JP2009177965A - Motor control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To learn a play amount without deteriorating durability in a system in which a play exists in a fitting/coupling part between an output shaft on the motor side and a manual shaft of a range switching mechanism. <P>SOLUTION: If learning a play amount existing in a fitting/coupling part between an output shaft on the motor 13 side and a manual shaft 15 of a range switching mechanism 11 and when a range of the range switching mechanism 11 stays in a P range, the motor 13 is rotated by such a small torque as that prevents a detent lever 18 from being moved from a state that the detent lever stops at a position in the P range. By this arrangement, while the detent lever 18 stops at the position in the P range, only the output shaft runs idle within a range of a play of the fitting/coupling part and the rotation of the output shaft stops at the position abutting against the end of the play. By doing such processing in both directions of a normal-rotation direction and a reverse-rotation direction, both-end positions of the play are detected by an output-shaft sensor 16 so as to learn a play amount by calculating a differential value between the detection values of both-end positions of the play as a play amount. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a motor control device in which an output shaft is connected to a rotation shaft of a motor via a rotation transmission system such as a speed reduction mechanism, and a controlled object is driven by the output shaft.

  In recent years, the number of cases in which a mechanical drive system is changed to a system that is electrically driven by a motor has been increasing in order to satisfy the demands for space saving, assembling, and control. . As an example, there is one in which a range switching mechanism of an automatic transmission of a vehicle is driven by a motor as described in Patent Document 1 (Japanese Patent Laid-Open No. 2002-323127). In this apparatus, an output shaft is connected to a rotating shaft of a motor via a speed reduction mechanism, and a range switching mechanism is driven by the output shaft to switch the range of the automatic transmission. In this case, the motor is equipped with an encoder that detects the rotation angle (rotation position), and the target rotation angle (target count) corresponding to the target range is selected based on the count value of the output pulse of the encoder when the range is switched. Value range), the range switching mechanism is switched to the target range.

  By the way, the rotation amount (rotation angle) of the motor is converted into the operation amount of the range switching mechanism through a driving force transmission system such as a speed reduction mechanism. ) Exists. For example, there is play (backlash) between the gears of the speed reduction mechanism, and a non-circular cross section (square shape, D cut shape, spline shape, etc.) formed at the tip of the output shaft of the speed reduction mechanism is connected to the range switching mechanism. In the configuration in which the fitting portion is fitted and connected, a clearance for facilitating the fitting operation of both is required. As described above, since there is play in the driving force transmission system that converts the rotation amount of the motor into the operation amount of the range switching mechanism, the rotation angle of the motor is temporarily set based on the detection value of the rotation angle sensor. Even if it can be accurately controlled, an error corresponding to play (backlash) of the driving force transmission system occurs in the operation amount of the range switching mechanism, and the operation amount of the range switching mechanism cannot be accurately controlled.

  As a countermeasure against this, as described in Patent Document 2 (Japanese Patent Laid-Open No. 2005-198449), an output shaft rotation angle detecting means for detecting the rotation angle of the output shaft is provided, and the detection of the output shaft rotation angle detecting means is performed. There is one in which the target motor rotation angle is corrected using the output shaft rotation angle.

  However, in the configuration in which the output shaft and the range switching mechanism are connected by a fitting connection portion with play, even if the rotation angle of the output shaft is detected by the output shaft rotation angle detecting means, the engagement between the output shaft and the range switching mechanism is not possible. The influence of play at the joint portion cannot be excluded.

Therefore, as described in Patent Document 3 (Japanese Patent Laid-Open No. 2006-136035), Patent Document 4 (Japanese Patent Laid-Open No. 2004-23932), etc., the limit position (wall) of the movable range of the range switching mechanism There is a technique in which a play amount of the driving force transmission system is learned by performing abutting control that rotates until it hits, and a target rotation angle is corrected based on the learned value.
Japanese Patent Laid-Open No. 10-322099 JP 2005-198449 A JP 2006-136035 A JP 2004-23932 A

  However, as in Patent Document 3, if the abutting control is performed to abut the limit position (wall) of the movable range of the range switching mechanism when learning the play amount, a load is applied to each part of the driving force transmission system. There is a problem that the durability of the range switching mechanism is lowered.

  The present invention has been made in view of such circumstances. Accordingly, the object of the present invention is to reduce durability in a system in which an output shaft on the motor side and a controlled object are connected by a fitting connection portion having play. An object of the present invention is to provide a motor control device that can learn the play amount without any problem and can achieve both improvement in control accuracy and durability of a control target.

  In order to achieve the above object, the invention according to claim 1 is provided with motor rotation angle detection means for detecting the rotation angle of the motor, and the output shaft is connected to the rotation shaft of the motor via a rotation transmission system such as a speed reduction mechanism. When connecting the output shaft and the controlled object with a fitting coupling part having play, and switching the operating position of the controlled object to the target operating position, the target motor rotation angle corresponding to the target operating position In the motor control device that drives the motor until the detected motor rotation angle of the motor rotation angle detection means matches the target motor rotation angle, output shaft rotation angle detection means for detecting the rotation angle of the output shaft And when the control object remains at the predetermined operation position, the motor is driven with a small torque that does not move from the state where the control object remains at the predetermined operation position. The amount of play is learned by detecting the both end positions of the play by the output shaft rotation angle detecting means by performing the process of rotating until it hits the end in both the forward direction and the reverse direction, and learning the play amount based on the detected value And a target motor rotation angle setting means for setting the target motor rotation angle in consideration of the learning value of the play amount learned by the play amount learning means.

  In short, the present invention has a configuration in which the output shaft on the motor side and the object to be controlled are connected by a fitting connecting portion having play, and the rotation angle of the output shaft is detected by the output shaft rotation angle detecting means. In the case of learning, when the control object remains at the predetermined operation position, the motor is rotated with a small torque that does not move from the state where the control object remains at the predetermined operation position. In this way, with the controlled object remaining at the predetermined operation position, only the output shaft idles within the play range of the fitting connection portion, and output at a position where it hits the end (wall) of the play. The shaft stops rotating. By performing such processing in both the forward direction and the reverse direction, the both ends of the play of the fitting connection portion are detected by the output shaft rotation angle detecting means, and the detected output shaft rotation angle of the both ends of the play is detected. The difference value is learned as a play amount to learn. As a result, the play amount can be learned while reducing the burden on each part of the driving force transmission system that converts the rotation amount of the motor into the operation amount to be controlled, and the play amount can be learned without reducing the durability. Thus, it becomes possible to control the controlled object with high accuracy, and it is possible to achieve both improvement in the control accuracy and durability of the controlled object.

  In this case, in consideration of the motor rotation angle, the output shaft rotation angle, and the reduction ratio of the rotation transmission system between the two, the target output shaft rotation angle corresponding to the target operation position is set as in claim 2. Output shaft rotation angle setting means, wherein the target motor rotation angle setting means corrects the target output shaft rotation angle using the learning value of the play amount, and corrects the corrected target output shaft rotation angle and the output shaft rotation. The target motor rotation angle may be set using a value obtained by multiplying the deviation from the detection output shaft rotation angle of the angle detection means by the reduction ratio of the rotation transmission system. Thereby, the target motor rotation angle can be set with high accuracy using the learning value of the play amount detected by the output shaft rotation angle detection means.

  Further, according to a third aspect of the present invention, when the target motor rotation angle setting means corrects the target output shaft rotation angle using the learning value of the play amount, the output shaft is more than the target output shaft rotation angle. Also, the target output shaft rotation angle may be corrected so that the rotation amount is excessively rotated by a rotation angle amount corresponding to ½ of the learning value of the play amount. In this way, when the operation position to be controlled is switched to the target operation position, the operation position to be controlled can be accurately switched to the target operation position by using the play of the fitting connection portion.

  Further, the output shaft reference position learning for learning the reference position of the output shaft based on the detected output shaft rotation angle of the output shaft rotation angle detection means when the control object remains at the specific operation position as in claim 4 And a target output shaft rotation angle setting unit that sets a design value of a rotation angle amount of the output shaft necessary for switching the control target from the specific operation position to the target operation position. The target output shaft rotation angle may be set by adding to the reference position learning value. In this way, the target output shaft rotation angle can be accurately set using the reference position learning value of the output shaft.

  The present invention can be applied to various operation position switching devices that switch the operation position using a motor as a drive source. For example, a range switching mechanism that switches a range of an automatic transmission of a vehicle is controlled. In this case, the play amount may be learned when the range switching mechanism is switched to the predetermined range. Thereby, a highly reliable motor-driven range switching device can be configured.

  By the way, when learning the amount of play, during the period when only the output shaft is idling within the range of play of the fitting connection portion, the detected output shaft rotation angle of the output shaft rotation angle detecting means is determined according to the idling amount. The rotation of the output shaft stops at the position where it changes and hits the edge (wall) of play, and the change of the detected output shaft rotation angle of the output shaft rotation angle detection means stops. In consideration of this point, when learning the play amount, the position where the change of the detected output shaft rotation angle of the output shaft rotation angle detecting means is stopped by rotating the motor with the small torque is determined. What is necessary is just to judge it as the edge position of play.

  Further, as described in claim 7, when learning the play amount, the torque of the motor may be reduced to the small torque by duty control. In this way, when learning the play amount, the motor torque can be accurately reduced to the target torque at the time of learning.

  In addition, in the low temperature region, friction or the like increases and the motor torque fluctuates or the output shaft moves poorly. As a countermeasure against this, it is preferable to provide a learning prohibiting means for prohibiting learning of the play amount by the play amount learning means in a low temperature region equal to or lower than a predetermined temperature. By doing so, it is possible to prevent erroneous learning of the play amount at low temperatures.

Hereinafter, an embodiment in which the best mode for carrying out the present invention is applied to a motor-driven range switching device will be described.
First, the configuration of the range switching mechanism 11 will be described with reference to FIGS.

  The range switching mechanism 11 is for switching the range of the automatic transmission 12 to, for example, a parking range (P), a reverse range (R), a neutral range (N), and a drive range (D). The motor 13 serving as a drive source of the range switching mechanism 11 is configured by a synchronous motor such as a switched reluctance motor (SR motor), for example, and includes a speed reduction mechanism 14 (see FIG. 2). An output shaft sensor 16 (output shaft rotation angle detection means) for detecting the rotation angle 14a (see FIG. 2) is provided.

  A manual shaft 15 (operation shaft) of the range switching mechanism 11 is fitted and connected to the output shaft 14a of the speed reduction mechanism 14 by a fitting connection portion (not shown) having play. A detent lever 18 for switching the manual valve 17 of the hydraulic circuit of the machine 12 is fixed. An L-shaped parking rod 19 is fixed to the detent lever 18, and a cone 20 provided at the tip of the parking rod 19 is in contact with the lock lever 21.

  The lock lever 21 is moved up and down around the shaft 22 in accordance with the position of the cone 20 to lock / unlock the parking gear 23. The parking gear 23 is provided on the output shaft of the automatic transmission 12, and when the parking gear 23 is locked by the lock lever 21, the driving wheel of the vehicle is held in a stopped state (parking state).

  Further, the spool valve 24 of the manual valve 17 is connected to the detent lever 18, and the operation amount of the manual valve 17 (the spool valve 24 is rotated by rotating the output shaft 14 a by the motor 13 to rotate the detent lever 18. And the range of the automatic transmission 12 is switched to any one of the P range, the R range, the N range, and the D range. The detent lever 18 is formed with four recesses 25 for holding the spool valve 24 at positions corresponding to the above ranges.

  On the other hand, a detent spring 26 for holding the detent lever 18 at a position corresponding to each range is fixed to the manual valve 17, and a roller 27 (engagement portion) provided at the tip of the detent spring 26 is attached to the detent lever 18. By fitting in the recess 25 of the target range, the detent lever 18 is held at the rotation angle of the target range, and the position of the spool valve 24 of the manual valve 17 is held at the position of the target range.

  In the P range, the parking rod 19 moves in the direction approaching the lock lever 21, the thick part of the cone 20 pushes up the lock lever 21, and the convex portion 21 a of the lock lever 21 fits into the parking gear 23. The gear 23 is locked, whereby the output shaft (drive wheel) of the automatic transmission 12 is held in the locked state (parking state).

  On the other hand, in the ranges other than the P range, the parking rod 19 moves away from the lock lever 21, the thick part of the cone 20 comes out of the lock lever 21, and the lock lever 21 is lowered. The convex portion 21a is disengaged from the parking gear 20 and the parking gear 20 is unlocked, and the output shaft of the automatic transmission 12 is held in a rotatable state (running state).

  In this embodiment, the output shaft sensor 16 is constituted by a rotation angle sensor (for example, a potentiometer) whose output voltage changes linearly according to the rotation angle of the output shaft 14 a of the speed reduction mechanism 14 of the motor 13, and the current output voltage depends on the output voltage. The rotation angle (rotation position) of the output shaft 14a and whether the current range is the P range, R range, N range, or D range can be confirmed.

  The motor 13 is provided with an encoder 31 (motor rotation angle detection means) for detecting the rotation angle of the rotor. The encoder 31 is composed of, for example, a magnetic rotary encoder, and is configured to output A-phase and B-phase pulse signals to the range switching control device 32 in synchronization with the rotation of the rotor of the motor 13. . The ECU 33 of the range switching control device 32 counts both rising and falling edges of the A-phase signal and B-phase signal output from the encoder 31, and the motor drivers 34 and 35 perform motors according to the encoder count value. The motor 13 is rotationally driven by switching the 13 energized phases in a predetermined order.

  At this time, the rotation direction of the rotor is determined based on the generation order of the A-phase signal and the B-phase signal, and the encoder count value is counted up in the normal rotation (P range → D range rotation direction), and the reverse rotation (D range → P range). In the range rotation direction), the encoder count value is counted down. As a result, even if the motor 13 rotates in either the forward rotation or the reverse rotation, the correspondence relationship between the encoder count value and the rotation angle of the motor 13 is maintained. However, the rotation angle of the motor 13 is detected by the encoder count value, and the motor 13 is driven to rotate by energizing the winding of the phase corresponding to the rotation angle.

Next, the outline of the feedback control system (hereinafter referred to as “F / B control system”) of the motor 13 of this embodiment will be described with reference to FIG. The F / B control system of the motor 13 is composed of two F / B control systems. The first F / B control system is a detected output shaft rotation angle θ2 of the output shaft sensor 16 and a virtual target output shaft rotation described later. Based on the deviation (θ2 −θ2tg) from the angle θ2tg, the target motor rotation angle θ1tg is calculated by the following equation.
θ1tg = (θ2-θ2tg) x Kg + θ1
Here, Kg is a reduction ratio of the rotation transmission system (deceleration mechanism 14), and θ1 is a detected motor rotation angle of the encoder 31.

  In short, the first F / B control system corrects the target motor rotation angle θ1tg based on the deviation (θ2−θ2tg) between the detected output shaft rotation angle θ2 of the output shaft sensor 16 and the virtual target output shaft rotation angle θ2tg. This is a sub F / B control system.

  On the other hand, the second F / B control system drives the motor 13 to the target motor rotation angle θ1tg by sequentially switching the energized phase of the motor 13 based on the detected motor rotation angle θ1 (encoder count value) of the encoder 31. This is a main F / B control system that executes F / B control.

  A control example of the motor 13 by the two F / B control systems described above will be described with reference to FIG. At the time t1 when the driver operates the shift lever of the automatic transmission 12 from the P range to the D range, for example, the ECU 33 sets the virtual target output shaft rotation angle θ2tg corresponding to the target range switched by the operation of the shift lever. Then, the target motor rotation angle θ1tg is calculated based on the deviation (θ2−θ2tg) between the detected output shaft rotation angle θ2 of the output shaft sensor 16 and the virtual target output shaft rotation angle θ2tg at the time t1, and the motor 13 is driven. Start.

  Immediately after the start of driving of the motor 13, only the motor 13 rotates and the output shaft 14 a does not rotate until the motor 13 rotates by the play A (see FIG. 3) of the speed reduction mechanism 14. Although the output shaft rotation angle θ2 does not change, the detection motor rotation angle θ1 of the encoder 31 changes with the rotation of the motor 13, so that the target motor rotation angle θ1tg also changes according to the change of the detection motor rotation angle θ1.

  Thereafter, at time t2 when the motor 13 is rotated by the play A of the speed reduction mechanism 14, the output shaft 14a starts to rotate integrally with the motor 13, and the detected output shaft rotation angle θ2 of the output shaft sensor 16 begins to change. Thereafter, the output shaft 14a rotates integrally with the motor 13, and the target motor rotation angle θ1tg is kept constant. Thereafter, the motor 13 is stopped at time t3 when the detected motor rotation angle θ1 of the encoder 31 coincides with the target motor rotation angle θ1tg. This completes the range switching.

  By the way, as shown in FIG. 3, since play B exists in the fitting connection part between the output shaft 14a of the speed reduction mechanism 14 of the motor 13 and the manual shaft 15 of the range switching mechanism 11, the rotation angle of the output shaft 14a. There is an error between the rotation angle of the manual shaft 15 and the play B of the fitting connecting portion between them.

Therefore, in this embodiment, the play amount θB of the fitting connection portion is learned as follows.
When learning the play amount θB, when the range of the range switching mechanism 11 remains in the P range, for example (when the roller 27 of the detent spring 26 is fitted in the recess 25 of the P range of the detent lever 18). ), The motor 13 is rotated with such a small torque that the detent lever 18 (the roller 27 of the detent spring 26) does not move from the state where it remains in the position of the P range. In this way, in the state where the detent lever 18 remains in the position of the P range, only the output shaft 14a is idled within the range of the play B of the fitting connecting portion and hits the end (wall) of the play B. The rotation of the output shaft 14a stops at that position. By performing such processing in both the forward direction and the reverse direction, both end positions of the play B of the fitting connection portion are detected by the output shaft sensor 16, and the detected output shaft rotation angle θ2P of the both ends position of the play B is detected. , Θ2R is learned as the amount of play θB. The torque control of the motor 13 when learning the play amount θB is performed by duty-controlling the energization current of the motor 13.

  Next, a method of setting the virtual target output shaft rotation angle θ2tg by correcting the target output shaft rotation angle θ3tg corresponding to the target range by the play amount learning value θB will be described.

First, a method for setting the virtual target output shaft rotation angle θ2tg when shifting from the P range to the D range will be described with reference to FIG. For example, when shifting from the P range to the R range, the lowest center position of the substantially V-shaped recess 25 of the R range of the detent lever 18 is the original target stop position θPR of the roller 27 of the detent spring 26 (corresponding to the target range). Target output shaft rotation angle θ3tg), but there is play B of the fitting connecting portion between the output shaft 14a (output shaft sensor 16) and the roller 27, so that the lowest position in the center of the concave portion 25 of the R range The virtual target output shaft rotation angle θ2tg is set at a position shifted to the D range side by ½ of the play amount learning value θB, and the rotation angle of the output shaft 14a is controlled to this virtual target output shaft rotation angle θ2tg. .
θ2tg = θ3tg + θB / 2

  The amount of shift to the D range side with respect to the target output shaft rotation angle θ3tg is not limited to 1/2 of the play amount learning value θB, and may be set to a value slightly smaller or slightly larger than that.

In this case, the reference position of the output shaft 14a is set to the lowest position in the center of the concave portion 25 of the P range, and the play amount θB in the P range is determined by a reference position / play amount learning value calculation routine shown in FIGS. The reference position of the output shaft 14a is learned based on the detected output shaft rotation angle of the output shaft sensor 16 at the time of learning. The target output shaft rotation angle θ3tg is set as a rotation angle obtained by adding θPR to the reference position learning value θglrnP of the output shaft 14a.
θ3tg = θPR + θglrnP

  Conventionally, in order to control the rotation angle of the output shaft 14a to the target output shaft rotation angle θ3tg corresponding to the target range (θPR when the target range is the R range) without considering the play B of the fitting connection portion, As shown in FIG. 7, there is a possibility that the driving of the roller 27 may be stopped before the lowest position in the center of the recess 25 of the target range due to the play B of the fitting connection portion. Even in this case, if the drive stop position of the roller 27 is within the sliding-down range where the roller 27 naturally slides to the lowest position of the recess 25 due to the elastic force of the detent spring 26, the roller 27 will naturally move after the motor 13 stops driving. However, if the drive stop position of the roller 27 is in front of the slip-down range, it remains at the drive stop position of the roller 27 as it is, because it slides down to the lowest position of the recess 25 (target output shaft rotation angle θ3tg). The roller 27 continues to stop, and the roller 27 cannot be moved to the target output shaft rotation angle θ3tg.

  In this regard, when shifting from the P range to the D range as in this embodiment, the play amount learning value θB is ½ of the play amount learning value θB from the target output shaft rotation angle θ3tg corresponding to the target range. If the virtual target output shaft rotation angle θ2tg is set at the shifted position and the rotation angle of the output shaft 14a is controlled to this virtual target output shaft rotation angle θ2tg, the drive stop position of the roller 27 is surely kept within the slip-down range. Thus, the roller 27 can be reliably moved to the lowest position (target output shaft rotation angle θ3tg) in the center of the recess 25.

Next, a method for setting the virtual target output shaft rotation angle θ2tg when shifting from the D range to the P range will be described with reference to FIG. For example, when shifting from the D range to the R range, the lowest position in the center of the recess 25 of the R range of the detent lever 18 is the original target stop position of the roller 27 of the detent spring 26 (target output shaft rotation corresponding to the target range). Angle θ3tg), but there is play B of the fitting connecting portion between the output shaft 14a (output shaft sensor 16) and the roller 27, so that the play amount learning value θB is smaller than the lowest position of the recess 25 in the R range. The virtual target output shaft rotation angle θ2tg is set at a position shifted to the P range side by ½ of the angle, and the rotation angle of the output shaft 14a is controlled to this virtual target output shaft rotation angle θ2tg.
θ2tg = θ3tg −θB / 2

  When the target range is the R range, θ3tg = θPR + θglrnP. The amount of shift to the P range side with respect to the target output shaft rotation angle θ3tg is not limited to ½ of the play amount learning value θB, and may be set to a value slightly smaller or slightly larger than that.

  The F / B control of the motor 13 according to this embodiment described above is executed by the ECU 33 according to the routines shown in FIGS. The processing contents of these routines will be described below.

[Main routine]
The main routine of FIG. 8 is executed at a predetermined cycle during the power-on period of the ECU 33. When this routine is started, first, at step 100, a target motor rotation angle setting routine of FIG. 9 described later is executed to set a target motor rotation angle θ1tg. Thereafter, the routine proceeds to step 200, where a motor F / B control routine of FIG. 10 described later is executed to drive the motor 13 to the target motor rotation angle θ1tg, and the range of the range switching mechanism 11 is switched to the target range.

  Thereafter, the process proceeds to step 300, and a later-described reference position / play amount learning routine shown in FIGS. 12 and 13 is executed to fit the reference position of the output shaft 14a (the center position of the concave portion 25 of the P range in this embodiment) θglrnP. The play amount θB of the joint portion is learned.

[Target motor rotation angle setting routine]
The target motor rotation angle setting routine of FIG. 9 is a subroutine executed in step 100 of the main routine of FIG. 8, and serves as target motor rotation angle setting means in the claims.

  When this routine is started, first, in step 101, a virtual target output shaft rotation angle θ2tg calculation routine of FIG. 11 described later is executed, and the target output shaft rotation angle θ3tg corresponding to the target range is set as a play amount learning value θB. To set the virtual target output shaft rotation angle θ2tg.

Thereafter, the process proceeds to step 102, where the detected output shaft rotation angle θ2 of the output shaft sensor 16 is read. In the next step 103, the detected motor rotation angle θ1 of the encoder 31 is read. Thereafter, the routine proceeds to step 104, where a value obtained by multiplying the deviation (θ2−θ2tg) between the detected output shaft rotation angle θ2 of the output shaft sensor 16 and the virtual target output shaft rotation angle θ2tg by the reduction ratio Kg of the speed reduction mechanism 14 is obtained. The target motor rotation angle θ1tg is set by adding to the detected motor rotation angle θ1 of 31.
θ1tg = (θ2-θ2tg) x Kg + θ1

[Motor F / B control routine]
The motor F / B control routine of FIG. 10 is a subroutine executed in step 200 of the main routine of FIG. When this routine is started, first, at step 111, it is determined whether or not the detected motor rotation angle θ1 of the encoder 31 coincides with the target motor rotation angle θ1tg, and the detected motor rotation angle θ1 becomes the target motor rotation angle θ1tg. If not, the process proceeds to step 112, the energized phase of the motor 13 is set according to the detected motor rotation angle θ1, and then the process proceeds to step 113, where the ECU 33 outputs drive signals to the motor drivers 34, 35, The motor 13 is driven by energizing the energized phase winding set in step 112.

  Thereafter, when the detected motor rotation angle θ1 of the encoder 31 coincides with the target motor rotation angle θ1tg, “Yes” is determined in the above step 111, the process proceeds to step 114, and the motor 13 is stopped. Thereby, the range switching of the range switching mechanism 11 is completed.

[Virtual target output shaft rotation angle θ2tg calculation routine]
The virtual target output shaft rotation angle θ2tg calculation routine of FIG. 11 is a subroutine executed in step 101 of the target motor rotation angle setting routine of FIG. When this routine is started, first, at step 120, it is determined whether or not the target range has changed. If the target range has not changed, this routine is terminated as it is.

Thereafter, when the target range changes, the process proceeds to step 121, where the target output shaft rotation angle θ3tg is set according to the target range. At this time, the target output shaft rotation angle θ3tg is obtained by changing the design value θ4tg of the rotation angle amount of the output shaft 14a necessary for switching from the P range (reference position learning value θglrnP) to the target range, and the reference position learning value of the output shaft 14a. It is set by adding to θglrnP.
θ3tg = θglrnP + θ4tg

Thereafter, the process proceeds to step 122, where it is determined whether or not the shift is in the direction of the D range from the P range. If it is determined that the shift is in the direction of the D range from the P range, the process proceeds to step 123 and corresponds to the target range. The virtual target output shaft rotation angle θ2tg is set at a position shifted to the D range side by 1/2 of the play amount learning value θB from the target output shaft rotation angle θ3tg.
θ2tg = θ3tg + θB / 2

On the other hand, if it is determined in step 122 that the shift is from the D range to the P range, the process proceeds to step 124, where the play amount learning value θB is ½ of the target output shaft rotation angle θ3tg corresponding to the target range. The virtual target output shaft rotation angle θ2tg is set at a position shifted to the P range side by the same amount.
θ2tg = θ3tg −θB / 2

[Reference position / play amount learning value calculation routine]
The reference position / play amount learning value calculation routine of FIG. 12 and FIG. 13 is a subroutine executed in step 300 of the main routine of FIG. 8, and the play amount learning means and output shaft reference position learning in the claims are defined. Acts as a means. When this routine is started, first, at step 131, it is determined whether or not it is the P range. If it is not the P range, this routine is terminated without performing the subsequent processing.

  On the other hand, if it is determined in step 131 that the P range is set, the process proceeds to step 132, where it is determined whether or not the oil temperature detected by an oil temperature sensor (not shown) is higher than a predetermined temperature. If the temperature is equal to or lower than the predetermined temperature, the reference position / play amount learning process after step 133 is not performed, and the provisional learning value setting process after step 145 in FIG. The processing in step 132 serves as learning prohibition means in the claims. Note that the coolant temperature may be used instead of the oil temperature, and the reference position / play amount learning process after step 133 may not be performed when the coolant temperature is equal to or lower than a predetermined temperature.

  If it is determined in step 132 described above that the oil temperature is higher than the predetermined temperature, the process proceeds to step 133, where the reference position θglrnP and the play amount θB of the output shaft 14a are determined depending on whether or not the learning completion flag FLlrn1 is ON. It is determined whether or not learning is completed. If the learning completion flag FLlrn1 is ON, this routine is terminated without performing the subsequent processing. If the learning completion flag FLlrn1 is OFF, the process proceeds to step 134. It is determined whether or not the P wall direction free end position detection completion flag FLlrn2 is ON. This P wall direction free end position detection completion flag FLlrn2 is a flag that is set to ON when an end position θ2P in the P wall direction (reverse direction) of both end positions of the play B of the fitting connecting portion is detected.

  If it is determined in this step 134 that the P wall direction free end position detection completion flag FLlrn2 is OFF, the routine proceeds to step 135, where the current supplied to the motor 13 is set to a smaller current Imin for duty control, and the motor 13 is reduced. Drive in the P wall direction (reverse direction) with torque. As a result, the motor 13 is rotated in the direction of the P wall with such a small torque that the detent lever 18 (the roller 27 of the detent spring 26) does not move from the state where it remains in the position of the P range. In this way, in the state where the detent lever 18 remains in the position of the P range, only the output shaft 14a idles in the direction of the P wall within the range of the play B of the fitting connecting portion, and the P wall of the play B The rotation of the output shaft 14a stops at the position where it hits the end (wall) in the direction.

  Then, in the next step 136, whether or not the rotation of the motor 13 (rotation of the output shaft 14a) is stopped depending on whether or not the output change of the output shaft sensor 16 is stopped during the low torque driving of the motor 13 in the P wall direction. Determine whether. The position where the rotation of the motor 13 (the rotation of the output shaft 14a) stops during the low-torque driving of the motor 13 in the P wall direction is the end position of the play B in the P wall direction. Accordingly, when it is determined in this step 136 that the rotation of the motor 13 (rotation of the output shaft 14a) has stopped, the process proceeds to step 137, and the detected output shaft rotation angle θ2P of the output shaft sensor 16 at that time is set to play B. As the detected value of the end position in the P wall direction. Thereafter, the process proceeds to step 138, and the P wall direction free end position detection completion flag FLlrn2 is set to ON. Note that if it is determined to be ON in step 134 described above, the processes in steps 135 to 138 are omitted.

  Thereafter, the end position of play B in the R range direction is detected by the process of steps 139 to 141 in the same manner as the detection process of the end position of play B in the P wall direction in steps 135 to 137. First, in step 139, the energization current of the motor 13 is set to a smaller current Imin for duty control, and the motor 13 is driven in the R range direction (forward rotation direction) with low torque. Thereafter, the process proceeds to step 140, and whether or not the rotation of the motor 13 (the rotation of the output shaft 14a) is stopped depending on whether or not the output change of the output shaft sensor 16 is stopped during the low torque driving of the motor 13 in the R range. Determine whether. The position where the rotation of the motor 13 (the rotation of the output shaft 14a) stops during the low torque driving of the motor 13 in the R range direction is the end position of the play B in the R range direction. Accordingly, when it is determined in step 140 that the rotation of the motor 13 (rotation of the output shaft 14a) has stopped, the process proceeds to step 141, and the detected output shaft rotation angle θ2R of the output shaft sensor 16 at that time is set to play B. As the detected value of the end position in the R range direction.

Thereafter, the routine proceeds to step 142, where the center positions of the two end positions θ2P and θ2R of the play B are calculated as the learning value θglrnP of the reference position of the output shaft 14a (the center position of the concave portion 25 of the P range).
θglrnP = (θ2R + θ2P) / 2

Further, as the play amount learning value θB of the play B, an interval (rotation angle amount) between both end positions θ2P and θ2R of the play B is calculated.
θB = θ2R−θ2P

  Thereafter, the process proceeds to step 143, where the reference position learning value θglrnP and the play amount learning value θB of the output shaft 14a are stored in the memory of the ECU 33, and in the next step 144, the learning completion flag FLlrn1 is set to ON and this routine is executed. finish.

  On the other hand, if it is determined in step 132 that the oil temperature is equal to or lower than the predetermined temperature, the reference position / play amount learning process described above is prohibited, and the process proceeds to step 145 in FIG. 13 where the provisional learning value setting completion flag FLlrn3 is ON. Whether or not the provisional learning value setting of the reference position θglrnP and the play amount θB of the output shaft 14a has been completed. If the provisional learning value setting completion flag FLlrn3 is ON, the subsequent processing is performed. If the temporary learning value setting completion flag FLlrn3 is OFF, the routine proceeds to step 147, and the rotation of the motor 13 (output shaft 14a) is determined by whether or not the output change of the output shaft sensor 16 has stopped. It is determined whether or not (rotation) is stopped. When it is determined in step 147 that the rotation of the motor 13 (rotation of the output shaft 14a) has stopped, the process proceeds to step 148, and the detected output shaft rotation angle θ2C of the output shaft sensor 16 at that time is set to the output shaft 14a. Read as a provisional learning value for the reference position.

  Thereafter, the process proceeds to step 149, where the provisional learning value θ2C of the reference position of the output shaft 14a is provisionally set to the reference position learning value θglrnP, and the play B is stored in a nonvolatile memory such as a ROM of the ECU 33. The amount design value θBstd is provisionally set to the play amount learning value θB.

  Thereafter, the process proceeds to step 150 where the provisionally set reference position learning value θglrnP and the play amount learning value θB are stored in the memory of the ECU 33, and in the next step 151, the provisional learning value setting completion flag FLlrn3 is set to ON. To end this routine.

  According to the present embodiment described above, in the system in which the play amount θB exists in the fitting connection portion between the output shaft 14a of the speed reduction mechanism 14 of the motor 13 and the manual shaft 15 of the range switching mechanism 11, the play amount θB When the range switching mechanism 11 remains in the P range, for example, the motor 13 is rotated with such a small torque that the detent lever 18 does not move from the state where the detent lever 18 remains in the P range position. In this way, in a state where the detent lever 18 remains in the position of the P range, only the output shaft 14a is idled within the range of the play B of the fitting connecting portion, and at the position where it hits the end of the play B. The rotation of the output shaft 14a stops. By performing such processing in both the forward direction and the reverse direction, both end positions of the play B of the fitting connection portion are detected by the output shaft sensor 16, and the detected output shaft rotation angle θ2P of the both ends position of the play B is detected. , Θ2R is calculated as a play amount θB for learning. As a result, the play amount θB can be learned while reducing the load applied to each part of the driving force transmission system that converts the rotation amount of the motor 13 into the operation amount of the range switching mechanism 11, and without reducing the durability. It is possible to learn the play amount θB and control the operation position of the controlled object with high accuracy, and to improve both the control accuracy and durability of the range switching device.

In the present embodiment, the P range is set as the reference position, but it goes without saying that other ranges may be set as the reference position.
In addition, the range switching device of this embodiment is switched to each range of P, R, N, and D, but in addition to this, a second range (2) or a low range (L) may be added. Alternatively, the present invention can be applied to a range switching device that switches only two ranges of the P range and the NotP range.

  In addition, it goes without saying that the present invention is not limited to the range switching device but can be applied to various devices using a motor as a drive source.

It is a perspective view which shows the range switching apparatus of one Example of this invention. It is a figure which shows schematically the structure of the whole control system of a range switching apparatus. It is a block diagram which shows the structure of a motor F / B control system. It is a time chart explaining a motor F / B control method. It is a figure explaining the setting method of virtual target output-shaft rotation angle (theta) 2tg in the case of shifting from P range to D range direction. It is a figure explaining the setting method of virtual target output-shaft rotation angle (theta) 2tg in the case of shifting to D range direction from D range. It is a figure explaining the subject of a prior art. It is a flowchart which shows the flow of a process of a main routine. It is a flowchart which shows the flow of a process of a target motor rotation angle setting routine. It is a flowchart which shows the flow of a process of F / B control routine. It is a flowchart which shows the flow of a process of virtual target output shaft rotation angle (theta) 2tg calculation routine. It is a flowchart which shows the flow of a process of a reference | standard position and play amount learning routine (the 1). It is a flowchart which shows the flow of a process of a reference | standard position and play amount learning routine (the 2).

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Range switching mechanism (control object), 12 ... Automatic transmission, 13 ... Motor, 14 ... Deceleration mechanism, 14a ... Output shaft, 15 ... Manual shaft, 16 ... Output shaft sensor (output shaft rotation angle detection means), 17 ... manual valve, 18 ... detent lever, 19 ... parking rod, 21 ... lock lever, 23 ... parking gear, 25 ... recess, 26 ... detent spring, 27 ... roller, 31 ... encoder (motor rotation angle detecting means), 33 ... ECU (play amount learning means, target motor rotation angle setting means, target output shaft rotation angle setting means, output shaft reference position learning means, learning prohibition means)

Claims (8)

Motor rotation angle detection means for detecting the rotation angle of the motor is provided, an output shaft is connected to the rotation shaft of the motor via a rotation transmission system such as a speed reduction mechanism, and the output shaft and the control target are fitted with play. When the operation position to be controlled is switched to the target operation position, the target motor rotation angle corresponding to the target operation position is set and the detected motor rotation angle of the motor rotation angle detecting means is In the motor control device that drives the motor until it matches the target motor rotation angle,
Output shaft rotation angle detection means for detecting the rotation angle of the output shaft;
When the control object stays at the predetermined operation position, the motor hits the play end of the fitting connection portion with a small torque that does not move from the state where the control object stays at the predetermined operation position. Play amount learning means for detecting the play amount based on the detected value by detecting the positions of both ends of the play by the output shaft rotation angle detecting means by performing the process of rotating to the forward rotation direction and the reverse rotation direction;
A motor control device comprising: target motor rotation angle setting means for setting the target motor rotation angle in consideration of a learned value of the play amount learned by the play amount learning means. A target output shaft rotation angle setting means for setting a target output shaft rotation angle corresponding to the target operation position;
The target motor rotation angle setting means corrects the target output shaft rotation angle using the learning value of the play amount, and corrects the target output shaft rotation angle and the detected output shaft rotation angle of the output shaft rotation angle detection means. 2. The motor control device according to claim 1, wherein the target motor rotation angle is set using a value obtained by multiplying the deviation by the reduction ratio of the rotation transmission system.   When the target motor rotation angle setting means corrects the target output shaft rotation angle by using the play amount learning value, the output shaft has a learning value of 1 that is less than the target output shaft rotation angle. The motor control device according to claim 2, wherein the target output shaft rotation angle is corrected so that the rotation amount is excessively increased by a rotation angle amount corresponding to / 2. An output shaft reference position learning means for learning a reference position of the output shaft based on a detected output shaft rotation angle of the output shaft rotation angle detection means when the control object remains at a specific operation position;
The target output shaft rotation angle setting means obtains a design value of the rotation angle amount of the output shaft necessary for switching the control target from the specific operation position to the target operation position, as a reference position learning value of the output shaft. 4. The motor control device according to claim 2, wherein the target output shaft rotation angle is set in addition to. The control object is a range switching mechanism that switches a range of an automatic transmission of a vehicle,
The motor control device according to any one of claims 1 to 4, wherein the play amount learning means learns the play amount when the range switching mechanism is switched to a predetermined range.   The play amount learning means rotates the motor with the small torque when learning the play amount, and the position where the change of the detected output shaft rotation angle of the output shaft rotation angle detection means stops is the end position of the play. The motor control device according to claim 1, wherein the motor control device is determined.   The motor control device according to claim 1, wherein the play amount learning unit reduces the torque of the motor to the small torque by duty control when learning the play amount.   The motor control device according to claim 1, further comprising a learning prohibiting unit that prohibits learning of the play amount by the play amount learning unit in a low temperature region below a predetermined temperature.

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