JP2002295658A - Shift change control device of automatic transmission - Google Patents

Abstract

PROBLEM TO BE SOLVED: To feedback-control a rotation speed of a turbine during an inertia phase to a target rotation speed at a high response, while inhibiting generation of hunting. SOLUTION: The rotational speed of the turbine during the inertia phase is controlled by a sliding mode control, based on a switching function σ. Here, an evaluation function Σ (K1 .err<2> +K2 .uul <2> ) is calculated, based on the control deviation 'err' and a non-linear control input 'un1'. If the value of the evaluation function is within a predetermined range, a non-linear gain q is not changed but is retained. If it exceeds a predetermined range and is large, the non-linear gain q is increased and then corrected; and if it is less than the predetermined range, the non-linear gain q is reduced and corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shift control device for an automatic transmission, and more particularly to a sliding mode control technique suitable for feedback control of an input shaft rotation speed during an inertia phase.

[0002]

2. Description of the Related Art Conventionally, feedback is performed by proportional / integral / differential operation based on a deviation between a target value and an actual value so that an input shaft rotation speed during a gear shift or a rate of change of the input shaft rotation speed follows a target. 2. Description of the Related Art There is known a shift control device for an automatic transmission configured to perform control (see Japanese Patent Application Laid-Open Nos. 2000-110924 and 11-31317).

In the feedback control based on the above-described proportional / integral / differential operation (PID control), A
Since the requirements of the feedback gain differ depending on the conditions such as the temperature of TF (Automatic Transmission Fluid) and the vehicle speed, a gain map adapted for each condition such as the ATF temperature and the vehicle speed is provided. Is searched for and used.

[0004] Therefore, there is a problem that the number of feedback gains that need to be adapted is large and the number of adaptation steps becomes enormous.
Since the gain is fixed, it is not possible to cope with a state change during gear shifting, and there is a possibility that convergence to a target may be deteriorated. As a control for compensating for the above-mentioned disadvantages of the PID control, a sliding mode control which has excellent robustness and a relatively simple controller design is known (Japanese Patent Laid-Open No. 2000-2000).
-35120).

[0005]

However, in the above-mentioned sliding mode control, if the feedback gain is too large, hunting occurs, and if the feedback gain is too small, the responsiveness deteriorates. It is desired to set a feedback gain that can exhibit as high a response as possible while suppressing the above.

However, there has been a problem that the hunting and responsiveness states cannot be quantitatively determined, and it is difficult to learn and update the gain to a different optimum value according to the control condition. The present invention has been made in view of the above-described problems, and in a shift control device of an automatic transmission that controls a state amount during shifting to a target by sliding mode control, a state of hunting and responsiveness is quantitatively determined,
Accordingly, it is an object of the present invention to be able to learn a feedback gain that can exhibit as high a response as possible while suppressing hunting within an allowable range.

[0007]

According to the first aspect of the present invention, the supply of the hydraulic pressure to the friction engagement element is controlled by the sliding mode control based on the switching function so as to make the state quantity during the shifting match the target value. And
The integrated value of the square or the absolute value of the deviation between the state quantity and the target value and the integrated value of the square or the absolute value of the control signal based on the switching function are calculated, and the feedback gain is changed based on these integrated values. The configuration was adopted.

[0008] According to this configuration, the square of the deviation (control deviation) between the state quantity and the target value or the absolute value is obtained, and the positive and negative deviations are treated the same. Parameters. Similarly, the square or the absolute value of the control signal (nonlinear control signal) based on the switching function is determined, so that the positive and negative control signals are treated the same, and the integrated values are used as parameters indicating the state of the control signal under control. . Then, based on the integrated value of the deviation and the integrated value of the control signal, hunting and response characteristics during feedback control are determined, and the feedback gain is changed.

According to the second aspect of the present invention, when the deviation between the state quantity and the target value is err, the control signal based on the switching function is u, and the operation constants are K ₁ and K ₂ (> 0), the evaluation function Σ (K
₁ · err ² + K ₂ · u ² ) is calculated, and the feedback gain is changed based on the value of the evaluation function.
According to such a configuration, as the evaluation function, Σ (K ₁ · err ² +
K ₂ · u ² ) is set, hunting and response characteristics are determined from the value of the evaluation function, and the feedback gain is changed.

According to the third aspect of the present invention, when the deviation between the state quantity and the target value is err, the control signal based on the switching function is u, and the operation constants are K ₁ and K ₂ (> 0), the evaluation function Σ (K
₁ · | err | + K ₂ · | u |), and the feedback gain is changed based on the value of the evaluation function. According to such a configuration, Σ (K ₁ ·
| Err | + K ₂ · | u |) is set, hunting and response characteristics are determined from the value of the evaluation function, and the feedback gain is changed.

According to the present invention, when the value of the evaluation function is within a predetermined range, the feedback gain at that time is held, and when the value is larger than the predetermined range, the feedback gain is increased and changed. When the value is smaller than the predetermined range, the feedback gain is reduced and changed. According to this configuration, if the value of the evaluation function is within the predetermined range, the gain at that time is used as it is, but if the value of the evaluation function is larger than the predetermined range, the response is insufficient and large. It is estimated that a deviation has occurred, and the gain is changed to a larger value. If the value of the evaluation function is below the predetermined range, no large deviation occurs, but it is presumed that hunting has occurred because the gain is too high, and the gain is changed to a smaller value.

According to a fifth aspect of the present invention, in the inertia phase during the shift, the hydraulic pressure supplied to the friction engagement element is feedback-controlled so that the input shaft rotation speed as the state quantity matches the target rotation speed. did.
According to such a configuration, when feedback control of the input shaft rotation speed to the target rotation speed is performed in the inertia phase, the integrated value of the square or absolute value of the deviation and the integrated value of the square or the absolute value of the control signal based on the switching function are calculated. Based on this, the hunting and response characteristics are determined, and the feedback gain is changed based on the determination result.

[0013]

According to the first aspect of the present invention, the hunting and response in the sliding mode control can be quantitatively determined from the control signal based on the control deviation and the switching function, and the feedback gain can be changed. The effect is that the state quantity during shifting can be feedback-controlled with the highest possible responsiveness while suppressing the occurrence of the shift.

According to the second and third aspects of the present invention, the hunting and response states in the sliding mode control can be quantitatively determined based on the evaluation function having the control signal based on the control deviation and the switching function as a variable. Accordingly, there is an effect that the sliding mode control can be performed with the gain that can obtain the highest responsiveness while suppressing the occurrence of hunting.

According to the present invention, when it is determined that the gain is excessive based on the value of the evaluation function,
Hunting is suppressed by changing the gain to a smaller value, and conversely, when the gain is determined to be too small based on the value of the evaluation function, the response is changed by changing the gain to a larger value. There is an effect that the gain can be improved, the occurrence of hunting can be suppressed, and the gain can be set to obtain high responsiveness.

According to the fifth aspect of the invention, there is an effect that the input shaft rotation speed during the inertia phase can be feedback-controlled to the target rotation speed with as high a response as possible while suppressing the occurrence of hunting.

[0017]

Embodiments of the present invention will be described below. FIG. 1 shows a transmission mechanism of an automatic transmission according to an embodiment, in which an output of an engine (not shown) is transmitted to a transmission mechanism 2 via a torque converter 1.

The transmission mechanism 2 includes two sets of planetary gears G1,
G2, 3 sets of multiple disc clutches H / C, R / C, L / C, 1
A set of brake bands 2 & 4 / B, a set of multiple disc brakes L & R / B, and a set of one-way clutch L / OWC. The two sets of planetary gears G1 and G2 are simple planetary gears including sun gears S1 and S2, ring gears r1 and r2, and carriers c1 and c2, respectively.

The sun gear S1 of the planetary gear set G1 is configured to be connectable to the input shaft IN by a reverse clutch R / C, and is configured to be fixable by a brake band 2 & 4 / B. Sun gear S2 of the planetary gear set G2
Are directly connected to the input shaft IN. The carrier c1 of the planetary gear set G1 is configured to be connectable to the input shaft I by a high clutch H / C, while the ring gear r2 of the planetary gear set G2 is connected to the planetary gear set G1 by a low clutch L / C.
And the carrier c1 of the planetary gear set G1 can be fixed by the low & reverse brake L & R / B.

The ring gear r1 of the planetary gear set G1 and the carrier c2 of the planetary gear set G2 are directly and integrally connected to the output shaft OUT. In the speed change mechanism 2 having the above-described configuration, as shown in FIG.
This is realized by a combination of the release states.

In FIG. 2, a circle indicates a fastened state, and a part without a symbol indicates a released state. In particular, the low & reverse brake L at the first speed is used.
A fastening state indicated by a black circle of & R / B indicates fastening in only one range. Each of the clutches and brakes (friction engagement elements) is engaged and disengaged by supply hydraulic pressure. The supply hydraulic pressure for each clutch and brake is controlled by a solenoid valve unit 11 shown in FIG.
Are individually controlled by a solenoid valve included in the control unit.

An A / T controller 12 for controlling each solenoid valve of the solenoid valve unit 11 includes an A / T oil temperature sensor 13, an accelerator opening sensor 14,
Detection signals from the vehicle speed sensor 15, the turbine rotation sensor 16, the engine rotation sensor 17, the air flow meter 18, and the like are input, and the hydraulic pressure in each friction engagement element is controlled based on the detection results.

In FIG. 3, reference numeral 20 denotes an engine combined with the automatic transmission. Here, A /
The state of the shift control by the T controller 12 will be described with reference to the time chart of FIG. 5 by taking an example of an upshift (hereinafter, referred to as a power-on upshift) in a state where the driving torque of the engine 20 is applied. This will be described with reference to the flowchart of FIG.

In the flowchart of FIG. 4, in step S1, a shift determination of a power-on upshift is performed.
The A / T controller 12 previously stores a shift map in which a shift stage is set according to the vehicle speed VSP and the accelerator opening (throttle opening). For example, a search is made from the current shift stage and the shift map. Different from the gear stage, and
If it is the upshift direction and the accelerator is not fully closed, it is determined as a power-on upshift.

When the power-on upshift shift is determined, the process proceeds to step S2, where the output shaft rotation speed No [rpm] of the transmission mechanism is changed to the gear ratio before the shift (gear ratio = turbine rotation speed Nt (input shaft rotation speed) ) / Output shaft rotation speed No)
The shift to the torque phase is determined by determining whether or not the turbine rotation speed Nt [rpm] is higher than the sum of the reference turbine rotation obtained by multiplying the reference turbine speed and the hysteresis value HYS stored in advance. I do.

In the present embodiment, the idle control is advanced relatively to the engagement control to induce the idling, and the occurrence of the idling is used to determine the shift to the torque phase. is there. Until the transition to the torque phase is determined in step S2, step S3
To execute the preparation phase process.

In the preparation phase process of step S3, the command oil pressure of the friction engagement element (hereinafter, referred to as a release-side friction engagement element) to be released from the engaged state before the shift is gradually reduced to the release initial pressure in a predetermined time. Then, while gradually decreasing the release initial pressure at a predetermined speed from the release initial pressure, the command oil pressure of a friction engagement element (hereinafter, referred to as engagement-side friction engagement element) to be engaged from the disengaged state before the shift is changed to the standby pressure after the precharge. To be held.

When the shift to the torque phase is determined in step S2, the process proceeds to step S4, where the gear ratio is changed to F / B.
(Feedback) It is determined whether or not the gear ratio has changed in the upshift direction beyond the start gear ratio. Then, the torque phase process of step S5 is performed until the gear ratio exceeds the F / B start gear ratio and changes in the upshift direction.

In the torque phase process, following the preparation phase process, the command oil pressure of the disengagement side frictional engagement element is gradually reduced, and the command oil pressure of the engagement side frictional engagement element is gradually increased from the standby pressure. If it is determined in step S4 that the gear ratio has exceeded the F / B start gear ratio, the process proceeds to step S6, in which the gear ratio is changed to the F / B end gear ratio (<F / B start gear ratio).
Is determined.

When the gear ratio is between the F / B start gear ratio and the F / B end gear ratio, an inertia phase process in step S7 is performed. In the inertia phase process, the command oil pressure of the disengagement side frictional engagement element is decreased stepwise to 0, while the command oil pressure of the engagement side frictional engagement element is set at the target turbine rotation speed Nt (input shaft rotation speed). Feedback control is performed so as to match the rotation speed.

The target rotation speed is set as a value that gradually changes from the turbine rotation speed at the start of the inertia phase to a turbine rotation speed that matches the gear ratio after the shift in a predetermined shift time. When the gear ratio is F
/ B end gear ratio is smaller than the gear ratio in step S
When the determination is made in step 6, the process proceeds from step S6 to step S8, and it is determined whether or not a predetermined time TIMER7 has elapsed from the time when the gear ratio first became smaller than the F / B end gear ratio.

If the time is within the predetermined time TIMER7, the process proceeds to step S9, where an end phase process is performed.
In the end phase process, the command oil pressure of the disengagement side frictional engagement element is maintained at the oil pressure at the end of the inertia phase (= 0), while the command oil pressure of the engagement side frictional engagement element is increased to the maximum pressure.

Here, the feedback control of the turbine rotational speed Nt in the inertia phase process in step S7 will be described in detail. FIG. 6 is a block diagram of a system for performing the feedback control.
A deviation err between the target rotation speed and a signal indicating the actual turbine rotation speed Nt taken out from the drive system 102 is input to the controller 101, and the hydraulic system 103 (the engagement-side friction clutch) is controlled by sliding mode control based on the deviation err. A control signal u (instruction oil pressure) output to a solenoid valve that controls the oil pressure of the combined element is calculated.

As described above, by performing feedback control of the turbine rotation speed by the sliding mode control, a control system having excellent robustness can be configured, and the number of steps for matching the gain can be greatly reduced. It can be done easily. In addition, the minimum dimension observer 1
04 (Corona “Sliding mode control” 1996
(See pages 160-178, issued April 10, 2008)
A mechanism for estimating, from measurable data, a state quantity that cannot be directly measured among system state quantities (state variables) required for realizing the sliding mode control, and outputs the estimation result to the SMC controller 101. I do.

In designing the SMC controller 101, the drive system 102 and the hydraulic system 103 were modeled as follows. [Hydraulic system model]

[0036]

(Equation 1)

The hydraulic system model has an ATF temperature of 80.
° C as the nominal model of the hydraulic system. [Drive system model]

[0038]

(Equation 2)

[0039] Note that in Equation 2, T _t is turbine torque, T _REV is reverse clutch torque, the T _HC is high clutch torque, T _LC is low clutch torque, Omegaod
ot (“dot” indicates a superscripted point of a modifier symbol; hereinafter the same), ωtdot indicates turbine angular acceleration (input shaft angular acceleration), and I indicates inertia. FIG. 7 shows a system block diagram based on the above model formula.

In FIG. 7, Frtn is a return spring pressure of the engagement-side frictional engagement element, u is a control input, r is a target rotation speed, and err is a turbine rotation speed Nt and a target rotation speed r.
Is the deviation from In the above system model, the state variable (state quantity) x used for the switching function σ = Cx is

[0041]

(Equation 3)

[0042] By including x5 which is an integral value of the deviation in the state variable (state quantity) x, the steady deviation can be absorbed. Note that x1, x2, x3, x4 are state variables shown on the system block diagram of FIG.

At this time, the state equation is described as follows.

[0044]

(Equation 4)

X1, x2, x3, x4 of the above state variables x
Cannot be measured directly, so that the minimum dimension observer 10
4 Then, the switching function σ in the phase space by the state variable x is expressed as follows: σ = Cx + βr C = [c1, c2, c3,1, c4], x = [x1, x2, x3, x4, x5] σ = (c1 × x1 + c2 · X2 + c3 · x3 + x4 + c4 · x5) +
βr.

The second term βr of the switching function σ is a term for adding a zero point, and the control parameter β for multiplying the target rotation speed r is changed according to the ATF temperature.
In a controller that does not add a zero point, the turbine torque T
Since the influence of t cannot be suppressed and the transient response deteriorates, the transient response is improved by adding a zero point by βr and increasing the gain in the high frequency region.

The control input u (instruction oil pressure) was set as follows. u = _ueq + _unl + _uf

[0048]

(Equation 5)

U _eq is an equivalent control input (linear control input) when the effects (disturbance) of the return spring pressure, turbine torque, low clutch torque and output shaft angular acceleration are ignored. Wherein u _nl is by the switching function σ operation for restraining system switching surface on the basis of the (non-linear control input), where, by introducing a boundary layer switching plane, successive approximation the switching function in the boundary layer Thus, a saturation function that suppresses chattering is obtained.

Incidentally, a configuration using a smoothing function instead of the saturation function may be adopted. Further, _uf is an offset input (disturbance compensation input) for eliminating the effects of the return spring pressure, the turbine torque, the low clutch torque, and the output shaft angular acceleration, which are assumed as disturbances. The _unl is
Feedback gain (nonlinear gain: relay gain)
Is q, outside the saturation region (σ> Φ), u _nl = −q
Σ / | σ |, within the saturation region (σ <Φ), u _nl = −
(Q / Φ) · σ.

Note that Φ is a value that defines the boundary layer width (inside and outside the saturated layer) as described above.
Is performed as a gain. Differentiating both sides of the switching function σ = Cx + βr,

[0052]

(Equation 6)

And solving for u at σdot = 0 gives:

[0054]

(Equation 7)

Is as follows. Therefore, the control input is separated into the equivalent control input u _eq and the disturbance offset input _uf ,
Further, a non-linear control input u _nl which is continuously approximated by a saturation function is employed to suppress chattering. When the switching function σ and the control input u are set as described above, the system when the sliding mode occurs is as follows.

[0056]

(Equation 8)

The transfer function G (s) from the target rotation speed r to the actual turbine rotation speed Nt is

[0058]

(Equation 9)

Is as follows. Here, the transfer function G of Equation 9 is obtained.
So that the response in (s) is the response characteristic of the request,
The control parameters c1, c2, c3, c4 (switching parameters) are determined. Specifically, it was designed such that the closed-loop dynamics was −60 (heavy pole) −80 (heavy pole) [rad / s] at an ATF temperature of 80 ° C. The zero point was set to -5 [rad / s].

At this time, in the present embodiment, the control parameters c1, c2, c3, c4 are as follows. c1 = −0.00467 c2 = 29200 c3 = 280 c4 = −0.00838 FIG. 8 shows a control input u = u _eq based on the switching function σ.
SMC controller 101 for calculating + u _nl + u _f and minimum dimension observer 104 for estimating x1, x2, x3, x4
FIG. 3 is a block diagram showing the configuration of FIG.

The minimum dimension observer 104 has an actual turbine rotation speed Nt, a control input u of the friction engagement element,
The return spring pressure, the estimated value of the turbine torque, the low clutch torque, and the output shaft angular acceleration are input, and the state variables x1, x2, x3, x4 are estimated based on these data. The estimated state variables x1, x2, x3, x4 are:
Target turbine speed r, estimated turbine torque, low clutch torque, output shaft angular acceleration, shift up / down signal Up / Down, power on / off signal PowerOn / Off,
A rotation error err, which is a difference between the actual turbine rotation speed Nt and the target r, and a phase signal Ph-flg are input to the SMC controller 101, and a control input u is calculated based on these signals.

FIG. 9 shows an operation block of the control input u in the SMC controller 101. The control parameters c1, c2, c3, c4, and c4 are assigned to the state variables x1, x2, x3, x5 and the target rotation speed r, respectively. is multiplied by β, and the result of the multiplication and the state variable x4 are summed to calculate the value of the switching function σ = Cx + βr. Then, the nonlinear control input _unl is calculated using a saturation function based on the value of the switching function.

The return spring pressure F which is a disturbance
rtn, turbine torque Tt, the offset input disturbance offset which is calculated by the low clutch torque T _LC and the output shaft angular acceleration ωodot is the sum (disturbance compensation input) u _f is calculated, and further, deviation err, state quantity x2 , x3, x
4. The equivalent control input _ueq is calculated by multiplying the target rotational speed r by a gain and summing them.

FIG. 10 is a flowchart showing the flow of feedback control of the turbine rotation speed Nt by the above-mentioned sliding mode control. Step S21
Then, it is determined whether or not the shift is being performed, and when the shift is started, the process proceeds to step S22. In step S22, it is determined whether or not the inertia phase has been reached. When the inertia phase has been reached, the process proceeds to step S23.

In step S23, the return spring pressure Frtn, the turbine torque Tt, the low clutch torque T
Input _LC and output shaft angular acceleration ωodot, etc., and step S2
In step 4, the state variables x1, x2, x3, x4 are estimated based on these. In step S25, a deviation err (err = Nt-r) between the actual turbine rotation speed Nt and the target rotation speed r.
In step S26, the deviation err is added to the integration result up to that time to update the integration value (state variable x5).

In step S27, control parameters c1, c
2, c3, c4 (switching parameters), the state variables x1, x2, x
3, x4, x5, based on a disturbance such as a target rotation speed r and the return spring pressure Frtn, the control input u (equivalent control input u _eq, nonlinear control input u _nl, offset input u _f) calculating a. In step S28, the control input u (u = u
_eq + _unl + _uf ).

In step S29, the deviation err, the nonlinear
Shape control input u_nlAnd the operation constant K₁, K _TwoBased on (> 0)
And the evaluation function Σ (K₁・ Err^Two+ K_Two・ U_nl ^TwoCalculate the value of
I do. Note that the evaluation function is represented by Σ (K₁・ Err^Two+ K_Two・ U_nl ^Two)
Instead of Σ (K₁・ ｜ err ｜ + K_Two・ | U_nl|)
be able to. In step S30, the inertia
Is determined, and step S2 is performed until the termination is determined.
3 and feedback control (sliding mode
Control) is continued.

When it is determined in step S30 that the inertia phase has been completed, the process proceeds to step S31. In step S31, the value of the evaluation function, that is,
(K ₁ · err ² + K ₂ · _unl ² ) or (K ₁ · | err | + K ₂ ·
| U _nl |) during the inertia phase is determined to be within a predetermined range.

When the value of the evaluation function is within the predetermined range, it is determined that the feedback control to the target rotational speed can be performed with a high response without generating a large hunting in the present sliding mode control.
Proceed to step S32. In step S32, a setting is made to hold the value of the nonlinear gain q so that the nonlinear gain q (feedback gain) used in the current sliding mode control is used as it is next time.

On the other hand, if the value of the evaluation function is not within the predetermined range, the process proceeds to step S33, and whether or not the value of the evaluation function is larger than the predetermined range, in other words, is larger than the maximum value of the predetermined range. It is determined whether it is larger. If the value of the evaluation function is larger than the predetermined range, it is determined that a large deviation has occurred due to low responsiveness,
Proceed to step S34.

In step S34, the nonlinear gain q used in the current sliding mode control is increased and corrected by a predetermined value, and the nonlinear gain q after the increased correction is used in the next feedback control. Is set to improve the responsiveness in.
When it is determined in step S33 that the value of the evaluation function is not larger than the predetermined range, the state where the value of the evaluation function is smaller than the predetermined range, in other words, is smaller than the minimum value of the predetermined range. It is a small state, and in this case, although a large deviation did not occur due to high responsiveness, it was determined that hunting occurred instead,
Proceed to step S35.

In step S35, the nonlinear gain q used in the current sliding mode control is reduced and corrected by a predetermined value, and the nonlinear gain q after the reduced correction is used in the next feedback control. Is set to prevent hunting from occurring in. The above nonlinear gain q (feedback gain)
Is corrected to a nonlinear gain q such that the value of the evaluation function falls within the predetermined range, and the predetermined range is suppressed while preventing the occurrence of hunting.
By setting in advance a range corresponding to the case where feedback control is performed with a high response, it is possible to suppress the occurrence of hunting and, at the same time, to automatically set a nonlinear gain q that can perform feedback control with the turbine rotational speed as a target with a response as high as possible. Will be corrected.

In the above embodiment, the feedback control of the turbine rotational speed in the inertia phase at the time of the upshift has been described as an example. However, the feedback control of the turbine rotational speed in the inertia phase at the time of the downshift can be similarly performed. Is clear.
Further, the switching function σ and the control input u are not limited to those described above.

[Brief description of the drawings]

FIG. 1 is a diagram showing a transmission mechanism of an automatic transmission according to an embodiment.

FIG. 2 is a diagram showing a correlation between a combination of engagement states of frictional engagement elements in the transmission mechanism and a shift speed.

FIG. 3 is a system diagram showing a control system of the automatic transmission.

FIG. 4 is a flowchart illustrating shift control in the embodiment.

FIG. 5 is a time chart showing changes in each phase and a command oil pressure in the shift control according to the embodiment;

FIG. 6 is a block diagram illustrating a feedback control system of the turbine rotational speed according to the embodiment.

FIG. 7 is a block diagram showing a model of the feedback control system.

FIG. 8 is a block diagram showing input / output signals of the feedback control system.

FIG. 9 is a block diagram showing an arithmetic circuit of a control input in an SMC controller constituting the feedback control system.

FIG. 10 is a flowchart showing a flow of feedback control of the turbine rotation speed in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Torque converter 2 ... Transmission mechanism 11 ... Solenoid valve unit 12 ... A / T controller 13 ... A / T oil temperature sensor 14 ... Accelerator opening degree sensor 15 ... Vehicle speed sensor 16 ... Turbine rotation sensor 17 ... Engine rotation sensor 18 ... Air flow Meter 20 Engine 101 SMC controller 102 Drive system 103 Hydraulic system 104 Minimum dimension observer G1, G2 Planetary gear H / C High clutch R / C Reverse clutch L / C Low clutch 2 & 4 / B 2 Speed / 4 speed band brake L & R / B ... Low & reverse brake

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) F16H 63:12 F16H 63:12 F-term (Reference) 3J552 MA02 MA12 MA26 NA01 NB01 PA56 RA02 RA18 SA07 SA15 TA02 TA11 TB01 UA09 VA02W VA02Y VA07W VA07Y VA32W VA32Y VA33W VA33Y VA37W VA37Y VA48W VA48Y VB01Z VC02Z VC03Z VC05Z VD02Z 5H004 GA17 GB12 KA74 KC33 KC39 KC50

Claims (5)

[Claims] 1. A configuration for controlling hydraulic pressure supply to a friction engagement element so that a state quantity during gear shifting matches a target value by a sliding mode control based on a switching function, wherein a deviation between the state quantity and a target value is provided. The integrated value of the square or the absolute value of the control signal, and the integrated value of the square or the absolute value of the control signal based on the switching function is calculated, and the feedback gain is changed based on these integrated values. Transmission control device. 2. A system for controlling hydraulic pressure supply to a friction engagement element so that a state quantity during gear shifting matches a target value by a sliding mode control based on a switching function, wherein a deviation between the state quantity and a target value is controlled. Is err, the control signal based on the switching function is u, and the operation constants are K ₁ and K ₂ (> 0), and the value of the evaluation function Σ (K ₁ · err ² + K ₂ · u ² ) is calculated. A shift control device for an automatic transmission, wherein a feedback gain is changed based on a value of the evaluation function. 3. A system for controlling a hydraulic pressure supply to a friction engagement element so that a state quantity during gear shifting matches a target value by a sliding mode control based on a switching function, wherein a deviation between the state quantity and a target value is provided. Is err, the control signal based on the switching function is u, and the operation constants are K ₁ and K ₂ (> 0), the value of the evaluation function Σ (K ₁ │err│ + K ₂ │u│) is A shift control device for an automatic transmission, which calculates and changes a feedback gain based on a value of the evaluation function. 4. When the value of the evaluation function is within a predetermined range, the feedback gain at that time is held, and when the value is larger than the predetermined range, the feedback gain is increased and changed. 3. The method according to claim 2, wherein the feedback gain is reduced and changed.
Or the shift control device of the automatic transmission according to 3. 5. A structure in which the hydraulic pressure supplied to the friction engagement element is feedback-controlled so that the input shaft rotation speed as the state quantity matches the target rotation speed in the inertia phase during the shifting. Claim 1
5. The shift control device for an automatic transmission according to any one of 4.