Shift device

Abstract

To provide a shift device capable of preventing obstruction of learning of mutual shift position of a first control unit and a second control unit.SOLUTION: A shift device 100 is configured to, when driving a motor 11 by a voltage output from any one of a first drive system 17 and a second drive system 18 and moving a positioning member 22 so as to continuously pass through a plurality of valley parts 21a, 21b, 21c, 21d, obtain a shift position.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a shift device, and more particularly to a shift device including a shift switching member having a plurality of valleys.

Background Art

[0002] Conventionally, a shift device including a shift switching member having a plurality of valleys has been known (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a shift device including a detent plate having a plurality (four) of valleys. The shift device includes a motor, a detent spring, and a controller. The detent plate is a shift switching means driven by the motor to switch the shift range (P position, N position, R position, and D position). The detent spring is configured to fix the shift range of the detent plate. The controller is configured to learn (acquire) the shift position when driving the motor to move the detent spring so as to continuously pass through a plurality of valleys.

[0004] Here, in the shift device of Patent Document 1, in order to control the forward movement, reverse movement, and braking of the vehicle, it is required to continuously perform shift switching even when an abnormality occurs in the controller.

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

[0006] The shift-by-wire system of Patent Document 2 described above includes a motor, a detent plate, and a detent spring. In the shift-by-wire system, when performing a shift change, control is carried out to drive the motor by either the first microcomputer or the second microcomputer. Also, in the shift-by-wire system, since the first microcomputer and the second microcomputer capable of controlling the motor are provided, even if one of the first microcomputer and the second microcomputer malfunctions during a shift change, it is possible to continue the drive control of the motor using the other microcomputer. Here, Patent Document 2 does not disclose the drive control of the motor by the first microcomputer and the second microcomputer when obtaining the shift position.

[0007] Thus, by applying a shift-by-wire system like that of Patent Document 2 to the shift device of Patent Document 1, it is possible to realize a shift device provided with the first microcomputer and the second microcomputer. That is, a shift device capable of continuously performing a shift change even when an abnormality occurs in the controller is realized.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0009] Here, in the above shift device including the first microcomputer and the second microcomputer, although not described in the above Patent Document 2, learning of the shift position is performed by the first microcomputer and the second microcomputer. As an example of learning of the shift position, in the above shift device, in order to easily output the torque necessary to drive the detent plate during learning of the shift position, it is conceivable to apply a voltage to the motor from both the first microcomputer and the second microcomputer. That is, it is considered that learning of the shift position is performed by recognizing the position of the detent spring while applying a voltage to the motor and driving it in both the first microcomputer and the second microcomputer. In such a case, when the learning of the shift position of the first microcomputer is completed but the learning of the second microcomputer is not completed, it is conceivable that the first microcomputer brakes the motor while the second microcomputer drives the motor. Therefore, in such a shift device, there is a problem that the learning of the shift positions of the first microcomputer (first control unit) and the second microcomputer (second control unit) interferes with each other and inhibits each other due to the control of the motor by the first microcomputer and the control of the motor by the second microcomputer interfering with each other.

[0010] The present invention has been made to solve the above problems, and one object of the present invention is to provide a shift device capable of preventing the learning of the shift positions of the first control unit and the second control unit from interfering with each other.

Means for Solving the Problems

[0011] To achieve the above object, a shift device according to one aspect of the present invention includes a shift switching member including a plurality of valleys corresponding to shift positions, a motor including a rotor and a stator for driving the shift switching member, a first drive system including a first control unit for controlling a voltage for driving the motor, a second drive system provided separately from the first drive system and including a second control unit for controlling a voltage for driving the motor, and 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. When the positioning member is moved so that the motor is driven by a voltage output from either one of the first drive system and the second drive system and continuously passes through the plurality of valleys, the shift positions of the first drive system and the second drive system are configured to be acquired independently. The first control unit and the second control unit are capable of communicating with each other. When either one of the first drive system and the second drive system that outputs voltage detects that at least one of the shift positions corresponding to each of the plurality of valleys in the other drive system has not been acquired due to the communication between the first control unit and the second control unit, it is configured to erase the shift positions corresponding to each of the acquired plurality of valleys. It is.

[0012] In the shift device according to one aspect of the present invention, as described above, when the motor is driven by a voltage output from either one of the first drive system and the second drive system and the positioning member is moved so as to continuously pass through the plurality of valleys, it is configured to acquire the shift position. As a result, when learning the shift positions by the first control unit and the second control unit, while controlling the motor by either the first drive system or the second drive system, the position of the detent spring is recognized by both the first control unit and the second control unit, thereby learning the shift position. Therefore, when learning the shift position, since a voltage is applied to the motor only from either the first control unit or the second control unit, it is possible to prevent the control of the motor by the first control unit and the control of the motor by the second control unit from interfering with each other. As a result, since it is possible to prevent the control of the motor by the first control unit and the control of the motor by the second control unit from interfering with each other, it is possible to prevent the learning of the shift positions of the first control unit and the second control unit from being inhibited from each other. Further, even when one of the first control unit and the second control unit malfunctions, the drive control of the motor can be continued using the other control unit, so that it is possible to ensure the continuation of the drive control of the motor. Also, when the acquisition of the shift position fails in the other drive system, the shift position acquired in one drive system is erased, thereby preventing the shift switching member from being driven using only one drive system. Therefore, it is possible to prevent the manufacture of a shift device that drives only one of the first drive system and the second drive system.

[0013] In the shift device according to the above-described one aspect, preferably, when driving the motor with the voltage output from either one of the first drive system and the second drive system to move the positioning member so as to continuously pass through a plurality of valleys, based on the positioning member being disposed in the bottom section of each of the plurality of valleys, the movement of the positioning member accompanying the driving of the motor by the voltage output from either one of the first drive system and the second drive system is configured to be stopped for a predetermined time.

[0014] With such a configuration, based on the positioning member being disposed in the bottom section of each of the plurality of valleys, by stopping the movement of the positioning member for a predetermined time, it is possible to eliminate vibrations caused by driving of the motor and the deviation between the actual position of the positioning member and the measured position of the positioning member, so that it is possible to suppress deterioration in the measurement accuracy of the position of the positioning member due to the above vibrations and the above deviations.

[0015] In this case, preferably, based on the movement of the positioning member being stopped for a predetermined time, the motor is re-driven by outputting a voltage again from either one of the first drive system and the second drive system.

[0016] With such a configuration, by re-driving after stopping the movement of the positioning member for a predetermined time, it is possible to learn the position of the bottom of each of the plurality of valleys in a static state, so that the shift position can be accurately learned.

[0017] In the shift device for re-driving the above motor, preferably, the first control unit and the second control unit are communicable, and by the first control unit and the second control unit communicating with each other, either one of the first drive system and the second drive system that outputs a voltage is configured to determine the timing for re-driving the motor.

[0018] With such a configuration, it is possible to change the timing for re-driving the motor by one of the drive systems in accordance with the control cycle of the other drive system that is not outputting a voltage among the first drive system and the second drive system. Therefore, the motor can be re-driven with the first control unit and the second control unit synchronized.

[0021] In the shift device according to the above aspect, preferably, the shift device further includes 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 connected to the shift switching member. The first control unit acquires the shift position based on the measured values of the first motor rotation angle sensor and the first output shaft sensor, and the second control unit is configured to perform control to acquire the shift position based on the measured values of the second motor rotation angle sensor and the second output shaft sensor.

[0022] With such a configuration, when moving the positioning member so that the motor is driven by the voltage output from one of the drive systems and passes through a plurality of valley portions continuously, each of the first control unit and the second control unit can acquire the shift position in parallel. Therefore, compared with the case where the acquisition of the shift position by the first control unit and the acquisition of the shift position by the second control unit are performed separately from each other, the acquisition of the shift position can be performed efficiently.

[0023] In addition, in the shift device according to the above aspect, the following configurations are also conceivable.

[0024] (Additional Item 1) That is, it includes an output shaft connected to a shift switching member, a driving force transmission mechanism unit that transmits a driving force from a motor to the shift switching member, 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. When obtaining the shift position, the motor is driven by the 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 the second drive system based on the measured values of the second motor rotation angle sensor and the second output shaft sensor.

[0025] With such a configuration, since each of the first drive system and the second drive system can independently control the driving of the motor, even when one of the first drive system and the second drive system malfunctions, the driving control of the motor can be continued using the other drive system.

[0026] (Additional item 2) In the shift device according to the above aspect, the first control unit and the second control unit are communicable, and either one of the first drive system and the second drive system that outputs a voltage controls the driving of the motor based on the communication result from the other drive system.

[0027] With such a configuration, by controlling the driving of the motor in accordance with the deviation between the control cycle of the first control unit and the control cycle of the second control unit, the above deviation can be eliminated, so that the first control unit and the second control unit can be synchronized.

Brief description of the drawings

[0028]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0029] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0030] With reference to FIGS. 1 to 13, the configuration of the shift device 100 will be described. In the present specification, the "rotation angle of the motor" and the "rotation angle of the rotor" have the same meaning.

[0031] The shift device 100 is mounted on a vehicle such as an automobile. As shown in FIG. 1, when an occupant (driver) performs a shift switching operation via an operation unit such as a shift lever (or a shift switch), electrical shift switching control for the transmission mechanism unit is performed. That is, the position of the shift lever is input to the shift device 100 side via a shift sensor provided in the operation unit. Then, based on control signals transmitted from a dedicated first MCU (Micro Controller Unit) 171 and a second MCU 181, which will be described later, provided in the shift device 100, the transmission mechanism unit can be switched to any one of the shift positions of the P (parking) position, R (reverse) position, N (neutral) position, and D (drive) position corresponding to the shift operation of the occupant. Such shift switching control is called shift by wire (SBW).

[0032] The shift device 100 includes an actuator unit 1 and a shift switching mechanism unit 2 driven by the actuator unit 1. Further, the shift switching mechanism unit 2 is mechanically connected to a manual spool valve (not shown) of a hydraulic valve body in a hydraulic control circuit unit (not shown) in the transmission mechanism unit and a parking mechanism unit. And it is configured such that when the shift switching mechanism unit 2 is driven, the shift state (P position, R position, N position, and D position) of the transmission is mechanically switched.

[0033] The actuator unit 1 includes a motor 11, a driving force transmission mechanism unit 12, a first output shaft sensor 13 (see FIG. 7), a second output shaft sensor 14 (see FIG. 7), a first motor rotation angle sensor 15 (see FIG. 7), a second motor rotation angle sensor 16 (see FIG. 7), a first drive system 17 (see FIG. 7), and a second drive system 18 (see FIG. 7).

[0034] As shown in FIG. 1, the shift switching mechanism unit 2 includes a detent plate 21 (an example of the "shift switching member" in the claims) and a detent spring 22 (an example of the "positioning member" in the claims). The detent spring 22 is configured to hold the detent plate 21 at the rotation angle positions corresponding to the P position, R position, N position, and D position, respectively.

[0035] As shown in FIG. 2, the detent plate 21 has a plurality (four) of valleys 21a, 21b, 21c, and 21d (a plurality of valleys) provided corresponding to the shift positions (P position, R position, N position, and D position). Further, by the valleys 21a, 21b, 21c, and 21d, a cam surface Ca having a continuous undulating shape is formed on the detent plate 21. Also, adjacent valleys (for example, valleys 21a and 21b, valleys 21b and 21c, etc.) are separated by a peak M having one top T. The detent spring 22 has a base end (see FIG. 2) fixed to the casing of the transmission mechanism unit (see FIG. 2), and a roller portion 22a is attached to the free end (see FIG. 2) side. And the detent spring 22 always presses the cam surface Ca (at any position of the valleys 21a, 21b, 21c, 21d or the peak M) with the roller portion 22a. And the detent spring 22 establishes the shift position in a state of being fitted into any one of the plurality of valleys 21a, 21b, 21c, and 21d.

[0036] Also, as shown in FIG. 2, a wall portion 121a for suppressing the movement of the detent spring 22 beyond the valley portion 21a is provided in the valley portion 21a disposed on the most end side. A wall portion 121d for suppressing the movement of the detent spring 22 beyond the valley portion 21d is provided in the valley portion 21d disposed on the most end side. Specifically, the wall portion 121a is provided in the valley portion 21a disposed at the end portion of the detent plate 21 in the direction of arrow A. Further, the wall portion 121d is provided in the valley portion 21d disposed at the end portion of the detent plate 21 in the direction of arrow B.

[0037] Also, as shown in FIG. 1, the detent plate 21 is fixed to the lower end portion (Z2 side) of an output shaft 12b (see FIG. 3) described later, and the detent plate 21 is rotated about a rotation axis C1 integrally with the output shaft 12b. Thereby, the detent spring 22 is configured such that the roller portion 22a slides along the cam surface Ca as the detent plate 21 rotates forward and backward (swings) in the direction of arrow A or arrow B, and the roller portion 22a fits into any one of the valley portions 21a, 21b, 21c, and 21d by the biasing force of the detent spring 22. Further, the detent spring 22 is configured such that the detent plate 21 is held at a rotation angle position corresponding to the P position, R position, N position, or D position, respectively, when the roller portion 22a selectively fits into any one of the valley portions 21a, 21b, 21c, and 21d of the detent plate 21. Thereby, the P position, R position, N position, or D position is individually established.

[0038] Next, the detailed configuration of the actuator unit 1 will be described.

[0039] As shown in FIG. 3, the motor 11 is composed of a rotor 111 rotatably supported with respect to a motor housing, and a stator 112 disposed so as to face the periphery of the rotor 111 with a magnetic gap therebetween. Also, the motor 11 is configured to drive the detent plate 21.

[0040] Also, as the motor 11, a surface magnet type (SPM) three-phase motor with permanent magnets incorporated on the surface of the rotor 111 is used. Specifically, the rotor 111 has a shaft pinion 111a and a rotor core 111b.

[0041] The shaft pinion 111a of the rotor 111 and the output shaft 12b rotate about the same rotation axis C1. Also, on the outer peripheral region of the shaft pinion 111a from the central portion to the lower end portion (Z2 side), a gear portion 121 with a helically formed gear groove is integrally formed.

[0042] The stator 112 has a stator core 112a fixed in the motor chamber of the motor housing and a plurality of phase (U phase, V phase, and W phase) exciting coils (not shown) that generate magnetic force when energized.

[0043] As shown in FIGS. 3 and 4, the driving force transmission mechanism portion 12 is configured to transmit the driving force of the motor 11 to the detent plate 21. The driving force transmission mechanism portion 12 includes a speed reduction mechanism portion 12a and an output shaft 12b.

[0044] The speed reduction mechanism portion 12a is configured to rotate the detent plate 21 in a state where the rotational speed transmitted from the motor 11 side is reduced.

[0045] Specifically, the speed reduction mechanism portion 12a includes the gear portion 121 of the rotor 111, an intermediate gear 122 having a gear portion 122a meshing with the gear portion 121, an intermediate gear 123 arranged on the lower surface side (Z2 side) with the same axis as the intermediate gear 122 and engaging with the intermediate gear 122, and a final gear 124 having a gear portion 124a meshing with the gear portion 123a of the intermediate gear 123.

[0046] Also, as shown in FIGS. 5 and 6, a plurality (six) of elongated holes 122b, the major axis of which extends along the circumferential direction, are formed in the intermediate gear 122 between the rotation center portion and the outer peripheral portion (gear portion 122a). The plurality of elongated holes 122b are arranged at intervals of 60 degrees from each other in the circumferential direction. The intermediate gear 123 has an elliptical main body portion 123b provided with a gear portion 123a, and a plurality (two) of cylindrical engaging convex portions 123c protruding upward from the upper surface (Z1 side) opposite to the gear portion 123a of the main body portion 123b are provided. The engaging convex portions 123c are arranged at the peripheral edge portions on both sides in the major axis direction of the main body portion 123b. Then, with the intermediate gear 123 arranged adjacent to the intermediate gear 122 from below upward (Z1 side), each of the engaging convex portions 123c arranged at intervals of 180° from each other is configured to be inserted (engaged) into two elongated holes 122b of the corresponding intermediate gear 122, respectively.

[0047] Note that the engaging convex portion 123c is fitted into the elongated hole 122b of the intermediate gear 122 with a play Ba having a predetermined size (circumferential length). That is, a relative free rotation (free revolution) between the intermediate gear 122 and the intermediate gear 123 is allowed by an amount (predetermined angular width) of the play Ba in the circumferential direction generated between the engaging convex portion 123c and the elongated hole 122b fitted to each other. FIG. 5 shows a state in which the driving force can be transmitted from the intermediate gear 122 to the intermediate gear 123, and FIG. 6 shows a state in which the driving force cannot be transmitted from the intermediate gear 122 to the intermediate gear 123.

[0048] The output shaft 12b is configured to output the driving force of the motor 11 to the detent plate 21. The output shaft 12b is connected to the output side of the speed reduction mechanism portion 12a. The output shaft 12b is connected to the input side of the detent plate 21. Thereby, the output shaft 12b and the detent plate 21 operate integrally.

[0049] As shown in FIG. 7, 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. Note that 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. Note that the rotational position (output angle) of the output shaft 12b is detected as a continuous output shaft angle.

[0050] 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 composed of 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 composed of an MR sensor.

[0051] The first drive system 17 is configured to perform control to drive the 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 claims), a storage unit (not shown), a first driver 172, and a first inverter 173.

[0052] The first MCU 171 and the storage unit are electrically connected. The first MCU 171 and the first output shaft sensor 13 are electrically connected. The first MCU 171 and the first motor rotation angle sensor 15 are electrically connected. The first MCU 171 and the first driver 172 are electrically connected. The first driver 172 and the first inverter 173 are electrically connected.

[0053] The first MCU 171 is configured to control the voltage for driving the motor 11. The first MCU 171 is a board component with electronic components mounted on the board. The storage unit is a storage device having memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The first driver 172 is configured to transmit a signal for controlling the first inverter 173. The first driver 172 is an electronic component. The first inverter 173 has a plurality (six) of drive FETs (Field effect transistors) 174 whose ON / OFF is switched by a signal from the first driver 172. In the first inverter 173, a sine-wave three-phase AC voltage (U-phase, V-phase, and W-phase) is output by switching the ON / OFF of the plurality of drive FETs 174. The first inverter 173 has an upper arm 173a having a plurality (three) of drive FETs 174 and a lower arm 173b having a plurality (three) of drive FETs 174.

[0054] The second drive system 18 is configured to perform control for driving 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 claims), a storage unit (not shown), a second driver 182, and a second inverter 183.

[0055] The second MCU 181 and the storage unit are electrically connected. The second MCU 181 and the second output shaft sensor 14 are electrically connected. The second MCU 181 and the second motor rotation angle sensor 16 are electrically connected. The second MCU 181 and the second driver 182 are electrically connected. The second driver 182 and the second inverter 183 are electrically connected. Also, the first MCU 171 and the second MCU 181 are capable of communicating with each other.

[0056] The second MCU 181 is configured to control the voltage for driving the motor 11. The second MCU 181 is a board component with electronic components mounted on the board. The storage unit is a storage device having memories such as a ROM and a RAM. The second driver 182 is configured to transmit a signal for controlling the second inverter 183. The second driver 182 is an electronic component. The second inverter 183 has a plurality (six) of drive FETs 184 whose ON / OFF is switched by a signal from the second driver 182. In the second inverter 183, a sine-wave three-phase AC voltage (U-phase, V-phase, and W-phase) is output by switching the ON / OFF of the plurality of drive FETs 184. The second inverter 183 has an upper arm 183a having a plurality (three) of drive FETs 184 and a lower arm 183b having a plurality (three) of drive FETs 184.

[0057] Next, the relationship between the movement of the shift position and the output values of the second output shaft sensor 14 and the second motor rotation angle sensor 16 will be described. Note that the relationship between the output values of the first output shaft sensor 13 and 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.

[0058] As shown in FIG. 8, as the number of rotations of the motor 11 (0 rotation, 1 rotation, 2 rotations, ···, 7 rotations) increases, the detent plate 21 connected to the output shaft 12b rotates so that the shift position changes in the order of the P position, the R position, the N position, and the D position. At this time, the detent spring 22 fits into the valley portions 21a, 21b, 21c, and 21d in this order. Then, the output value of the second output shaft sensor 14 increases as the number of rotations of the motor 11 increases.

[0059] For example, as shown in FIGS. 9 and 10, currently, it is assumed that the roller portion 22a is fitted into the valley portion 21b (R position) (section 1). When the motor 11 (see FIG. 3) is driven, the detent plate 21 is rotated in the direction of arrow A via the speed reduction mechanism portion 12a (see FIG. 1). A predetermined amount of backlash Ba (see FIG. 6) is provided between the intermediate gear 122 and the intermediate gear 123. For this reason, in a state where the roller portion 22a is completely fitted into the bottom V of the valley portion 21b, although the intermediate gear 122 is rotated as the rotor 111 rotates, the engaging convex portion 123c is engaged in the long hole 122b in a state where the driving force cannot be transmitted by using the backlash Ba, so the intermediate gear 123 is not rotated. As a result, in section 1, the rotation angle (rad) of the motor 11 detected by the second motor rotation angle sensor 16 (see FIG. 8) increases linearly, while the rotation angle (output shaft angle (rad)) of the output shaft 12b detected by the second output shaft sensor 14 (see FIG. 8) is constant.

[0060] Thereafter, in section 2, since one end portion of the long hole 122b of the intermediate gear 122 is engaged with the engaging convex portion 123c of the intermediate gear 123 in a state where the driving force can be transmitted, the driving force of the motor 11 is transmitted to the output shaft 12b (see FIG. 1) via the gear portion 121, the intermediate gear 122, the intermediate gear 123, and the final gear 124 (see FIG. 3). Along with the rotation of the detent plate 21 in the direction of arrow A, the roller portion 22a moves so as to climb the slope on the valley portion 21c (N position) side of the valley portion 21b (R position) toward the peak portion M. In section 2, the rotation angle (rad) of the motor 11 detected by the second motor rotation angle sensor 16 (see FIG. 8) increases linearly. Also, the rotation angle (rad) of the output shaft 12b detected by the second output shaft sensor 14 (see FIG. 8) increases at a constant rate.

[0061] And in section 3, after the roller part 22a has crossed over the peak part M at the boundary between the valley part 21b (R position) and the valley part 21c (N position), the detent plate 21 is rotated ahead of the motor 11 (intermediate gear 122). That is, since the detent plate 21 is always biased toward the valley part 21b by the roller part 22a, due to this biasing force, the detent plate 21 is rotated ahead of the motor 11 within the range of the play Ba of the long hole 122b. Then, the roller part 22a is dropped toward the bottom V of the valley part 21b (see section 3 of FIG. 8). At this time, while the rotation angle of the motor 11 increases, the rotation angle (rad) of the output shaft 12b rapidly increases as the roller part 22a drops (suctions) into the bottom V.

[0062] Note that the operation of moving from the P position to the R position of the shift position and the operation of moving from the N position to the D position are the same as the operation of moving from the R position to the N position described above.

[0063] Also, as shown in FIGS. 8 and 10, the motor 11 has its rotation direction reversed, so that the shift position is moved to the R position via the N position (section 4), section 5, and section 6.

[0064] Note that the operation in the N position (section 4) is the same as the operation in section 1 above. That is, while the rotation angle (rad) of the motor 11 detected by the second motor rotation angle sensor 16 linearly decreases, the rotation angle (rad) of the output shaft 12b detected by the second output shaft sensor 14 is constant.

[0065] Also, the operation in section 5 is the same as the operation in section 2 above. That is, in section 5, the rotation angle of the motor 11 linearly decreases, and the rotation angle (rad) of the output shaft 12b decreases at a constant rate.

[0066] Also, the operation in section 6 is the same as the operation in section 3 above. That is, while the rotation angle of the motor 11 decreases, the rotation angle (rad) of the output shaft 12b rapidly decreases as the roller part 22a drops (suctions) into the bottom V.

[0067] (Learning of Shift Position by Second Drive System) In the shift device 100, for example, at the time of factory shipment, the rotation angle of the motor 11 (rotor 111) corresponding to the bottom dead center V is acquired (learned) for each shift device 100. That is, the rotation angle of the motor 11 (rotor 111) corresponding to the bottom dead center V (center of backlash Ba) is acquired (learned) at each of a plurality of shift positions (P position, R position, N position, and D position). Specifically, in the valleys 21a, 21b, 21c, and 21d corresponding to the plurality of shift positions (P position, R position, N position, and D position), the backlash width W included in the speed reduction mechanism portion 12a is detected. Then, the center of the detected backlash Ba width W is learned as the bottom dead center V (shift position). Note that the acquisition of the rotation angle of the motor 11 corresponding to the bottom dead center V is performed by the first MCU 171 and the second MCU 181.

[0068] Here, in the shift device 100 of the present embodiment, since 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, 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 during the learning of the shift position. Therefore, in the shift device 100, in order to prevent drive interference between the first drive system 17 and the second drive system 18, when acquiring the shift position (P position, R position, N position, and D position), the motor 11 is controlled using only one of the drive systems of the first drive system 17 and the second drive system 18.

[0069] Specifically, when the shift device 100 drives the motor 11 with the voltage output from the second drive system 18 and moves the detent spring 22 so as to continuously pass through the valleys 21a, 21b, 21c, and 21d (a plurality of valleys), it is configured to acquire the shift positions (P position, R position, N position, and D position). That is, in the shift device 100, when acquiring the shift positions (P position, R position, N position, and D position), 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.

[0070] Also, when moving the detent spring 22, the first MCU 171 is configured to perform control to acquire the shift positions (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. Further, the second MCU 181 is configured to perform control to acquire the shift positions (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.

[0071] Here, when driving the motor 11 only by the second drive system 18, the ON / OFF of each of the plurality (six) of drive FETs 184 in the second drive system 18 is switched, so that the energization pattern of the drive current output to the motor 11 changes. Note that all the drive FETs 174 in the first drive system 17 are turned off.

[0072] An example of the energization pattern of the drive current output to the motor 11 is shown in FIG. 11. In the first drive system 17, all the drive FETs 174 are OFF. In the second drive system 18, the drive FET 184 of the U phase of the upper arm 183a is ON, the drive FET 184 of the V phase of the upper arm 183a is OFF, and the drive FET 184 of the W phase of the upper arm 183a is OFF. In the second drive system 18, the drive FET 184 of the U phase of the lower arm 183b is OFF, the drive FET 184 of the V phase of the lower arm 183b is ON, and the drive FET 184 of the W phase of the lower arm 183b is ON.

[0073] As a result, the drive current flows from the U phase of the upper arm 183a through the excitation coil of the motor 11 to each of the V phase and W phase of the lower arm 183b, and the motor 11 is driven.

[0074] Also, as shown in FIG. 12, in the shift device 100, in order to improve the position accuracy of the shift position acquired by the first output shaft sensor 13 and the second output shaft sensor 14, at the bottom V of each of the valleys 21a, 21b, 21c, and 21d (a plurality of valleys), the movement of the detent spring 22 is stopped for a predetermined time. Although the case of the bottom V of the valley 21b in FIG. 12 is described as an example, the movement of the detent spring 22 is similarly stopped for a predetermined time at the bottom V of each of the other valleys 21a, 21c, and 21d.

[0075] That is, the first output shaft sensor 13 and the second output shaft sensor 14 are attached to the output shaft 12b via a spring (not shown). Since the output shaft 12b rotates by the driving force transmitted from the motor 11, the spring vibrates as the output shaft 12b rotates. For this reason, even after the movement of the detent spring 22 is stopped, the first output shaft sensor 13 and the second output shaft sensor 14 vibrate due to the vibration of the spring for a while. In this way, in order to recover the measurement accuracy of the first output shaft sensor 13 and the second output shaft sensor 14, the movement of the detent spring 22 is stopped for a predetermined time.

[0076] Further, in the shift device 100, as the detent spring 22 moves, a deviation (sensor delay) occurs between the actual position of the detent spring 22 and the measured position of the detent spring 22 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 detent spring 22 is stopped for a predetermined time.

[0077] As described above, when the shift device 100 drives the motor 11 to move the detent spring 22, based on the fact that the detent spring 22 is disposed in the valley bottom V sections (section 1 and section 4) of each of the valleys 21a, 21b, 21c, and 21d, the movement of the detent spring 22 accompanying the driving of the motor 11 by the voltage output from the second drive system 18 is configured to be stopped for a predetermined time.

[0078] Specifically, when the state where the measured value of the second output shaft sensor 14 does not change continues for a predetermined number of times while the motor 11 is driving, the second MCU 181 is configured to perform control to determine that the detent spring 22 has reached the valley bottom V sections (section 1 and section 4) of each of the valleys 21a, 21b, 21c, and 21d. Also, when the state where the measured value of the first output shaft sensor 13 does not change continues for a predetermined number of times while the motor 11 is driving, the first MCU 171 is configured to perform control to determine that the detent spring 22 has reached the valley bottom V sections (section 1 and section 4) of each of the valleys 21a, 21b, 21c, and 21d.

[0079] As shown in FIG. 13, based on the determination that the detent spring 22 has reached the valley bottom V sections of each of the valleys 21a, 21b, 21c, and 21d, the second MCU 181 is configured to perform control to brake (short brake) the driving of the motor 11 by grounding all the drive FETs 184 of the lower arm 183b of the second inverter 183.

[0080] After braking the drive of the motor 11, the second MCU 181 is configured to control to stop the movement of the detent spring 22 for a predetermined time. That is, the second MCU 181 is configured to control to count a predetermined time based on the fact that the drive of the motor 11 has been braked. Similarly, the first MCU 171 is configured to control to count a predetermined time based on the fact that the drive of the motor 11 has been braked.

[0081] Based on the fact that the movement of the detent spring 22 has been stopped for a predetermined time, the shift device 100 is configured to redrive the motor 11 by outputting a voltage again from the second drive system 18. Thereby, in the shift device 100, it becomes possible to measure the backlash width W in each of the valley portions 21a, 21b, 21c, and 21d in a state where the measurement accuracy is restored and the sensor delay is eliminated.

[0082] Here, in the shift device 100, as described above, since the first MCU 171 and the second MCU 181 independently measure (count) a predetermined time, if the control cycles of the first MCU 171 and the second MCU 181 are shifted, even though the first drive system 17 is in a state of measuring a predetermined time, the second drive system 18 may redrive the motor 11. In this case, in the first drive system 17, the error between the actual position of the bottom valley V and the acquired (learned) position of the bottom valley V increases.

[0083] Therefore, the shift device 100 is configured such that the first MCU 171 and the second MCU 181 communicate with each other to determine the timing at which the second drive system 18 redrives the motor 11. Specifically, the second MCU 181 is configured to control to change the timing at which the motor 11 is redriven based on recognizing the deviation of the control cycles of the first MCU 171 and the second MCU 181 through communication with the first MCU 171.

[0084] In the shift device 100, both the first drive system 17 and the second drive system 18 are configured to acquire (learn) the shift positions (P position, R position, N position, and D position). Therefore, even if the learning of the shift position fails in the first drive system 17, if the learning of the shift position is successful in the second drive system 18, the motor 11 can be driven only by the second drive system 18 to switch the shift position. In order to eliminate such a possibility, in the shift device 100, if the learning of the shift position fails in one of the first drive system 17 and the second drive system 18, the learning of the shift position of the other of the first drive system 17 and the second drive system 18 is reset.

[0085] Specifically, when the second drive system 18 detects that at least one of the shift positions corresponding to each of the valleys 21a, 21b, 21c, and 21d in the first drive system 17 has not been acquired by the first MCU 171 and the second MCU 181 communicating with each other, the second drive system 18 is configured to erase the shift positions corresponding to each of the acquired valleys 21a, 21b, 21c, and 21d.

[0086] (Shift position learning process) Hereinafter, with reference to FIG. 14, the shift position learning process performed by driving the motor 11 by the second drive system 18 will be described. The shift position learning process is a process of acquiring (learning) the shift position while communicating between the first drive system 17 and the second drive system 18.

[0087] In step S1, in the second MCU 181, in order to rotate the detent plate 21 assembled at the N position and set it at the D position, the target position of the motor 11 is set to the D position. At this time, in the second MCU 181, based on the preset D position, the target position of the motor 11 is set to the D position. Also, it is transmitted to the first MCU 171 of the first drive system 17 that the learning of the shift position has been started in the second drive system 18. In step S2, in the second MCU 181, the motor 11 is driven to switch the shift position to the D position.

[0088] In step S3, in the second MCU 181, it is determined whether the shift position is the D position or the P position. If the shift position is the D position or the P position, the process proceeds to step S4, and if the shift position is not the D position or the P position, the process proceeds to step S5. In step S4, in the second MCU 181, the rotation direction of the motor 11 is reversed. At this time, it is transmitted to the first MCU 171 of the first drive system 17 that the rotation direction of the motor 11 has been reversed in the second drive system 18.

[0089] In step S5, in the second MCU 181, the rotation angle of the output shaft 12b is acquired by the second output shaft sensor 14. In step S6, in the second MCU 181, the rotation angle of the motor 11 is acquired by the second motor rotation angle sensor 16. In step S7, in the second MCU 181, it is determined whether it is any one of the valleys 21a, 21b, 21c, and 21d (a plurality of valleys). In the second MCU 181, if it is any one of the plurality of valleys, the process proceeds to step S8, and if it is not any one of the plurality of valleys, the process proceeds to step S10.

[0090] In step S8, in the second MCU 181, it is determined whether a predetermined time has elapsed. In the second MCU 181, if the predetermined time has elapsed, the process proceeds to step S9, and if the predetermined time has not elapsed, step S8 is repeated. At this time, it is transmitted to the second MCU 181 of the second drive system 18 that the predetermined time has elapsed in the first drive system 17.

[0091] In step S9, in the second MCU 181, the learning values are stored in the storage unit. That is, in the second MCU 181, the positions of the bottom portions V of the valley portions 21a, 21b, 21c, and 21d corresponding to the P position, R position, N position, and D position respectively are stored in the storage unit as learning values. At this time, it is transmitted to the second MCU 181 of the second drive system 18 that the positions of the bottom portions V of the valley portions 21a, 21b, 21c, and 21d have been stored in the storage unit as learning values in the first drive system 17.

[0092] In step S10, in the second MCU 181, it is determined whether to end the learning operation. That is, in the second MCU 181, it is determined whether the positions of the bottom portions V of the valley portions 21a, 21b, 21c, and 21d corresponding to the P position, R position, N position, and D position respectively have been stored in the storage unit as learning values. When ending the learning operation, the process proceeds to step S11, the drive of the motor 11 is stopped, and then the shift position learning process is ended. At this time, it is transmitted to the second MCU 181 of the second drive system 18 that the learning operation has ended in the first drive system 17. If the learning operation is not ended, the process returns to step S3.

[0093] Also, in parallel with the control of the second drive system 18 described above, in step S101, in the first MCU 171, the rotation angle of the output shaft 12b is acquired by the first output shaft sensor 13. In step S102, in the first MCU 171, the rotation angle of the motor 11 is acquired by the first motor rotation angle sensor 15. In step S103, in the first MCU 171, it is determined whether it is any one of the valley portions 21a, 21b, 21c, and 21d (a plurality of valley portions). In the first MCU 171, if it is any one of the plurality of valley portions, the process proceeds to step S104, and if it is not any one of the plurality of valley portions, the process proceeds to step S106.

[0094] In step S104, the first MCU 171 determines whether a predetermined time has elapsed. If the predetermined time has elapsed in the first MCU 171, the process proceeds to step S105. If the predetermined time has not elapsed, step S104 is repeated. At this time, it is transmitted to the second MCU 181 of the second drive system 18 that the predetermined time has elapsed in the first drive system 17.

[0095] In step S105, the first MCU 171 stores the learning values in the storage unit. That is, in the first MCU 171, the positions of the bottom portions V of the trough portions 21a, 21b, 21c, and 21d corresponding to the P position, R position, N position, and D position, respectively, are stored in the storage unit as learning values. At this time, it is transmitted to the second MCU 181 of the second drive system 18 that the positions of the bottom portions V of the trough portions 21a, 21b, 21c, and 21d have been stored in the storage unit as learning values in the first drive system 17.

[0096] In step S106, the first MCU 171 determines whether to end the learning operation. That is, in the first MCU 171, it is determined whether the positions of the bottom portions V of the trough portions 21a, 21b, 21c, and 21d corresponding to the P position, R position, N position, and D position, respectively, have been stored in the storage unit as learning values. If the learning operation is to be ended, the shift position learning process is ended. At this time, it is transmitted to the second MCU 181 of the second drive system 18 that the learning operation has ended in the first drive system 17. If the learning operation is not ended, the process returns to step S101.

[0097] (Effects of this Embodiment) In this embodiment, the following effects can be obtained.

[0098] In this embodiment, as described above, when the shift device 100 drives the motor 11 with the voltage output from either the first drive system 17 or the second drive system 18 and moves the detent spring 22 so as to continuously pass through the plurality of valleys 21a, 21b, 21c, and 21d, it is configured to acquire the shift position. Thereby, when learning the shift position by the first MCU 171 and the second MCU 181, while controlling the motor 11 by either the first drive system 17 or the second drive system 18, the positions of the detent spring 22 are recognized by both the first MCU 171 and the second MCU 181, and thus the learning of the shift position is performed. Therefore, when learning the shift position, since a voltage is applied to the motor 11 only from either the first MCU 171 or the second MCU 181, it is possible to prevent the control of the motor 11 by the first MCU 171 and the control of the motor 11 by the second MCU 181 from interfering with each other. As a result, since it is possible to prevent the control of the motor 11 by the first MCU 171 and the control of the motor 11 by the second MCU 181 from interfering with each other, it is possible to prevent the learning of the shift positions of the first MCU 171 and the second MCU 181 from inhibiting each other. Also, even when one of the first MCU 171 and the second MCU 181 malfunctions, the drive control of the motor 11 can be continued using the other MCU, so it is possible to ensure the continuation of the drive control of the motor 11.

[0099] Also, in the present embodiment, as described above, when the shift device 100 drives the motor 11 with the voltage output from the second drive system 18 to move the detent spring 22 so as to continuously pass through the plurality of valleys 21a, 21b, 21c, and 21d, based on the fact that the detent spring 22 is disposed in the valley bottom V sections (section 1 and section 4) of each of the plurality of valleys 21a, 21b, 21c, and 21d, it is configured to stop the movement of the detent spring 22 for a predetermined time along with the driving of the motor 11 by the voltage output from the second drive system 18. Thereby, based on the fact that the detent spring 22 is disposed in the valley bottom V sections (section 1 and section 4) of each of the plurality of valleys 21a, 21b, 21c, and 21d, by stopping the movement of the detent spring 22 for a predetermined time, vibrations caused by the driving of the motor 11 and the deviation between the actual position of the detent spring 22 and the measured position of the detent spring 22 can be eliminated, so that deterioration in the measurement accuracy of the position of the detent spring 22 caused by the above vibrations and the above deviation can be suppressed.

[0100] Also, in the present embodiment, as described above, the shift device 100 is configured to redrive the motor 11 by outputting a voltage again from the second drive system 18 based on the fact that the movement of the detent spring 22 has been stopped for a predetermined time. Thereby, by redriving after stopping the movement of the detent spring 22 for a predetermined time, the positions of the valley bottoms V of each of the plurality of valleys 21a, 21b, 21c, and 21d can be acquired (learned) in a static state, so that the shift position can be accurately learned.

[0101] Also, in the present embodiment, as described above, the first MCU 171 and the second MCU 181 are capable of communicating with each other. The shift device 100 is configured such that when the first MCU 171 and the second MCU 181 communicate with each other, either one of the first drive system 17 and the second drive system 18 that outputs voltage determines the timing for re-driving the motor 11. Thereby, since 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, the motor 11 can be re-driven with the first MCU 171 and the second MCU 181 synchronized.

[0102] Also, in the present embodiment, as described above, the first MCU 171 and the second MCU 181 are capable of communicating with each other. The shift device 100 is configured such that when it is detected that at least any one of the shift positions corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d in the first drive system 17 has not been acquired during the communication between the first MCU 171 and the second MCU 181, the shift positions corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d that have been acquired are erased. Thereby, when the acquisition of the shift position in the first drive system 17 fails, the shift position acquired in the second drive system 18 is erased, so that it is possible to prevent driving the detent plate 21 using only the second drive system 18, and thus it is possible to prevent the manufacture of a shift device that drives only one of the first drive system 17 and the second drive system 18.

[0103] Also, in the present embodiment, as described above, the shift 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 detent plate 21. The first MCU 171 is configured to acquire the shift 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 perform control to acquire the shift position based on the measured values of the second motor rotation angle sensor 16 and the second output shaft sensor 14. Thereby, when the detent spring 22 is moved so that the motor 11 is driven by the voltage output from the second drive system 18 and continuously passes through the plurality of valleys 21a, 21b, 21c, and 21d, each of the first MCU 171 and the second MCU 181 can acquire the shift position in parallel. Therefore, compared with the case where the acquisition of the shift position by the first MCU 171 and the acquisition of the shift position by the second MCU 181 are performed separately, the acquisition of the shift position can be performed efficiently.

[0104] [Modification Example] The above-described embodiment disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present invention is shown not by the description of the above embodiment but by the claims, and further includes all modifications (modification examples) within the meaning and scope equivalent to the claims.

[0105] For example, in the above embodiment, in the shift device 100, an example is shown in which when acquiring the shift position (P position, R position, N position, and D position), 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. However, the present invention is not limited to this. In the present invention, in the shift device, when acquiring the shift position (P position, R position, N position, and D position), the motor may be driven by the first drive system based on the measured values of the first motor rotation angle sensor and the first output shaft sensor.

[0106] Further, in the above embodiment, an example is shown in which the second MCU 181 (second control unit) performs control to change the timing of re-driving the motor 11 based on recognizing a deviation in the control cycles between the first MCU 171 (first control unit) and the second MCU 181 (second control unit) through communication with the first MCU 171 (first control unit). However, the present invention is not limited to this. In the present invention, based on recognizing a deviation in the control cycles between the first control unit and the second control unit through communication with the first control unit, the second control unit may not only change the timing of re-driving the motor, but also brake the motor or change the rotation direction of the motor.

[0107] Further, in the above embodiment, an example is shown in which the second MCU 181 (second control unit) sets the target position of the motor 11 to the D position in order to rotate the detent plate 21 (shift switching member) assembled at the N position to set it to the D position. However, the present invention is not limited to this. In the present invention, the second control unit may set the target position of the motor to the P position in order to rotate the shift switching member assembled at the N position to set it to the P position.

[0108] Further, in the above embodiment, an example is shown in which the width W of the backlash Ba is the width W of the backlash Ba of the speed reduction mechanism portion 12a. However, the present invention is not limited to this. In the present invention, the backlash width may include the backlash widths of other components in the driving force transmission mechanism portion other than the speed reduction mechanism portion.

[0109] Further, in the above embodiment, an example is shown in which the shift device 100 of the present invention is applied to a shift device for an automobile. However, the present invention is not limited to this. In the present invention, the shift device may be applied to a shift device other than for an automobile, such as a train.

[0110] In the above-described embodiment, an example is shown in which the second MCU 181 (second control unit) is configured to stop the movement of the detent spring 22 (positioning member) due to the driving of the motor 11 by the voltage output from the second drive system 18 for a predetermined time based on the fact that the detent springs 22 (positioning members) are arranged in the bottom portions V of the plurality of valleys 21a, 21b, 21c, and 21d (section 1 and section 4). However, the present invention is not limited to this. In the present invention, the first control unit may stop the movement of the positioning member due to the driving of the motor by the voltage output from the first drive system for a predetermined time based on the fact that the positioning members are arranged in the bottom portions of the plurality of valleys (section 1 and section 4).

[0111] In the above-described embodiment, an example is shown in which the first MCU 171 (first control unit) and the second MCU 181 (second control unit) are communicable. However, the present invention is not limited to this. In the present invention, the first control unit and the second control unit may not be communicable.

[0112] In the above-described embodiment, an example is shown in which the second drive system 18 is configured to erase the shift positions corresponding to each of the plurality of valleys 21a, 21b, 21c, and 21d when it is detected that at least any one of the shift positions corresponding to each of the plurality of valleys in the first drive system 17 has not been acquired by communication between the first MCU 171 (first control unit) and the second MCU 181 (second control unit). However, the present invention is not limited to this. In the present invention, the first drive system may be configured to erase the shift positions corresponding to each of the plurality of valleys when it is detected that at least any one of the shift positions corresponding to each of the plurality of valleys in the second drive system has not been acquired by communication between the first control unit and the second control unit.

[0113] In the above embodiment, in the first inverter 173, an example is shown in which a sinusoidal three-phase AC voltage (U-phase, V-phase, and W-phase) is output by switching ON / OFF of a plurality of drive FETs 174. However, the present invention is not limited to this. In the present invention, in the first inverter, a pulse-wave three-phase AC voltage (U-phase, V-phase, and W-phase) may be output by switching ON / OFF of a plurality of drive FETs.

[0114] In the above embodiment, in the second inverter 183, an example is shown in which a sinusoidal three-phase AC voltage (U-phase, V-phase, and W-phase) is output by switching ON / OFF of a plurality of drive FETs 184. However, the present invention is not limited to this. In the present invention, in the second inverter, a pulse-wave three-phase AC voltage (U-phase, V-phase, and W-phase) may be output by switching ON / OFF of a plurality of drive FETs.

[0115] Also, in the above embodiment, for the sake of convenience of explanation, an example has been shown in which the control processes of the first MCU 171 (first control unit) and the second MCU 181 (second control unit) are described using a flow-driven flowchart that sequentially performs processes along a processing flow. However, the present invention is not limited to this. In the present invention, the control processes of the first control unit and the second control unit may be performed by event-driven processing that executes processing in units of events. In this case, it may be performed in a completely event-driven manner, or it may be performed by combining event driving and flow driving.

Explanation of Reference Numerals

[0116] 11 Motor 17 First drive system 18 Second drive system 21 Detent plate (shift switching member) 21a, 21b, 21c, 21d Valley portions 22 Detent spring (positioning member) 100 Shift device 111 Rotor 112 Stator 171 First MCU (first control unit) 181 Second MCU (Second Control Unit)

Claims

1. A shift switching member including a plurality of valley portions corresponding to shift positions; A motor including a rotor and a stator for driving the shift switching member; A first drive system including a first control unit for controlling a voltage for driving the motor; A second drive system provided separately from the first drive system and including a second control unit for controlling a voltage for driving the motor; A positioning member for establishing the shift position in a state of being fitted into any one of the plurality of valley portions of the shift switching member; When moving the positioning member so that the motor is driven by a voltage output from either one of the first drive system and the second drive system and passes continuously through the plurality of valley portions, the shift positions of the first drive system and the second drive system are configured to be acquired independently; The first control unit and the second control unit are capable of communicating with each other; When either one of the first drive system and the second drive system that outputs a voltage detects that at least one of the shift positions corresponding to each of the plurality of valley portions is not acquired in the other drive system due to communication between the first control unit and the second control unit, the shift positions corresponding to each of the acquired plurality of valley portions are configured to be erased. A shift device.

2. When moving the positioning member so that the motor is driven by a voltage output from either one of the first drive system and the second drive system and passes continuously through the plurality of valley portions, based on the positioning member being disposed in a bottom portion section of each of the plurality of valley portions, the movement of the positioning member accompanying the driving of the motor by the voltage output from either one of the first drive system and the second drive system is configured to be stopped for a predetermined time. The shift device according to claim 1.

3. Based on the movement of the positioning member being stopped for the predetermined time, the motor is configured to be redriven by outputting a voltage again from either one of the first drive system and the second drive system. The shift device according to claim 2.

4. The first control unit and the second control unit are capable of communicating with each other; The shift device according to claim 3, wherein the first control unit and the second control unit communicate with each other, so that one of the first drive system and the second drive system that outputs a voltage determines the timing for redriving the motor.

5. a first motor rotation angle sensor and a second motor rotation angle sensor that measure the rotation angle of the motor; a first output shaft sensor and a second output shaft sensor that measure the rotation angle of an output shaft connected to the shift switching member; The shift device according to any one of claims 1 to 4, wherein the first control unit acquires the shift position based on the measured values of the first motor rotation angle sensor and the first output shaft sensor, and the second control unit performs control to acquire the shift position based on the measured values of the second motor rotation angle sensor and the second output shaft sensor.

Images