the first drive system 17 has ended. Otherwise, if the learning operation has not ended, the process returns to step S3.

[0123] In addition, in parallel with the control of the second drive system 18 described above, in step S101, the rotation angle of the output shaft 12b is obtained by the first output shaft sensor 13 in the first MCU 171. In step S102, the rotation angle of the motor 11 is obtained by the first motor rotation angle sensor 15 in the first MCU 171. In step S103, the first MCU 171 determines whether it is any one of valleys 21a, 21b, 21c, and 21d (multiple valleys). If it is any one of the multiple valleys, the first MCU 171 proceeds to step S104; otherwise, it proceeds to step S106.

[0124] In step S104, the first MCU 171 determines whether a predetermined time has elapsed. If the predetermined time has elapsed, the first MCU 171 proceeds to step S105; otherwise, step S104 is repeated. At this time, information indicating that the predetermined time has elapsed in the first drive system 17 is sent to the second MCU 181 of the second drive system 18.

[0125] In step S105, the first MCU 171 stores learning values ​​in its storage unit. Specifically, the positions of the valley bottoms V of valleys 21a, 21b, 21c, and 21d corresponding to positions P, R, N, and D are stored as learning values ​​in the first MCU 171. At this time, the second MCU 181 of the second drive system 18 sends a message indicating that the positions of the valley bottoms V of valleys 21a, 21b, 21c, and 21d have been stored as learning values ​​in the storage unit in the first drive system 17.

[0126] In step S106, the first MCU 171 determines whether the learning process has ended. Specifically, the first MCU 171 determines whether the positions of the valley bottoms V corresponding to each of the valleys 21a, 21b, 21c, and 21d for positions P, R, N, and D are stored as learning values ​​in the storage unit. If the learning process has ended, the shift position learning process ends. At this time, information indicating that the learning process in the first drive system 17 has ended is sent to the second MCU 181 of the second drive system 18. Otherwise, if the learning process has not ended, the process returns to step S101.

[0127] (Effects of this implementation method)

[0128] In this embodiment, the following effect can be obtained.

[0129] In this embodiment, as described above, the shifting device 100 is configured to drive the motor 11 using voltage output from either the first drive system 17 or the second drive system 18, thereby moving the stop spring 22 by continuously passing through multiple valleys 21a, 21b, 21c, and 21d, and thus obtaining a shifting position. Therefore, during shifting position learning performed by the first MCU 171 and the second MCU 181, the motor 11 is controlled by either the first drive system 17 or the second drive system 18, and the position of the stop spring 22 is identified by both the first MCU 171 and the second MCU 181, thereby learning the shifting position. Therefore, during shifting position learning, voltage is applied to the motor 11 only from either the first MCU 171 or the second MCU 181, so the control of the motor 11 by the first MCU 171 and the control of the motor 11 by the second MCU 181 do not interfere with each other. As a result, the control of motor 11 by the first MCU 171 and the control of motor 11 by the second MCU 181 can be made independent of each other, so that the learning of the shift position between the first MCU 171 and the second MCU 181 can be carried out without interference. In addition, even if one of the first MCU 171 and the second MCU 181 malfunctions, the other MCU can be used to continue the drive control of motor 11, thus ensuring the continuation of the drive control of motor 11.

[0130] Furthermore, in this embodiment, as described above, the shifting device 100 is configured such that when the stop spring 22 is moved by the motor 11 driven by the voltage output from the second drive system 18 in a manner that it continuously passes through multiple valleys 21a, valley 21b, valley 21c, and valley 21d, the stop spring 22 is stopped for a predetermined time as it is driven by the motor 11 driven by the voltage output from the second drive system 18, based on the case where the stop spring 22 is arranged in the interval (interval 1 and interval 4) of the valley bottom V of each of the multiple valleys 21a, valley 21b, valley 21c, and valley 21d. Therefore, by placing the stop spring 22 in the intervals (intervals 1 and 4) of the valley bottoms V of the multiple valleys 21a, 21b, 21c and 21d, the movement of the stop spring 22 is stopped for a predetermined time. This eliminates the vibration caused by the drive of the motor 11 and the deviation between the actual position of the stop spring 22 and the measured position of the stop spring 22. Thus, the vibration and the deterioration of the measurement accuracy of the position of the stop spring 22 caused by the deviation can be suppressed.

[0131] Furthermore, in this embodiment, as described above, the shifting device 100 is configured to output voltage from the second drive system 18 again based on the condition that the movement of the stop spring 22 has stopped for a predetermined time, thereby driving the motor 11 again. Thus, by driving again after the predetermined time that the movement of the stop spring 22 has stopped, the positions of the valley bottoms V of the multiple valleys 21a, 21b, 21c, and 21d can be obtained (learned) in a static state, enabling high-precision learning of the shifting position.

[0132] Furthermore, in this embodiment, as described above, the first MCU 171 and the second MCU 181 are capable of communication. The shifting device 100 is configured such that the first MCU 171 and the second MCU 181 communicate with each other, thereby determining the timing of re-driving the motor 11 by either the first drive system 17 or the second drive system 18 based on the output voltage. Therefore, the timing of re-driving the motor 11 by the second drive system 18 can be changed according to the control cycle of the first MCU 171, allowing the motor 11 to be driven again while synchronizing the first MCU 171 and the second MCU 181.

[0133] Furthermore, in this embodiment, as described above, the first MCU171 and the second MCU181 are capable of communication. The shifting device 100 is configured such that the first MCU171 and the second MCU181 communicate with each other. Therefore, if at least one shifting position corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d is not obtained in the first drive system 17, the obtained shifting positions corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d are eliminated. Thus, if the acquisition of a shifting position fails in the first drive system 17, the shifting position already acquired in the second drive system 18 is eliminated. This prevents the positioning plate 21 from being driven solely by the second drive system 18, and therefore prevents the manufacture of a shifting device driven solely by either the first drive system 17 or the second drive system 18.

[0134] Furthermore, in this embodiment, as described above, the shifting device 100 includes a first motor rotation angle sensor 15 and a second motor rotation angle sensor 16 that measure the rotation angle of the motor 11, and a first output shaft sensor 13 and a second output shaft sensor 14 that measure the rotation angle of the output shaft 12b connected to the positioning plate 21. The first MCU 171 is configured to obtain the shifting position based on the measured values ​​of the first motor rotation angle sensor 15 and the first output shaft sensor 13, and the second MCU 181 is configured to obtain the shifting position based on the measured values ​​of the second motor rotation angle sensor 16 and the second output shaft sensor 14. Therefore, when the stop spring 22 is moved by driving the motor 11 with the voltage output from the second drive system 18 in a manner that it continuously passes through multiple valleys 21a, valley 21b, valley 21c and valley 21d, the first MCU 171 and the second MCU 181 can each obtain the shift position in parallel. Therefore, compared with the case where the shift position is obtained by the first MCU 171 and the shift position is obtained by the second MCU 181 respectively, the shift position can be obtained more efficiently.

[0135] [Variation Example]

[0136] 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.

[0137] For example, in the above embodiment, although an example is shown in which the shifting device 100 is configured to drive the motor 11 via the second drive system 18 based on the measured values ​​of the second motor rotation angle sensor 16 and the second output shaft sensor 14 when a shift position (P position, R position, N position, and D position) is obtained, the present invention is not limited thereto. In the present invention, the shifting device may also be configured to drive the motor via the first drive system based on the measured values ​​of the first motor rotation angle sensor and the first output shaft sensor when a shift position (P position, R position, N position, and D position) is obtained.

[0138] Furthermore, while the above embodiment illustrates an example where the second MCU181 (second control unit) is configured to change the timing of re-driving the motor 11 based on the deviation in the control cycles of the first MCU171 (first control unit) and the second MCU181 (second control unit) identified through communication with the first MCU171 (first control unit), the present invention is not limited thereto. In the present invention, the second control unit may also change not only the timing of re-driving the motor, but also brake the motor or change the direction of rotation of the motor, based on the deviation in the control cycles of the first control unit and the second control unit identified through communication with the first control unit.

[0139] Furthermore, although the above embodiment shows an example where the second MCU181 (second control unit) sets the target position of the motor 11 to position D in order to rotate the positioning plate 21 (gear shifting component) assembled in position N and set it to position D, the present invention is not limited thereto. In the present invention, the second control unit may also set the target position of the motor to position P in order to rotate the gear shifting component assembled in position N and set it to position P.

[0140] Furthermore, although the above embodiment shows an example where the width W of the gap Ba is the width W of the gap Ba of the deceleration mechanism 12a, the present invention is not limited thereto. In the present invention, the gap width may also include other gap widths besides those of the deceleration mechanism in the drive force transmission mechanism.

[0141] Furthermore, although the above embodiments show an example of applying the shifting device 100 of the present invention to a shifting device for automobiles, the present invention is not limited thereto. In the present invention, the shifting device can also be applied to shifting devices other than those for automobiles, such as those for trams.

[0142] Furthermore, while the above embodiment illustrates an example where the second MCU181 (second control unit) is configured such that the stop spring 22 (positioning member) is positioned within the valley bottoms V of the plurality of valleys 21a, 21b, 21c, and 21d (intervals 1 and 4), and the movement of the stop spring 22 (positioning member) is stopped for a predetermined time in response to the movement of the motor 11 driven by the voltage output from the second drive system 18, the present invention is not limited thereto. In the present invention, the first control unit may also, based on the configuration of the positioning member within the valley bottoms V of the plurality of valleys (intervals 1 and 4), stop the movement of the positioning member in response to the movement of the motor driven by the voltage output from the first drive system for a predetermined time.

[0143] Furthermore, although the above embodiments show an example where the first MCU171 (first control unit) and the second MCU181 (second control unit) can communicate, the present invention is not limited thereto. In the present invention, the first control unit and the second control unit may not be able to communicate.

[0144] Furthermore, although the above embodiment shows an example where the second drive system 18 is configured such that the first MCU 171 (first control unit) and the second MCU 181 (second control unit) communicate with each other, thereby eliminating the acquired shift positions corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d (the plurality of valleys) when it is detected that at least one shift position corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d has not been acquired in the first drive system 17, the present invention is not limited to this. In the present invention, the first drive system may also be configured such that the first control unit and the second control unit communicate with each other, thereby eliminating the acquired shift positions corresponding to each of the plurality of valleys when it is detected that at least one shift position corresponding to each of the plurality of valleys has not been acquired in the second drive system.

[0145] The above embodiments illustrate an example of switching the on / off state of multiple drive FETs 174 in the first inverter 173 to output a sinusoidal three-phase AC voltage (U-phase, V-phase, and W-phase), but the present invention is not limited thereto. In the present invention, multiple drive FETs can also be switched on / off in the first inverter to output a pulsed three-phase AC voltage (U-phase, V-phase, and W-phase).

[0146] The above embodiments illustrate an example of switching the on / off state of multiple drive FETs 184 in the second inverter 183 to output a sinusoidal three-phase AC voltage (U-phase, V-phase, and W-phase), but the present invention is not limited thereto. In the present invention, multiple drive FETs can also be switched on / off in the second inverter to output a pulsed three-phase AC voltage (U-phase, V-phase, and W-phase).

[0147] Furthermore, in the above embodiments, for ease of explanation, an example of the control processing of the first MCU171 (first control unit) and the second MCU181 (second control unit) is shown using a process-driven flowchart that processes according to the processing flow sequence; however, the present invention is not limited thereto. In the present invention, the control processing of the first control unit and the second control unit can also be performed using an event-driven (event-driven) 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 by combining 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 motor includes a rotor and a stator, and drives the aforementioned gear shifting components; The first drive system includes a first control unit that controls the voltage driving the motor. The second drive system, which is separate from the first drive system, includes a second control unit that controls the voltage driving the motor; and A positioning component, which is used to establish the shift position when embedded in any one of the plurality of valleys of the shift switching component. The aforementioned shifting device is configured to obtain the shifting position when the motor is driven by a voltage output from either the first drive system or the second drive system to move the positioning member by continuously passing through the plurality of valleys. The aforementioned gear shifting device is configured such that the first control unit and the second control unit can communicate. If either the first drive system or the second drive system detects, through communication between the first control unit and the second control unit, that at least one of the shift positions corresponding to each of the plurality of valleys has not been acquired in the other drive system, the acquired shift positions corresponding to each of the plurality of valleys will be eliminated.

2. The gear shifting device according to claim 1, characterized in that, The composition is as follows: When the motor is driven by the voltage output from either the first drive system or the second drive system to move the positioning member by continuously passing through the plurality of valleys, the positioning member is stopped for a predetermined time based on the case where the positioning member is positioned in the valley bottom of each of the plurality of valleys, in conjunction with the movement of the positioning member driven by the motor by the voltage output from either the first drive system or the second drive system.

3. The shifting device according to claim 2, characterized in that, The composition is as follows: Based on the condition that the movement of the positioning component is stopped for the specified time, voltage is output again from either the first drive system or the second drive system, thereby driving the motor again.

4. The shifting device according to claim 3, characterized in that, The composition is as follows: The first control unit and the second control unit mentioned above are capable of communicating. The first control unit and the second control unit communicate with each other, thereby determining the time to drive the motor again based on the output voltage of either the first drive system or the second drive system.

5. The shifting device according to any one of claims 1 to 4, characterized in that, It also has: A first motor rotation angle sensor and a second motor rotation angle sensor measure the rotation angle of the aforementioned motors; and The first output shaft sensor and the second output shaft sensor measure the rotation angle of the output shaft connected to the aforementioned gear shifting component. The first control unit controls the gear shift position by obtaining the measured values ​​of the first motor rotation angle sensor and the first output shaft sensor, and the second control unit controls the gear shift position by obtaining the measured values ​​of the second motor rotation angle sensor and the second output shaft sensor.

Images