shift device

Abstract

The present application relates to a shift device. The shift device is provided with: a shift switching member including a plurality of valleys; a positioning member for establishing a shift position in a state of being fitted into any one of the plurality of valleys of the shift switching member; a motor including a rotor and a stator for driving the shift switching member; a rotor rotation angle sensor; and an output shaft rotation angle sensor for detecting a rotation angle of the shift switching member, and when the positioning member is caused to move in such a manner as to pass through the plurality of valleys, a bottom of a valley of an end portion of the plurality of valleys is detected on the basis of output values of the rotor rotation angle sensor and the output shaft rotation angle sensor and a design value associating the output value of the output shaft rotation angle sensor with the shift position, and the movement of the positioning member is reversed, whereby a rotation angle of the motor corresponding to the bottoms of the plurality of valleys is acquired.

Description

Technical Field

[0001] This invention relates to a gear shifting device mounted on a vehicle. Background Technology

[0002] Previously, it was known that gear shifting devices were installed in vehicles. For example, such a gear shifting device was disclosed in Japanese Patent Application Publication No. 2005-69406.

[0003] Japanese Patent Application Publication No. 2005-69406 discloses a gear shifting device (gear shifting device) comprising an actuator including a motor that operates based on a control signal corresponding to a passenger's gear shifting operation, and a gear shifting mechanism that switches gear positions by being driven by the actuator. The gear shifting mechanism includes a stop plate (gear shifting member) and a stop spring (positioning member) with a roller (pin) provided at its front end. The stop plate is a plate including multiple valleys corresponding to the gear shifting position. The stop spring establishes the gear shifting position when the roller at its front end is engaged with any one of the multiple valleys of the stop plate. Furthermore, the stop plate is fixed to the output shaft of the actuator, so it rotates integrally with the output shaft of the actuator. Additionally, the stop plate (gear shifting member) is mechanically connected to the transmission mechanism that performs the gear shifting operation.

[0004] In the aforementioned Japanese Patent Application Publication No. 2005-69406, based on a control signal from a control unit corresponding to the passenger's operation of the operating unit, the actuator rotates and transmits the rotation of the actuator to the output shaft. Furthermore, by rotating together with the output shaft, the roller at the front end of the stop spring located in one valley of the stop plate moves to other valleys. This changes the shift position. In addition, a wall portion with an inclined angle that the roller at the front end of the stop spring cannot cross is provided at the end of one of the valleys of the stop plate.

[0005] Furthermore, in the gear shifting device described in Japanese Patent Application Publication No. 2005-69406, in order to improve the positioning accuracy of the roller at the front end of the stop spring relative to the stop plate, the position of the bottom of the valley where the roller at the front end of the stop spring is embedded is obtained (learned) in advance. As a result of this learning, when the vehicle is actually running, drive control of the stop plate is performed to prevent the roller at the front end of the stop spring from colliding violently with the wall.

[0006] In the aforementioned study of the gear shifting device (gear shifting device) described in Japanese Patent Application Publication No. 2005-69406, the following process is performed: the roller at the front end of the stop spring (positioning member) is forced to contact (collide) with the wall. In this state, the roller at the front end of the stop spring is pressed against the wall, causing the main body of the stop spring with the roller at the front end to bend, thereby obtaining the position of the wall.

[0007] Patent Document 1: Japanese Patent Application Publication No. 2005-69406

[0008] However, in the gear shifting device described in Japanese Patent Application Publication No. 2005-69406, during learning, the roller (pin) at the front end of the stop spring (positioning member) needs to contact (collide) with the wall and press the roller against the wall, causing the main body of the stop spring with the roller at the front end to bend, thus applying a load to the transmission mechanism that is mechanically connected to the stop plate (gear shifting member). Therefore, there are problems such as reduced durability of the transmission mechanism. Summary of the Invention

[0009] 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 suppress the decrease in durability of the transmission mechanism that is mechanically connected to the shifting component and suppress the decrease in the positioning accuracy of the shifting position.

[0010] To achieve the above objectives, a gear shifting device of the first aspect of the present invention is mounted on a vehicle and includes: a gear shifting component comprising a plurality of valleys arranged in a manner corresponding to a gear shifting position; a positioning component for establishing the gear shifting position when the gear shifting component is embedded in any one of the plurality of valleys; a motor for driving the gear shifting component and including a rotor and a stator; a rotor rotation angle sensor for detecting the rotation angle of the rotor; and an output shaft rotation angle sensor for detecting the rotation angle of the gear shifting component. The device is configured such that when the positioning component is moved through the plurality of valleys, based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and a design value that associates the output value of the output shaft rotation angle sensor with the gear shifting position, the bottom of the valley at the end of the plurality of valleys is detected, and the movement of the positioning component is reversed, thereby obtaining the rotation angle of the motor corresponding to the bottom of the plurality of valleys.

[0011] In the shifting device of the first aspect of the present invention, as described above, it is configured such that when the positioning member moves through multiple valleys, the bottom of the valley at the end of the multiple valleys is detected based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and a design value that associates the output value of the output shaft rotation angle sensor with the shifting position, and the movement of the positioning member is reversed, thereby obtaining (learning) the rotation angle of the motor corresponding to the bottom of the multiple valleys. Therefore, during learning, the bottom of the valley at the end of the multiple valleys (the valley with the wall) can be detected based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and the design value that associates the output value of the output shaft rotation angle sensor with the shifting position, and the movement of the positioning member is reversed. Therefore, when the bottom of the valley at the end (the valley with the wall) is detected, the movement direction of the positioning member can be changed so that the positioning member moves further away from the wall. As a result, learning can be performed without the positioning member colliding with the wall provided in the valley at the end. Therefore, it is possible to suppress the decrease in durability of the transmission mechanism that is mechanically connected to the shifting component, and it is possible to suppress the decrease in the positioning accuracy of the shift position.

[0012] In the shifting device of the first aspect described above, it is preferable to further include: a deceleration mechanism having a gap of a predetermined amount that does not transmit driving force from the motor to the shifting member, rotating the shifting member in a state where the rotational speed transmitted from the motor side is decelerated, and configured to detect a state where driving force is not transmitted from the motor to the shifting member due to the gap based on the output value of the rotor rotation angle sensor and the output shaft rotation angle sensor and the design value, thereby detecting the bottom of the valley at the end and reversing the movement of the positioning member, thereby obtaining the rotation angle of the motor corresponding to the bottom of the valley of the plurality of valleys.

[0013] With this configuration, the positioning member can be positioned at the bottom of the valley of the shifting member without causing the shifting member to move relative to the motor within a predetermined gap (clearance) intentionally set in the reduction gear section. Therefore, the position of the bottom of the valley embedded in the positioning member can be learned without applying excessive load (external force) to the motor side or the positioning member side.

[0014] In the shifting device of the first aspect described above, it is preferably configured such that the rotation angle of the motor corresponding to the bottom of the multiple valleys is obtained by reciprocating the positioning member between the ends on both sides of the multiple valleys once.

[0015] If configured in this way, the rotation angle of the motor corresponding to the bottom of the multiple valleys can be obtained (learned) by making the positioning component reciprocate only once between the two ends of the multiple valleys. Therefore, the cycle time for obtaining the rotation angle of the motor corresponding to the bottom of the multiple valleys can be shortened.

[0016] In this case, it is preferable that when the positioning component is moved by passing through multiple valleys, based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and the design value, after the motor drive starts, when the bottom of a valley that is the same as the bottom of the valley detected at the start of the motor drive is detected again in the same rotation direction as when the motor drive starts, it is determined that the rotation angle of the motor corresponding to the bottom of the multiple valleys has been obtained, and the motor drive is stopped.

[0017] If configured in this way, after the motor drive starts, when the bottom of a valley that is the same as the bottom of the valley detected at the start of the motor drive is detected again in the same rotational direction as when the motor drive starts, the motor drive can be stopped. Therefore, it is possible to reliably detect the situation where the positioning component reciprocates once between the two ends of the multiple valleys.

[0018] In the shifting device of the first aspect described above, it is preferably configured such that a plurality of valleys include a parking position, a reverse position, a neutral position, and a drive position as shifting positions in the order of parking position, reverse position, neutral position, and drive position, and during the period when the positioning member is moved sequentially through the parking position, reverse position, neutral position, and drive position, the rotation angle of the motor corresponding to the parking position, reverse position, neutral position, and drive position is obtained.

[0019] If configured in this way, the movement of the positioning component can be reversed at the parking position and the drive position at the end, so as to obtain (learn) the rotation angle of the motor corresponding to the parking position, the reverse position, the neutral position, and the drive position.

[0020] In this case, it is preferable to detect shift uncertainty positions in other positions of the shift switching component besides the four shift positions of parking position, reverse position, neutral position, and drive position, where the design value is not related to the output value of the output shaft rotation angle sensor.

[0021] With this configuration, it can detect not only the position of the positioning component in the parking, reverse, neutral, and drive positions, but also positions that are not equivalent to any of these four shift positions (uncertain shift positions). As a result, the position of the positioning component can be detected in greater detail, thus enabling higher-precision acquisition (learning) of the motor's rotation angle corresponding to the shift position.

[0022] The shifting device of the second aspect of the present invention is mounted on a vehicle and includes: a shifting member comprising a plurality of valleys arranged in a manner corresponding to a shifting position; a positioning member for establishing the shifting position when embedded in any one of the plurality of valleys of the shifting member; a motor for driving the shifting member and including a rotor and a stator; a rotor rotation angle sensor for detecting the rotation angle of the rotor; and an output shaft rotation angle sensor for detecting the rotation angle of the shifting member, configured such that when the positioning member is moved in a manner passing through the plurality of valleys, the positioning member reciprocates between the ends on both sides of the plurality of valleys based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and a design value that associates the output value of the output shaft rotation angle sensor with the shifting position, thereby obtaining the rotation angle of the motor corresponding to the bottom of the plurality of valleys.

[0023] In the shifting device of the second aspect of the present invention, as described above, when the positioning member is moved through multiple valleys, the positioning member reciprocates between the two ends of the multiple valleys based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and a design value that associates the output value of the output shaft rotation angle sensor with the shift position, thereby obtaining the motor rotation angle corresponding to the bottom of the multiple valleys. Therefore, during learning, the positioning member can reciprocate between the two ends of the multiple valleys based on the output values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor, and a design value that associates the output value of the output shaft rotation angle sensor with the shift position, thereby obtaining the motor rotation angle corresponding to the bottom of the multiple valleys. As a result, learning can be performed without the positioning member colliding with the walls provided at the ends. Therefore, the durability of the transmission mechanism mechanically connected to the shifting member can be suppressed, and the positioning accuracy of the shift position can be suppressed. Furthermore, since the bottoms of the valleys at the two ends can be avoided, the cycle time can be shortened.

[0024] Furthermore, in this application, the following structure is also considered in the shifting device of the aforementioned aspect.

[0025] (Note 1)

[0026] That is, in the shifting device of the above aspect, a wall portion is provided at the valley of the end to prevent the positioning member from moving beyond the valley of the end, so that the movement of the positioning member is reversed in such a way that the positioning member does not collide with the wall portion.

[0027] If configured in this way, the movement of the positioning component can be reversed so that the positioning component does not collide with the wall, thus more reliably preventing the positioning component from colliding with the wall.

[0028] (Note 2)

[0029] In the shifting device of the above aspect, the design value includes an angle diagram showing the relationship between the shift position and the rotation angle of the shifting component corresponding to the output value of the output shaft rotation angle sensor.

[0030] If configured in this way, it is possible to easily obtain (learn) the rotation angle of the motor corresponding to the bottom of multiple valleys based on the angle diagram showing the relationship between the shift position and the rotation angle of the shift switching component corresponding to the output value of the output shaft rotation angle sensor. Attached Figure Description

[0031] Figure 1 This is a block diagram illustrating the control structure of the shifting device in the embodiment.

[0032] Figure 2 This is a perspective view that briefly illustrates the overall structure of the shifting device according to the embodiment.

[0033] Figure 3 This is a diagram showing the structure of the stop plate that constitutes the shifting device in the embodiment.

[0034] Figure 4 This is a cross-sectional view showing the actuator unit of the shifting device constituting the embodiment.

[0035] Figure 5 This diagram shows the internal structure of the reduction mechanism in the actuator unit of the shifting device constituting the embodiment, with the gear housing removed from the main body.

[0036] Figure 6 This diagram illustrates the engagement state (capable of transmitting driving force) of the intermediate gear in the actuator unit of the shifting device constituting the embodiment.

[0037] Figure 7 This diagram shows the engagement state (non-transmitting driving force state) of the intermediate gear in the actuator unit of the shifting device constituting the embodiment.

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

[0039] Figure 9 It is a diagram showing the relationship between the motor's rotating shaft and output shaft.

[0040] Figure 10 It is a diagram showing the relationship between the first estimated value, the second estimated value, and the center of the gap in the shifting device of the embodiment.

[0041] Figure 11 It is a diagram used to illustrate design values ​​(angle diagram).

[0042] Figure 12 This is a flowchart illustrating the control process performed by the shifting device to prevent the stop spring from colliding with the wall. Detailed Implementation

[0043] The following describes the implementation method in conjunction with the accompanying drawings.

[0044] (The overall structure of the gear shifting device)

[0045] First, refer to Figures 1-12 The structure of the shifting device 100 of this embodiment will be described. Furthermore, in this specification, "rotation angle of the motor" and "rotation angle of the rotor" have the same meaning.

[0046] like Figure 1 As shown, the gear shifting device 100 is mounted on a vehicle 110, such as an automobile. In the vehicle 110, when the driver performs a gear shifting operation via an operating unit 111 such as a gear lever, electric gear shifting control is performed on the transmission mechanism 120. That is, the position of the gear lever is input to the gear shifting device 100 via a shift sensor 112 installed on the operating unit 111. Furthermore, based on a control signal sent from a dedicated ECU 50 installed on the gear shifting device 100, the transmission mechanism 120 is switched to any one of the following shift positions corresponding to the passenger's gear shifting operation: P (Park), R (Reverse), N (Neutral), and D (Drive). This type of gear shifting control is called shift-by-wire (SBW).

[0047] The shifting device 100 includes an actuator unit 60 and a shifting mechanism 70 driven by the actuator unit 60.

[0048] The manual slide valve (not shown) of the hydraulic valve body of the hydraulic control circuit section 130 within the transmission mechanism section 120 is mechanically connected to the parking mechanism section 140. Furthermore, it is configured to mechanically switch the shift positions (P position, R position, N position, and D position) of the transmission mechanism section 120 by driving the shift mechanism section 70.

[0049] The actuator unit 60 includes: a motor 10, a reduction gear unit 20, a rotor rotation angle sensor 30 for detecting the rotation angle of the rotor 11 of the motor 10, an output shaft rotation angle sensor 40 for detecting the rotation angle of the stop plate 71 (output shaft 25), and an ECU 50. Furthermore, as... Figure 2As shown, ECU50 is a substrate component on which electronic components are mounted on substrate 51. Additionally, the output shaft rotation angle sensor 40 is, for example, composed of a Hall element. The rotational position (output angle) of the output shaft 25 is detected by the output shaft rotation angle sensor 40 as a continuous voltage value.

[0050] Furthermore, the actuator unit 60 includes a box-shaped main body 61 that houses the aforementioned components of the actuator unit 60 and is fixed to the housing of the transmission mechanism section 120. Additionally, the actuator unit 60 includes an output shaft 25 that connects to the output side of the reduction mechanism section 20. Furthermore, the actuator unit 60 includes a non-volatile storage section 90 (see reference 1) disposed inside the main body 61. Figure 1 )(exist Figure 4 (The illustration of storage unit 90 is omitted).

[0051] (Detailed structure of the gear shifting mechanism)

[0052] like Figure 2 As shown, the gear shifting mechanism 70 includes a stop plate 71 (an example of a "gear shifting component" in the technical solution) and a stop spring 72 (an example of a "positioning component" in the technical solution). The stop spring 72 is configured to hold the stop plate 71 at each rotation angle position corresponding to the P position, R position, N position, and D position.

[0053] like Figure 3 As shown, the stop plate 71 has a plurality of (four) valleys 80 (valve 81 to 84) configured to correspond to shift positions (P position, R position, N position, and D position). In detail, the plurality of (four) valleys 81 to 84 (valve 80) extend from one end 81b toward the other end 84b in the order of parking position, reverse position, neutral position, and drive position, including the parking position, reverse position, neutral position, and drive position as shift positions.

[0054] Furthermore, the shifting device 100 is configured to acquire (learn) the rotation angle of the motor 10 corresponding to the parking position, reverse position, neutral position, and drive position while the stop spring 72 is moved sequentially through the parking position, reverse position, neutral position, and drive position. Details regarding the learning process will be described later.

[0055] Furthermore, the shifting device 100 is configured to detect shift uncertainty positions at other positions of the stop plate 71 besides the four shifting positions of parking, reverse, neutral, and drive, where the design value DE (described later) is not associated with the output value of the output shaft rotation angle sensor 40. In summary, the shift uncertainty positions (the other positions of the stop plate 71 mentioned above) are the positions between the parking and reverse positions (mountain 85), between the reverse and neutral positions (mountain 85), and between the neutral and drive positions (mountain 85).

[0056] Furthermore, a cam surface 71a with a continuous undulating shape is formed on the stop plate 71 through the valleys 81 to 84. Additionally, adjacent valleys 80 (e.g., valleys 81 and 82, valleys 82 and 83, etc.) are separated from each other by a mountain 85 having a top T. The base end 72a of the stop spring 72 (see reference) Figure 2 The housing 121 fixed to the transmission mechanism 120 (see reference) Figure 2 ), and at the free end 72b (refer to Figure 2 A roller (pin) 73 is mounted on the side. Moreover, the roller 73 of the stop spring 72 always presses against the cam surface 71a (any one of the valleys 81 to 84 or the mountain 85). Furthermore, the stop spring 72 establishes the shift position when it is engaged in any one of the multiple valleys 81 to 84.

[0057] In addition, such as Figure 3 As shown, in the plurality of valleys 80 included in the stop plate 71, the valley 81 disposed at one end 81b and the valley 84 disposed at the other end 84b are respectively provided with wall portions 81a and 84a for preventing the stop spring 72 from moving beyond the valley 81 and valley 84. Specifically, the valley 81 disposed at the end of the stop plate 71 in the direction of arrow A is provided with a wall portion 81a. In addition, the valley 84 disposed at the end of the stop plate 71 in the direction of arrow B is provided with a wall portion 84a. Furthermore, the shifting device 100 is configured such that the movement of the stop spring 72 (driven by the motor 10) is reversed at the valley bottom V at position P and the valley bottom V at position D, in such a way that the stop spring 72 does not collide with the wall portions 81a and 84a.

[0058] In addition, such as Figure 2As shown, the stop plate 71 is fixed to the lower end (Z2 side) of the output shaft 25, and the stop plate 71 and the output shaft 25 rotate integrally around the rotation axis C1. Therefore, the stop spring 72 is configured to cause the roller 73 to slide along the cam surface 71a as the stop plate 71 rotates (oscillates) in either the direction of arrow A or arrow B. This allows the roller 73 to engage with any one of the valleys 81 to 84 via the force F of the stop spring 72. Furthermore, the stop spring 72 is configured to selectively engage the roller 73 with any one of the valleys 81 to 84 of the stop plate 71, holding the stop plate 71 at rotation angle positions corresponding to positions P, R, N, or D. This allows positions P, R, N, or D to be established respectively.

[0059] Additionally, the stop plate 71 also has an arm 87 and an arm 88. The stop lever 75 is connected to the arm 87, and the manual valve lever 76 (see reference) Figure 3 It is connected to the arm 88. Furthermore, when the stop plate 71 rotates to the rotation angle position corresponding to position R, the manual spool valve at the front end of the manual valve stem 76 moves to the position corresponding to position R within the hydraulic valve body, thereby controlling the hydraulic control circuit section 130 (see reference). Figure 1 A hydraulic circuit for the R position is formed within the hydraulic control circuit section 130. Similar to the R position, the manual valve stem 76 (manual slide valve) moves to the position corresponding to each shift position as the stop plate 71 rotates, thereby forming a hydraulic circuit corresponding to each shift position within the hydraulic control circuit section 130.

[0060] (Detailed structure of the parking department)

[0061] like Figure 2 As shown, the parking mechanism 140 includes a parking gear 141 connected to the crankshaft (not shown) of the engine 150, and a locking pawl 142 that engages with the parking gear 141. The locking pawl 142 moves to a locked position and an unlocked position as the parking lever 75 moves. When the stop plate 71 rotates to a rotation angle position corresponding to the P position, the locking pawl 142 rotates about the rotation axis C2 to the locked position, and the protrusion 142a engages with the tooth bottom 141a of the parking gear 141. Thus, the free rotation of the parking gear 141 is restricted, and the rotation of the crankshaft is restricted. In addition, when the stop plate 71 rotates to a rotation angle position corresponding to a shift position other than the P position (R, N, and D positions), the locking pawl 142 rotates to the unlocked position, and the engagement between the locking pawl 142 and the parking gear 141 is released.

[0062] (Detailed structure of the actuator unit)

[0063] Next, the detailed structure of the actuator unit 60 will be described.

[0064] <Structure of the "Main Body" of the Actuator Unit>

[0065] like Figure 4 As shown, the main body 61 consists of a motor housing 62, a motor cover 63, and a gear housing 64. The heat-resistant resin motor housing 62 and motor cover 63 are assembled with their respective recesses 62a and 63a facing each other, housing the motor 10 and ECU 50 within the motor chamber 65. Furthermore, the resin gear housing 64 is assembled to the motor housing 62 from the opposite side (Z2 side) with its recesses 64a facing each other, thereby housing the reduction gear 20 within the gear chamber 66.

[0066] A plug 62c with a terminal 52 is formed on the outer surface 62b of the motor housing 62. The terminal 52 is electrically connected to the ECU 50 via a wiring 53. Power is also supplied to the actuator unit 60 via a wiring cable (not shown) connected to the plug 62c. Furthermore, the ECU 50 is connected to the ECU 151 (see reference ECU 151) which controls the engine 150 via the wiring cable. Figure 1 The ECU50 communicates with the motor 10 (see reference). Figure 1 ), rotor rotation angle sensor 30 (reference) Figure 1 ) and output shaft rotation angle sensor 40 (refer to Figure 1 Electrical connection.

[0067] <Structure of the "motor" in the actuator unit>

[0068] like Figure 4 As shown, the motor 10 consists of a rotor 11 supported by a motor housing 62 and capable of rotation, and a stator 12 arranged around the rotor 11 in a manner with magnetic gap. In addition, the motor 10 is configured to drive the stop plate 71.

[0069] The motor 10 is a three-phase motor using a surface magnet type (SPM) where permanent magnets are assembled onto the surface of the rotor 11. Specifically, the rotor 11 has a pinion shaft 11a, a rotor core 11b, and a gear section 11c.

[0070] The rotor 11 has N-pole and S-pole permanent magnets alternately attached to the surface of the rotor core 11b at equal angular intervals (45°) around the rotation shaft C1. Therefore, the motor 10 has 8 poles.

[0071] For the pinion shaft 11a, the upper end (Z1 side) is supported for rotation by a bearing member 1 disposed in the rotating shaft support bearing 63b of the motor cover 63, and the lower end (Z2 side) is supported for rotation by a bearing member 2 of the output bearing portion 26, which is supported for rotation by a bearing member 3 pressed into the output shaft support bearing 64b. Furthermore, the bearing member 2 is disposed along the inner circumference of the recess at the upper end (Z1 side) of the output bearing portion 26. Thus, the pinion shaft 11a and the output shaft 25 of the rotor 11 rotate about the same rotation axis C1.

[0072] The gear portion 11c is integrally formed with the outer peripheral region of the pinion shaft 11a from the center to the lower end (Z2 side). The gear groove of the gear portion 11c is formed in a spiral shape.

[0073] like Figure 4 As shown, the stator 12 has a stator core 13 fixed in the motor chamber 65 of the motor housing 62, and multiphase (U-phase, V-phase and W-phase) excitation coils (not shown) that generate magnetic force by energizing.

[0074] like Figure 4 As shown, the stator core 13 integrally has a nearly cylindrical main body 13a with the same axis as the pinion shaft 11a of the rotor 11, and a plurality (four) teeth 13b protruding from the inner wall surface of the main body 13a toward the axis. Among these teeth 13b, a pair of teeth 13b arranged on opposite radial sides centered on the axis have through holes formed parallel to the pinion shaft 11a. Furthermore, rod-shaped support shafts 67a and 67b, inserted into the through holes of the motor housing 62, pass through the through holes. The rear ends of the support shafts 67a and 67b ( Figure 4 The upper end of the motor housing 63 is fitted into the recess 63c of the motor housing 63, and its front end ( Figure 4 The lower end of the stator 12 engages with the recess 64c of the gear housing 64. Thus, the stator 12 is fixed within the motor housing 65. Furthermore, the axes of the support shaft 67a, support shaft 67b, and pinion shaft 11a are arranged parallel to each other along the Z-direction.

[0075] <Structure of the "Reduction Mechanism" of the Actuator Unit>

[0076] The reduction mechanism 20 is configured to rotate the stop plate 71 while reducing the rotational speed transmitted from the motor 10 side. Specifically, as shown in the figure... Figure 4 as well as Figure 5As shown, the reduction mechanism 20 includes: a gear section 11c of the rotor 11, an intermediate gear 21 having a gear section 21a meshing with the gear section 11c, an intermediate gear 22 arranged on the lower surface side (Z2 side) with the same axis as the intermediate gear 21 and engaging with the intermediate gear 21, and a final gear 23 having a gear section 23a meshing with the gear section 22a of the intermediate gear 22. Furthermore, the driving force of the motor 10 is transmitted in the order of gear section 11c, intermediate gear 21, intermediate gear 22, and final gear 23, and is finally transmitted to the output shaft 25 via the output bearing section 26.

[0077] Intermediate gear 21 is disposed on the motor 10 side of the drive stop plate 71. Intermediate gear 22 is disposed on the stop plate 71 side and rotates with the rotation of intermediate gear 21. The lower end of pinion shaft 11a is supported by bearing member 2, through which gear portion 11c traverses gear chamber 66 in the vertical direction (Z direction). Intermediate gear 21 is supported by bearing member 4 and is rotatable relative to support shaft 67a inserted into through hole in motor housing 62. Intermediate gear 22 is supported by approximately cylindrical bearing member 5 embedded in support shaft 67a and is rotatable. Intermediate gears 21 and 22 overlap coaxially.

[0078] like Figure 6 as well as Figure 7 As shown, the intermediate gear 21 has a plurality of (6) elongated holes 21e extending circumferentially along its major axis between its rotation center and its outer peripheral portion (gear portion 21a). The elongated holes 21e are arranged at 60° intervals from each other in the circumferential direction. The intermediate gear 22 has an elliptical main body 22b on which the gear portion 22a is provided, and a plurality of (two) cylindrical engaging protrusions 22e protruding upward from the upper surface (Z1 side) opposite to the gear portion 22a of the main body 22b. The engaging protrusions 22e are arranged on the peripheral portions on both sides of the main body 22b in the major axis direction. Furthermore, the intermediate gear 22 is configured such that, when the intermediate gear 22 and intermediate gear 21 are arranged adjacent to each other from below to above (Z1 side), each of the engaging protrusions 22e, arranged at 180° intervals from each other, is inserted (engaged) into the two elongated holes 21e of the corresponding intermediate gear 21.

[0079] Furthermore, the engaging protrusion 22e has a gap S of a predetermined size (circumferential length) that engages with the elongated hole 21e of the intermediate gear 21. That is, as... Figure 7 As shown, the circumferential gap S (a predetermined angle range) created by the mutually engaging engagement protrusion 22e and elongated hole 21e allows for relative free rotation (free rotation) between the intermediate gear 21 and intermediate gear 22. In summary, the gap S refers to a predetermined amount of gap between the engagement protrusion 22e and elongated hole 21e that does not transmit driving force from the motor 10 to the stop plate 71.

[0080] Therefore, the intermediate gears 21 and 22 are configured such that they do not always rotate as a single unit. The rotation transmitted to the intermediate gear 21 is allowed to be transmitted to the intermediate gear 22 through relative free rotation (free rotation) in one direction (arrow A) or another direction (arrow B) by a specified angular range. Furthermore, Figure 6 This shows the state in which driving force can be transmitted from intermediate gear 21 to intermediate gear 22. Figure 7 This illustrates the state where driving force cannot be transmitted from intermediate gear 21 to intermediate gear 22.

[0081] In this embodiment, the shifting device 100 is based on the output values ​​of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40, and the design value DE (see reference). Figure 1 , Figure 11 The shifting device 100 detects a state where no driving force is transmitted from the motor 10 to the stop plate 71, thereby detecting the valley bottoms V of the valleys 81 and 84 at the ends 81b and 84b. Furthermore, the shifting device 100 is configured to obtain (learn) the rotation angle of the motor 10 corresponding to the valley bottoms V of the multiple valleys 81 to 84 by reversing the movement of the stop plate 71. Details of the learning process will be described later. Alternatively, the shifting device can be configured to detect the valley bottoms of the valleys at both ends of the multiple valleys without relying on the output values ​​and design values ​​of the rotor rotation angle sensor and the output shaft rotation angle sensor. Instead, it obtains the motor rotation angle corresponding to the valley bottoms by reversing the rotation direction of the stop plate at a position near the valleys at both ends of the multiple valleys, i.e., by reversing the rotation direction of the stop plate at a position close to the valleys at both ends of the multiple valleys. In this case, since it is not necessary to detect the valley bottoms at both ends of the valleys, the cycle time can be shortened.

[0082] In summary, the shifting device 100 is configured such that when the stop plate 71, which rotates in the direction of arrow B, moves to the bottom V of the valley 81 where the end 81b of the wall portion 81a is provided (when the stop spring 72 is embedded in the valley 81), the rotation of the stop plate 71 (rotation of the motor 10) is reversed to avoid collision between the stop spring 72 and the wall portion 81a. Furthermore, the shifting device 100 is configured such that when the stop plate 71, which rotates in the direction of arrow A, moves to the bottom V of the valley 84 where the end 84b of the wall portion 84a is provided (when the stop spring 72 is embedded in the valley 84), the rotation of the stop plate 71 (rotation of the motor 10) is reversed to avoid collision between the stop spring 72 and the wall portion 84a. The control process for preventing the stop spring 72 from colliding with the walls 81a and 84a will be described later.

[0083] In addition, such as Figure 11As shown, the design value DE is an angle diagram representing the relationship between the shift position (P position, R position, N position, and D position) and the rotation angle of the stop plate 71 corresponding to the output value of the output shaft rotation angle sensor 40. In short, the shifting device 100 can determine which shift position it is in while rotating the stop plate 71 according to the design value DE. In each shift position, the output value of the output shaft rotation angle sensor 40 is kept approximately constant. Therefore, the range of output values ​​(voltage range) of the output shaft rotation angle sensor 40 corresponding to each shift position becomes extremely small compared to the range of output values ​​(voltage range) of the output shaft rotation angle sensor 40 corresponding to an uncertain shift position. The design value DE is stored in the storage unit 50a included in the ECU 50 of the actuator unit 60 (see reference). Figure 1 In addition, design values ​​can also be stored in other storage locations such as the non-volatile storage section of the actuator unit.

[0084] like Figure 5 As shown, the gear portion 22a of the intermediate gear 22, having the same rotation axis C1 as the output bearing portion 26, meshes with the gear portion 23a of the fan-shaped final gear 23, which is assembled in a manner that rotates integrally with the output bearing portion 26. The gear portion 23a is formed as an internal gear along the inner side of the outer periphery of the approximately arc-shaped insertion hole 23b provided on the final gear 23. The gear portion 23a is formed as a gear with a diameter larger than that of the gear portion 22a. In addition, the output bearing portion 26 is fixed to the final gear 23 at the position of the fan-shaped "pivot" and having a rotation center in the fitting hole 23c. The reduction mechanism 20 is configured to reduce the rotation of the pinion shaft 11a on the output shaft 25 side by means of the intermediate gear 21, intermediate gear 22, and final gear 23.

[0085] Furthermore, the reduction mechanism 20 is configured with a reduction ratio of 1:50. That is, it is configured such that when the rotor 11 rotates 50 times (the motor 10 is configured for 24 × 50 = 1200 energizing steps), the output shaft 25 rotates once. Therefore, in the motor 10, when the rotor 11 rotates 15° in one energizing step, the output shaft 25 rotates 0.3° (=15 / 50).

[0086] Furthermore, a plurality of longitudinal grooves (serrations) 26a extending axially are formed on the inner circumference of the recess at the lower end (Z2 side) of the output bearing portion 26. Additionally, on the output shaft 25 (see reference...) Figure 4The upper end (Z1 side) of the output shaft 25 has multiple longitudinal grooves (serrations) 25a extending axially on its outer periphery. This configuration allows the longitudinal grooves 25a of the output shaft 25 to engage and connect with the longitudinal grooves 26a of the output bearing 26 at appropriate rotational angle positions, enabling torque transmission. Therefore, the output shaft 25, for which a stop plate 71 is fixed at its lower end (Z2 side), is assembled to the actuator unit 60 at an appropriate rotational angle position.

[0087] (Relationship between the output value of the output shaft rotation angle sensor and the output value of the rotor rotation angle sensor)

[0088] Next, the relationship between the shift position movement and the output value of the output shaft rotation angle sensor 40 and the output value of the rotor rotation angle sensor 30 will be explained.

[0089] like Figure 8 As shown, when the initial shift position is P, as the number of rotations of the motor 10 increases (0 times, 1 time, 2 times, ..., 7 times), the stop plate 71 connected to the output shaft 25 rotates in the order of shift position P, R, N, and D. At this time, the stop spring 72 engages with the valley 80 in the order of valleys 81 to 84. Furthermore, the output value of the output shaft rotation angle sensor 40 increases with the increase of the number of rotations of the motor 10.

[0090] For example, the current roller 73 is embedded in the valley 81 (position P) (interval 1). This is achieved by driving the motor 10 (refer to...). Figure 1 ), via the deceleration mechanism 20 (refer to Figure 1 This causes the stop plate 71 to rotate in the direction of arrow A. Furthermore, a predetermined clearance S is provided between the intermediate gear 21 and the intermediate gear 22 (see reference). Figure 7 Therefore, in the state where the roller 73 is fully embedded in the valley bottom V of the valley 81 (refer to...) Figure 9 In interval 1), regardless of whether the intermediate gear 21 rotates together with the rotor 11, the engaging protrusion 22e inside the elongated hole 21e engages in a manner that prevents the transmission of driving force using the gap S, so the intermediate gear 22 does not rotate. As a result, in interval 1, the rotor rotation angle sensor 30 (refer to...) Figure 1 The rotation angle (rad) of the rotor 11 detected increases linearly, while the rotation angle of the output shaft is measured by the output shaft rotation angle sensor 40 (reference). Figure 1 The detected voltage level corresponding to the rotation angle of the output shaft 25 is constant.

[0091] Then, in interval 2, one end of the elongated hole 21e of the intermediate gear 21 engages with the engaging protrusion 22e of the intermediate gear 22 in a manner capable of transmitting driving force (see reference). Figure 6 as well as Figure 9 In interval 2), the driving force of motor 10 is transmitted through gear section 11c, intermediate gear 21, intermediate gear 22 and final gear 23 (see reference). Figure 4 The output shaft 25 (refer to) Figure 2 The transmission is as follows: As the stop plate 71 rotates in the direction of arrow A, the roller 73 moves towards the hill 85 on the slope of the valley 82 (R position) side of the valley 81 (P position). Furthermore, the motor 10 rotates approximately once at the P position (interval 1). Moreover, in interval 2, the rotor rotation angle sensor 30 (see reference...) Figure 1 The rotation angle (rad) of rotor 11 detected increases linearly. Additionally, the output shaft rotation angle sensor 40 (see reference...) Figure 1 The detected voltage level corresponding to the rotation angle of the output shaft 25 increases at a constant rate. Furthermore, the engagement state of the intermediate gears 21 and 22 in this state is consistent with... Figure 6 The corresponding state.

[0092] Furthermore, in interval 3, after roller 73 crosses the mountain 85, which marks the boundary between valley 81 (position P) and valley 82 (position R), stop plate 71 naturally rotates in the direction of arrow A before motor 10 (intermediate gear 21). That is, stop plate 71 is always subjected to force by roller 73 toward valley 82, so stop plate 71 is affected by this force F (refer to...). Figure 3 Within the range of the gap S of the elongated hole 21e, it rotates in the direction of arrow A before the motor 10. Furthermore, the roller 73 falls towards the valley bottom V of the valley 82 (see reference). Figure 9 (Interval 3). At this time, the rotation angle of rotor 11 increases, and the voltage level corresponding to the rotation angle of output shaft 25 increases sharply as roller 73 falls (intakes) into valley V.

[0093] Furthermore, the movement of the shift position from R to N, and from N to D, is the same as the movement from P to R.

[0094] Furthermore, the rotation direction of motor 10 is reversed. As a result, the shift position moves from position D (interval 4), interval 5, and interval 6 to position N. Moreover, the operation of position D (interval 4) is the same as the operation of interval 1 mentioned above. That is, the rotor rotation angle sensor 30 (refer to...) Figure 1 The detected rotation angle (rad) of rotor 11 decreases linearly, while the output shaft rotation angle sensor 40 (reference) Figure 1The detected voltage level corresponding to the rotation angle of the output shaft 25 remains constant. Furthermore, the operation of interval 5 is the same as that of interval 2. That is, in interval 5, the rotation angle of the rotor 11 decreases linearly, and the voltage level corresponding to the rotation angle of the output shaft 25 decreases at a constant rate. Furthermore, the operation of interval 6 is the same as that of interval 3. That is, the rotation angle of the rotor 11 decreases, and on the other hand, the voltage level corresponding to the rotation angle of the output shaft 25 decreases sharply as the roller 73 falls (is sucked in) towards the valley bottom V.

[0095] Here, in order to improve the positioning accuracy of the stop spring 72 relative to the stop plate 71 (the valley bottom V of the valley 80), it is necessary to accurately determine the rotation angle of the motor 10 (rotor 11) when the stop spring 72 is located at the valley bottom V of the valley 80. Therefore, the shifting device 100 is configured to acquire (learn) the rotation angle of the motor 10 (rotor 11) corresponding to the valley bottom V of the plurality of valleys 81 to 84 (valve 80). Such learning of the shifting device 100 is performed, for example, before leaving the factory.

[0096] (Learning the shifting mechanism)

[0097] Next, we will explain how to obtain (learn) the rotation angle of the motor 10 (rotor 11) corresponding to the valley bottom V (center of the gap S) of the valley 80 for each of the multiple shift positions (P position, R position, N position, and D position). Furthermore, the rotation angle of the motor 10 corresponding to the valley bottom V is obtained, for example, by the ECU 50.

[0098] In this embodiment, such as Figure 10 As shown, firstly, the stop spring 72 (roller 73) moves continuously through multiple valleys 80. Moreover, the shifting device 100 is configured to obtain the rotation angle of the motor 10 corresponding to the valley bottom V of the multiple valleys 81 to 84 by reciprocating the stop spring 72 between the ends 81b and 84b on both sides of the multiple valleys 81 to 84 once.

[0099] As a specific example, the shifting device 100 initiates the movement (driven by the motor 10) of the stop spring 72 (stop plate 71) from the N position toward the P position. When the stop spring 72 reaches the P position, the shifting device 100 reverses the movement (driven by the motor 10) of the stop spring 72 (stop plate 71) from the P position toward the D position. When the stop spring 72 reaches the D position, the shifting device 100 reverses the movement (driven by the motor 10) of the stop spring 72 (stop plate 71) from the D position toward the P position. When the stop spring 72 returns to the N position, the shifting device 100 stops the movement (driven by the motor 10) of the stop spring 72 (stop plate 71).

[0100] Here, in order to stop the drive of the motor 10, the shifting device 100 is configured such that when the stop spring 72 is moved by passing through multiple valleys 81 to 84, based on the output value of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40 and the design value DE, after the drive of the motor 10 starts, in the same rotation direction (arrow B direction) as when the drive of the motor 10 starts, and if the valley bottom V (N position) of the valley 83 that is the same as the valley bottom V (N position) detected when the drive of the motor 10 starts is detected again, it is determined that the rotation angle of the motor 10 corresponding to the valley bottom V of the multiple (four) valleys 81 to 84 has been obtained, and the drive of the motor 10 is stopped.

[0101] The shifting device 100 detects the width of the gap S contained in the reduction gear section 20 based on the output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30 during the period when the stop spring 72 is moved. Furthermore, the output value of the output shaft rotation angle sensor 40 is voltage (V). Additionally, the output value of the rotor rotation angle sensor 30 is rotation angle (rad). Figure 10 The output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30 are shown in bold lines.

[0102] The shifting device 100 is configured to allow the stop spring 72 to move continuously between the P and D positions. Furthermore, "continuously" means that the stop spring 72 moves without reversing midway between the P and D positions (between one end 81b and the other end 84b). Additionally, the stop spring 72 reciprocates once at each of the multiple valleys 80 of the stop plate 71 through this continuous movement.

[0103] Moreover, using Figure 10 The thick line on straight line L1 shows the output values ​​of output shaft rotation angle sensor 40 and rotor rotation angle sensor 30 detected when the stop spring 72 rotates in the direction of arrow A (when moving from position P to position D).

[0104] In addition, using Figure 10 The thick line on straight line L2 shows the output values ​​of output shaft rotation angle sensor 40 and rotor rotation angle sensor 30 detected when the stop spring 72 rotates in the direction of arrow B (when moving from position D towards position P).

[0105] Furthermore, in this embodiment, the width of the gap S contained in the reduction gear section 20 is detected based on the output value of the output shaft rotation angle sensor 40 and the output value of the rotor rotation angle sensor 30 during the movement range of the stop spring 72 from the bottom V of the valley 80 of the stop plate 71 to the top T of the mountain 85. Additionally, as... Figure 6 As shown, the width of the gap S refers to the width W between the engaging protrusion 22e and the elongated hole 21e when the gap S is filled (a state in which driving force can be transmitted from the intermediate gear 21 to the intermediate gear 22).

[0106] In addition, such as Figure 9 As shown, the movement range (ranges 2 and 5) of the stop spring 72 from the bottom V of the valley 80 of the stop plate 71 to the top T of the mountain 85 is when the gap S between the intermediate gear 21 and the intermediate gear 22 is filled (see reference). Figure 6 The interval in which the intermediate gear 22 rotates in conjunction with the rotation of the intermediate gear 21 is defined as follows. Additionally, the movement interval of the stop spring 72 from the valley floor V to the top T includes interval 2 when the stop plate 71 rotates in the direction of arrow A, and interval 5 when the stop plate 71 rotates in the direction of arrow B.

[0107] In addition, in this embodiment, such as Figure 10 As shown, the width of the gap S is detected based on the output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30 of the moving section when the motor 10 rotates in the direction of arrow A (an example of the first direction of the technical solution) and when it rotates in the direction of arrow B (an example of the second direction of the technical solution), which is opposite to the direction of arrow A.

[0108] Specifically, as described above, the width of the gap S is detected based on the output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30, representing the states where the gap S is filled when the motor 10 rotates in the direction of arrow A (interval 2) and the states where the gap S is filled when the motor 10 rotates in the direction of arrow B (interval 5). Interval 2 includes interval 2 when the stop spring 72 moves from position P to position R, interval 2 when it moves from position R to position N, and interval 2 when it moves from position N to position D. Interval 5 includes interval 5 when the stop spring 72 moves from position D to position N, interval 5 when it moves from position N to position R, and interval 5 when it moves from position R to position P.

[0109] <Calculation of the first inferred value (line L1)>

[0110] The calculation of the first inferred value (straight line L1) will be explained. In this embodiment, the first inferred value (straight line L1) of the rotor rotation angle sensor 30 for the output value of the output shaft rotation angle sensor 40 is calculated based on the output value of the output shaft rotation angle sensor 40 and the output value of the rotor rotation angle sensor 30 when the motor 10 rotates in the direction of arrow A.

[0111] Specifically, the first inferred value is calculated based on the output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30, taken in three intervals 2 (interval 2 when the stop spring 72 moves from position P to position R, interval 2 when it moves from position R to position N, and interval 2 when it moves from position N to position D) when the motor 10 rotates in the direction of arrow A. Furthermore, the three intervals 2 refer to the intervals towards the top T (refer to...). Figure 3 (The goal is to cross the mountain section at 85 o'clock.)

[0112] In detail, in this embodiment, multiple movement intervals (three intervals 2, 3, 4, 5) are linearly approximated when the motor 10 rotates in the direction of arrow A. Figure 10 The first inferred value is calculated based on the output value of the output shaft rotation angle sensor 30 relative to the output value of the output shaft rotation angle sensor 40 (the thick line on the straight line L1). That is, the horizontal axis is taken as the output value (voltage) of the output shaft rotation angle sensor 40, and the vertical axis is taken as the output value (rotation angle) of the rotor rotation angle sensor 30, making the relationship between the voltage (V) and rotation angle (rad) in the three intervals 2 linearly approximate. Thus, the straight line L1 is obtained as the first inferred value. That is, the slope (hereinafter referred to as a1) and intercept (hereinafter referred to as b1) of the straight line L1 are calculated. Furthermore, the vertical axis actually shows the cumulative value of the rotation angle of the motor 10 (i.e., 2π × the number of rotations of the motor 10 + rotation angle).

[0113] <Calculation of the second inferred value (line L2)>

[0114] The calculation of the second inferred value (straight line L2) will be explained. In this embodiment, the second inferred value (straight line L2) of the rotor rotation angle sensor 30 for the output value of the output shaft rotation angle sensor 40 is calculated based on the output value of the output shaft rotation angle sensor 40 and the output value of the rotor rotation angle sensor 30 when the motor 10 rotates in the direction of arrow B.

[0115] Specifically, the second inferred value is calculated based on the output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30, taken in three intervals 5 (interval 5 when the stop spring 72 moves from position D to position N, interval 5 when it moves from position N to position R, and interval 5 when it moves from position R to position P) when the motor 10 rotates in the direction of arrow B. Furthermore, the three intervals 5 refer to the intervals towards the top T (refer to...). Figure 3 (The goal is to cross the mountain section at 85 o'clock.)

[0116] In detail, in this embodiment, the second inferred value is calculated by linearly approximating the output value of the rotor rotation angle sensor 30 for the output shaft rotation angle sensor 40 in multiple movement intervals (three intervals 5) when the motor 10 rotates in the direction of arrow B. That is, the relationship between the voltage (V) and the rotation angle (rad) in the three intervals 5 is linearly approximated by taking the horizontal axis as the output value (voltage) of the output shaft rotation angle sensor 40 and the vertical axis as the output value (rotation angle) of the rotor rotation angle sensor 30. Thus, a straight line L2 is obtained as the second inferred value. That is, the slope (hereinafter referred to as a2) and intercept (hereinafter referred to as b2) of the straight line L2 are calculated.

[0117] The difference between the first and second inferred values ​​is detected as the width W of the gap.

[0118] Furthermore, the difference between the first and second inferred values ​​is detected as the width of the gap S, and the median of the width of the gap S is taken as the center of the gap S. In addition, the width of the gap S is a predetermined amount of gap S width pre-set between the intermediate gear 21 and the intermediate gear 22 (see reference). Figure 6 Specifically, the width W between the first inferred value (line L1) calculated by linear approximation and the second inferred value (line L2) calculated by linear approximation is detected as the width of the gap S. That is, since a predetermined gap S is preset between the intermediate gear 21 and the intermediate gear 22, even if the output value (horizontal axis) of the same output shaft rotation angle sensor 40 is the same, the rotation angle (vertical axis) of the motor 10 will be different. Moreover, this difference can be regarded as the width of the gap S.

[0119] <Obtaining the rotation angle of the motor corresponding to the bottom of multiple valleys>

[0120] In this embodiment, the rotation angle of the rotor 11 corresponding to the center of the gap S is calculated based on the detected width of the gap S. Specifically, the center of the gap S can be considered as the intermediate state between the state in which the gap S is filled when the motor 10 rotates in the direction of arrow A and the state in which the gap S is filled when the motor 10 rotates in the direction of arrow B (i.e., the middle of the width of the gap S).

[0121] That is, the rotation angle of the rotor 11 corresponding to the center of the gap S is obtained by using the straight line L3, which is the center between the straight line L1 (the first inferred value) and the straight line L2 (the second inferred value). Specifically, the slope (hereinafter referred to as a3) and intercept (hereinafter referred to as b3) of the straight line L3 are calculated. Furthermore, the straight line L3 shows the relationship between the output value of the output shaft rotation angle sensor 40 and the output value (rotor 11 rotation angle) of the rotor rotation angle sensor 30 corresponding to the center of the gap S.

[0122] Furthermore, in this embodiment, the rotation angle of the motor 10 corresponding to the center of the gap S is obtained based on the correlation between the rotation angle of the rotor 11 corresponding to the center of the calculated gap S and the output value of the output shaft rotation angle sensor 40 corresponding to the valley bottom V of the valley 80.

[0123] Specifically, the output values ​​of the output shaft rotation angle sensor 40 are obtained for multiple intervals 1 (intervals 1 corresponding to positions P, R, N, and D) when the motor 10 rotates in the direction of arrow A. Furthermore, the output value of the output shaft rotation angle sensor 40 is a constant value in each of the multiple intervals 1. Specifically, the output values ​​of the output shaft rotation angle sensor 40 corresponding to each of the P, R, N, and D positions are E1, E2, E3, and E4, respectively.

[0124] Additionally, the output values ​​of the output shaft rotation angle sensor 40 are obtained for multiple intervals 4 (intervals 4 corresponding to positions D, N, R, and P) when the motor 10 rotates in the direction of arrow B. Furthermore, the output value of the output shaft rotation angle sensor 40 is a constant value in each of the multiple intervals 4. Specifically, the output values ​​of the output shaft rotation angle sensor 40 corresponding to each of the D, N, R, and P positions are E4, E3, E2, and E1, respectively. That is, the output values ​​of the output shaft rotation angle sensor 40 in interval 1 and interval 4 are approximately the same at the same shift position.

[0125] Furthermore, along the straight line L3, the rotation angle of the motor 10 corresponding to interval 1 (or interval 4) is obtained. Specifically, the rotation angles θ1, θ2, θ3, and θ4 of the motor 10 corresponding to the output values ​​E1, E2, E3, and E4 of the output shaft rotation angle sensor 40 are obtained. As a result, the rotation angles θ1, θ2, θ3, and θ4 of the motor 10 corresponding to the valley bottom V (center of gap S) of each of the P, R, N, and D positions are obtained.

[0126] Therefore, as mentioned above, Figure 10The vertical axis shows the cumulative value of the rotation angle of the motor 10 (=2π×number of rotations of the motor 10+rotation angle), so the number of rotations of the motor 10 and the rotation angle of that number of rotations are obtained corresponding to the valley bottom V (center of the gap S) of each of the P position, R position, N position and D position (multiple valleys 81~84).

[0127] Furthermore, the learning results are stored in non-volatile storage unit 90 (see reference). Figure 1 Specifically, the first inferred value (line L1) after linear approximation, the second inferred value (line L2) after linear approximation, and the midpoint between the first and second inferred values ​​after linear approximation, i.e., the center of the gap S (line L3), are stored in the non-volatile storage unit 90. Additionally, the center of the gap S, and the output values ​​of the output shaft rotation angle sensor 40 and the rotor rotation angle sensor 30 corresponding to the valley bottoms V of the plurality of valleys 81-84, are stored in the non-volatile storage unit 90.

[0128] (Control mechanism to prevent the stop spring from colliding with the wall)

[0129] Reference Figure 12 The control process performed by the shift mechanism 100 to prevent the stop spring 72 from colliding with the walls 81a and 84a will be described. For example, the ECU 50 of the shift mechanism 100 performs this control process. Furthermore, as an example, the movement (rotation) of the stop plate 71 is set to start from the bottom V of the valley 83 in the N position.

[0130] First, in step S1, the rotation direction of motor 10 is set to the direction of arrow B, and the driving of motor 10 begins. That is, in step S1, the rotation direction of motor 10 is set to the direction of arrow B by moving the stop plate 71 (stop spring 72) from position N to position P, and the driving of motor 10 (movement of stop plate 71) begins. Then, proceed to step S2.

[0131] Next, in step S2, based on the design value DE (refer to...) Figure 11 The current shift position is determined by the output value of the output shaft rotation angle sensor 40 and the output shaft rotation angle sensor 40. That is, in step S2, it is determined whether the stop plate 71 is located in the P position, R position, N position, D position, or an uncertain shift position. Then, proceed to step S3.

[0132] like Figure 11 As shown, specifically, the stop plate 71 being in position P means that the output value of the output shaft rotation angle sensor 40 is within the range of A1 to A2 (A1 above A2 below) [V]. Furthermore, the range of A1 to A2 [V] is defined by E1 [V] (refer to...). Figure 8The center voltage is set, while a small range is set for E1[V].

[0133] In addition, such as Figure 11 As shown, the positions R, N, and D of the stop plate 71 refer to the output values ​​of the output shaft rotation angle sensor 40 being within the ranges of B1~B2 (B1 above B2 below) [V], C1~C2 (C1 above C2 below) [V], and D1~D2 (D1 above D2 below) [V], respectively. Furthermore, the range of B1~B2 [V] is defined by E2 [V] (refer to...). Figure 8 A slightly wider range is set for E2[V] with E3[V] as the center voltage. Additionally, the range of C1 to C2[V] is based on E3[V] (refer to...). Figure 8 The center voltage sets a slightly wide range for E3[V]. Additionally, the range of D1 to D2[V] is based on E4[V] (refer to...). Figure 8 The center voltage sets a slightly wide range for E4[V].

[0134] Next, in step S3, it is determined whether the stop plate 71 is located at the valley bottom V based on the output value of the output shaft rotation angle sensor 40 and the output value of the rotor rotation angle sensor 30. That is, in step S3, it is determined whether the stop plate 71 is located at the valley bottom V of any of the multiple valleys 81 to 84, regardless of the shift position (P position, R position, N position, D position, and uncertain shift position). In summary, in step S3, during the period when the output value of the rotor rotation angle sensor 30 changes while driving the motor 10, it is determined whether the output value of the output shaft rotation angle sensor 40 is in a state of approximately constant due to the influence of the clearance S. Then, proceed to step S4.

[0135] Next, in step S4, it is determined whether the stop plate 71 was determined to be in position P in step S2 and in valley V in step S3. That is, in step S4, if the stop plate 71 continues to move in the direction of arrow B (driven by motor 10), it is determined whether the stop spring 72 is colliding with the wall 81a. Then, in step S4, if it is determined that the stop plate 71 was determined to be in position P in step S2 and in valley V in step S3, then proceed to step S5; otherwise, proceed to step S6.

[0136] Next, in step S5, the rotation direction of motor 10 is reversed from arrow B to arrow A. That is, in step S5, the rotation direction of motor 10 is set to arrow A so that the stop plate 71 is moved further away from the wall 81a from position P to position D (to avoid collision between the stop spring 72 and the wall 81a). Then, proceed to step S8.

[0137] Furthermore, in step S6, it is determined whether the stop plate 71 was determined to be in position D in step S2 and in valley V in step S3. That is, in step S6, if the stop plate 71 continues to move in the direction of arrow A (driven by motor 10), it is determined whether the stop spring 72 is colliding with the wall 84a. Moreover, in step S6, if it is determined that the stop plate 71 was in position D in step S2 and in valley V in step S3, then proceed to step S7; otherwise, proceed to step S8.

[0138] Next, in step S7, the rotation direction of motor 10 is reversed from arrow A to arrow B. That is, in step S7, the rotation direction of motor 10 is set to arrow B so that the stop plate 71 is moved further away from the wall 84a from position D (to avoid collision between the stop spring 72 and the wall 84a), and motor 10 is driven (stop plate 71 moves). Then, proceed to step S8.

[0139] Next, in step S8, it is determined whether the learning action has ended. That is, in step S8, it is determined whether the movement of the stop plate 71 has reciprocated once between position P and position D. Specifically, in step S8, based on the output values ​​of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40, and the design value DE, it is determined whether, after the motor 10 starts driving, a valley bottom V (N position) with the same rotation direction (arrow B direction) as when the motor 10 starts driving, and the same valley bottom V as the valley bottom V initially detected at the start of the motor 10 driving, is detected again. Moreover, if it is determined in step S8 that the learning action has ended, the process proceeds to step S9; otherwise, it returns to step S2.

[0140] Next, in step S9, the drive of motor 10 is stopped (movement of stop plate 71). The learning of the rotation angle of motor 10 corresponding to the valley bottom V of the plurality of valleys 81 to 84 is now complete.

[0141] (Effects of the implementation method)

[0142] In this embodiment, the following effect can be obtained.

[0143] In this embodiment, as described above, when the stop spring 72 is moved by passing through multiple valleys 81, 82, 83, 84, the valley bottom V of the valleys 81, 84 at the ends 81b, 84b of the multiple valleys 81, 82, 83, 84 is detected based on the output values ​​of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40, and the design value DE that associates the output value of the output shaft rotation angle sensor 40 with the shift position. The movement of the stop spring 72 is reversed, thereby obtaining (learning) the rotation angle of the motor 10 corresponding to the valley bottom V of the multiple valleys 81, 82, 83, 84. Therefore, during learning, based on the output values ​​of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40, and the design value DE that associates the output value of the output shaft rotation angle sensor 40 with the shift position, the valley bottom V of the valleys 81 and 84 (valve 81 and 84 with walls 81a and 84a) at the ends of the multiple valleys 81, 82, 83, and 84 can be detected, causing the movement of the stop spring 72 to reverse. Thus, when the valley bottom V of the valleys 81 and 84 (valve 81 and 84 with walls 81a and 84a) at the ends of the valleys 81 and 84b is detected, the movement direction of the stop spring 72 can be changed so that the stop spring 72 is further away from the walls 81a and 84a. As a result, learning can be performed without causing the stop spring 72 to collide with the walls 81a and 84a of the valleys 81, 82, 83, and 84 at the ends of the valleys 81 and 84b. Therefore, it is possible to suppress the decrease in durability of the transmission mechanism 120 that is mechanically connected to the stop plate 71, and it is possible to suppress the decrease in the positioning accuracy of the shift position.

[0144] In this embodiment, as described above, a deceleration mechanism 20 is also included. This mechanism rotates the stop plate 71 while the rotational speed transmitted from the motor 10 is reduced due to a predetermined gap S that prevents the transmission of driving force from the motor 10 to the stop plate 71. It is configured to detect a state where the driving force is not transmitted from the motor 10 to the stop plate 71 due to the gap S, based on the output values ​​of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40, and the design value DE. This allows the detection of the valley bottoms V of the valleys 81, 82, 83, and 84 at the ends 81b and 84b, and reverses the movement of the stop spring 72, thereby obtaining the rotation angle of the motor 10 corresponding to the valley bottoms V of the multiple valleys 81, 82, 83, and 84. Thus, the stop spring 72 can be stopped at the valley bottoms V of the valleys 81, 82, 83, and 84 of the stop plate 71, preventing the drive movement of the stop plate 71 relative to the motor 10 from being within the predetermined gap S (clearance) intentionally provided in the deceleration mechanism 20. Therefore, it is possible to learn the valley bottom V position of the valleys 81, 82, 83, and 84 embedded with the positioning part without applying excessive load (external force) to the motor 10 side or the stop spring 72 side.

[0145] In this embodiment, as described above, the rotation angle of the motor 10 corresponding to the valley bottom V of the plurality of valleys 81, 82, 83, 84 is obtained by reciprocating the stop spring 72 once between the ends 81b and 84b on both sides of the plurality of valleys 81, 82, 83, 84. Therefore, by reciprocating the stop spring 72 only once between the ends 81b and 84b on both sides of the plurality of valleys 81, 82, 83, 84, the rotation angle of the motor 10 corresponding to the valley bottom V of the plurality of valleys 81, 82, 83, 84 can be obtained (learned), thus shortening the cycle time for obtaining the rotation angle of the motor 10 corresponding to the valley bottom V of the plurality of valleys 81, 82, 83, 84.

[0146] In this embodiment, as described above, when the stop spring 72 is moved by passing through multiple valleys 81, 82, 83, and 84, based on the output value of the rotor rotation angle sensor 30 and the output shaft rotation angle sensor 40, and the design value DE, after the motor 10 starts driving, when the valley bottom V of the same valley 80 as the valley bottom V detected at the start of the motor 10 is detected again in the same rotation direction as when the motor 10 starts driving, it is determined that the rotation angle of the motor 10 corresponding to the valley bottom V of the multiple valleys 81, 82, 83, and 84 has been obtained, and the driving of the motor 10 is stopped. Therefore, after the motor 10 starts driving, when the valley bottom V of the valley 80, which is the same as the valley bottom V detected at the start of the motor 10 driving, is detected again in the same rotational direction as when the motor 10 starts driving, the driving of the motor 10 can be stopped. Thus, it is possible to reliably detect the situation where the stop spring 72 reciprocates once between the two ends 81b and 84b of the multiple valleys 81, 82, 83, and 84.

[0147] In this embodiment, as described above, multiple valleys 81, 82, 83, and 84 are configured to include parking, reverse, neutral, and drive positions in sequence from one end 81b to the other end 84b, serving as shift positions. During the sequential movement of the stop spring 72 through the parking, reverse, neutral, and drive positions, the rotation angle of the motor 10 corresponding to each position is obtained. Therefore, the movement of the stop spring 72 can be reversed in the parking and drive positions located at ends 81b and 84b, and the rotation angle of the motor 10 corresponding to each position can be obtained (learned).

[0148] In this embodiment, as described above, the stop plate 71 is configured to detect shift uncertainty positions where the design value DE is not associated with the output value of the output shaft rotation angle sensor 40, at positions other than the four shift positions: parking, reverse, neutral, and drive. Therefore, it is possible to detect not only when the stop spring 72 is in any of the four shift positions (parking, reverse, neutral, and drive), but also when the stop spring 72 is in a position that does not correspond to any of these four shift positions (shift uncertainty positions). As a result, the position of the stop spring 72 can be detected in greater detail, thus enabling higher accuracy in obtaining (learning) the rotation angle of the motor 10 corresponding to the shift position.

[0149] In this embodiment, as described above, wall portions 81a and 84a are provided at the valley portions 81 and 84 of the ends 81b and 84b to prevent the stop spring 72 from moving beyond the valley portions 81 and 84 of the ends 81b and 84b. This reverses the movement of the stop spring 72 so that it does not collide with the wall portions 81a and 84a. Therefore, the movement of the stop spring 72 can be reversed without colliding with the wall portions 81a and 84a, thus more reliably preventing the stop spring 72 from colliding with the wall portions 81a and 84a.

[0150] In this embodiment, as described above, the design value DE includes an angle diagram showing the relationship between the shift position and the rotation angle of the stop plate 71 corresponding to the output value of the output shaft rotation angle sensor 40. Therefore, based on the angle diagram showing the relationship between the shift position and the rotation angle of the stop plate 71 corresponding to the output value of the output shaft rotation angle sensor 40, the rotation angle of the motor 10 corresponding to the valley bottoms V of the plurality of valleys 81, 82, 83, 84 can be easily obtained (learned).

[0151] (Modified Example)

[0152] Furthermore, the embodiments disclosed herein should be considered illustrative and not restrictive in all respects. The scope of the invention is not defined by the description of the above embodiments but by the technical solutions, and also includes all changes (modifications) within the scope of the technical solutions.

[0153] For example, although the above embodiment shows an example of a shifting device with four shifting positions, the present invention is not limited thereto. In the present invention, the shifting device may also have two, three, or more than five shifting positions.

[0154] Furthermore, although the above embodiments show an example where the first and second inferred values ​​are calculated based on a linear approximation, the present invention is not limited thereto. For example, the first and second inferred values ​​can also be calculated using methods other than linear approximation (such as polynomial approximation).

[0155] Furthermore, in the above embodiments, although it is shown that in Figure 4 The example shown has a predetermined gap S between intermediate gears 21 and 22, but the present invention is not limited thereto. The present invention can be applied even when the predetermined gap S is not provided between intermediate gears 21 and 22 (in cases where only undesirable gaps such as assembly errors occur).

[0156] Furthermore, although the above embodiments illustrate an example of applying the shifting device to a gear 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.

[0157] Furthermore, while the above embodiment illustrates an example of ending the learning process by reciprocating the stop spring once between the two ends of the plurality of valleys, the present invention is not limited thereto. In the present invention, the learning process can also be ended by reciprocating the stop spring multiple times between the two ends of the plurality of valleys.

[0158] Furthermore, although the above embodiment shows an example of providing a gear shift lever-type operating part in a vehicle, the present invention is not limited thereto. In the present invention, a gear shift button-type or other operating part may also be provided in the vehicle.

[0159] Explanation of reference numerals in the attached figures

[0160] 10… motor

[0161] 11…rotor

[0162] 12…Stator

[0163] 20…Reduction Mechanism Department

[0164] 30…Rotor rotation angle sensor

[0165] 40… Output shaft rotation angle sensor

[0166] 71… Stop plate (gear shifting component)

[0167] 72… Stop spring (positioning component)

[0168] 80, 81, 82, 83, 84...Tanibe

[0169] 81b, 84b… (the ends of multiple valleys)

[0170] 100… Gear shifting device

[0171] 110… vehicles

[0172] DE…design value

[0173] S…gap

[0174] V... Valley bottom.

Claims

1. A shift device mounted on a vehicle, comprising: a shift switching member including a plurality of valleys provided in correspondence with shift positions; a positioning member for establishing the shift position in a state of being engaged in any one of the plurality of valleys of the shift switching member; a motor that drives the shift switching member and includes a rotor and a stator; a rotor rotation angle sensor that detects a rotation angle of the rotor; and an output shaft rotation angle sensor that detects a rotation angle of the shift switching member, configured to detect a valley bottom of the valley of the end portion among the plurality of valleys based on output values of the rotor rotation angle sensor and the output shaft rotation angle sensor and design values that associate the output value of the output shaft rotation angle sensor with the shift position when the positioning member is moved by passing through the plurality of valleys, and reverse the movement of the positioning member, thereby obtaining a rotation angle of the motor corresponding to the valley bottom of the plurality of valleys, the design values being an angle map that indicates a relationship between the shift position and a rotation angle of the shift switching member corresponding to the output value of the output shaft rotation angle sensor, the plurality of valleys including, in order from one of the end portions toward the other end portion, a parking position, a reverse position, a neutral position, and a drive position as the shift positions, the rotation angle of the motor corresponding to the parking position, the reverse position, the neutral position, and the drive position being obtained during a period in which the positioning member is sequentially moved by passing through the parking position, the reverse position, the neutral position, and the drive position, the shift device being configured to detect a shift uncertain position in which the design values are not associated with the output value of the output shaft rotation angle sensor, in addition to the four shift positions of the parking position, the reverse position, the neutral position, and the drive position. The shift device further comprises: a reduction mechanism portion having a gap of a prescribed amount through which driving force is not transmitted from the motor to the shift switching member, the shift switching member being rotated in a state in which the rotational speed transmitted from the motor side is reduced, the shift device being configured to detect the valley bottom of the valley of the end portion based on the output values of the rotor rotation angle sensor and the output shaft rotation angle sensor and the design values, thereby detecting the valley bottom of the valley of the end portion in a state in which driving force is not transmitted from the motor to the shift switching member due to the gap, and reversing the movement of the positioning member, thereby obtaining the rotation angle of the motor corresponding to the valley bottom of the plurality of valleys.

3. The shift device according to claim 1 or 2, wherein the shift device is configured to obtain the rotation angle of the motor corresponding to the valley bottom of the plurality of valleys by reciprocating the positioning member once between the end portions on both sides of the plurality of valleys.

4. The shift device according to claim 3, wherein the shift device is configured to obtain the rotation angle of the motor corresponding to the valley bottom of the plurality of valleys by reciprocating the positioning member once between the end portions on both sides of the plurality of valleys. ​ ​ ​ ​ ​ ​ ​ 2. The shift device according to claim 1, wherein ​ ​ ​ ​ ​ ​ The configuration is such that, when the positioning member is moved in a manner passing through the plurality of valleys, based on the output values of the rotor rotation angle sensor and the output shaft rotation angle sensor, and the design values, after the driving of the motor is started, when the same valley bottom of the valley detected at the time of the start of the driving of the motor is again detected in the same rotation direction as at the time of the start of the driving of the motor, it is determined that the rotation angle of the motor corresponding to the valley bottoms of the plurality of valleys is obtained, and the driving of the motor is stopped.

5. A shift device mounted on a vehicle, wherein Possesses: a shift switching member including a plurality of valleys provided in a manner corresponding to shift positions; a positioning member for establishing the shift position in a state of being embedded in any one of the plurality of valleys of the shift switching member; a motor that drives the shift switching member and includes a rotor and a stator; a rotor rotation angle sensor that detects the rotation angle of the rotor; and an output shaft rotation angle sensor that detects the rotation angle of the shift switching member, the configuration is such that, when the positioning member is moved in a manner passing through the plurality of valleys, based on the output values of the rotor rotation angle sensor and the output shaft rotation angle sensor, and the design values, the positioning member is reciprocally moved between the end portions on both sides of the plurality of valleys, thereby obtaining the rotation angle of the motor corresponding to the valley bottoms of the plurality of valleys, the design values being an angle diagram indicating the relationship between the shift position and the rotation angle of the shift switching member corresponding to the output value of the output shaft rotation angle sensor, the configuration is such that the plurality of valleys include, in order of the parking position, the reverse position, the neutral position, and the drive position, as the shift positions from one end portion toward the other end portion, during a period in which the positioning member is sequentially moved in a manner passing through the parking position, the reverse position, the neutral position, and the drive position, the rotation angle of the motor corresponding to the parking position, the reverse position, the neutral position, and the drive position is obtained, the configuration is such that, at positions other than the four shift positions of the parking position, the reverse position, the neutral position, and the drive position, a shift uncertain position in which the design value is not associated with the output value of the output shaft rotation angle sensor is detected. ​

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