JP2010191699A - Actuator control device, actuator control method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator control device for controlling a hydraulic actuator. <P>SOLUTION: This actuator control device includes: a hydraulic characteristic determination part 11 for, in response to a change instruction request for the change of an operation hydraulic value, determining whether or not the operation hydraulic value of the change instruction request is in the characteristic state of transient characteristics in hysteresis characteristics; a hydraulic instruction value calculation part 12 for, when the determination result obtained from the hydraulic characteristic determination part 11 indicates that the operation hydraulic value is in the characteristic state of the transient characteristics, calculating a hydraulic instruction value according to modeled transient characteristics approximated about the transient characteristics; and a signal conversion part 13 for converting the hydraulic instruction value into a control signal for controlling an actuator. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an actuator control device, an actuator control method, and a program for controlling a hydraulic actuator.

  A control electromagnetic proportional control valve that controls the flow rate of hydraulic oil with an excitation current of a solenoid is disclosed (for example, see Patent Document 1). An actuator for controlling the hydraulic pressure represented by such a control electromagnetic proportional control valve is known as a solenoid actuator. The solenoid actuator can control the engagement hydraulic pressure value, for example, the engagement and disengagement of the clutch, approximately in proportion to the magnitude of the excitation current that excites the solenoid.

Japanese Utility Model Publication No. 07-028276

  Originally, it is desirable that the command pressure for controlling the clutch or the like by hydraulic pressure and the actual pressure applied to the clutch or the like always always perform a linear operation. However, when the clutch or the like is controlled by hydraulic pressure, there is a hysteresis characteristic between the indicated pressure and the actual pressure, and there is room for further improvement from the viewpoint of controlling the clutch and the like smoothly.

  The actuator control device according to the present invention corrects the command pressure (hydraulic command value) for the actuator used for hydraulic control according to the modeled transition characteristic that approximates the transition characteristic in the hysteresis characteristic.

  According to the present invention, a highly accurate and smooth operation instruction can be given to an actuator that performs hydraulic control.

It is the schematic which shows the hydraulic control type clutch system to which an actuator control apparatus is applied. FIG. 6 is a characteristic diagram of an indicated pressure and an actual pressure in a hydraulic control type clutch system. It is the schematic which shows the actuator control apparatus of one Example by this invention. It is a figure which shows the control flow showing operation | movement of the actuator control apparatus of one Example by this invention. It is explanatory drawing at the time of modeling and correcting the transition characteristic in the actuator control apparatus of one Example by this invention. It is explanatory drawing at the time of modeling and correct | amending the transition characteristic in the actuator control apparatus of one Example by this invention by linear approximation. It is explanatory drawing of the corrected amount which models and correct | amends the transfer characteristic in the actuator control apparatus of one Example by this invention by linear approximation. (A) is explanatory drawing of the corrected amount which models and correct | amends the transition characteristic in the actuator control apparatus of one Example by this invention by linear approximation, (b) is the actuator control apparatus of one Example by this invention It is a more detailed explanatory view of the correction amount for modeling and correcting the transition characteristic in FIG. It is explanatory drawing at the time of modeling and correcting the transfer characteristic in the actuator control apparatus of one Example by this invention by curve approximation. (A) is explanatory drawing at the time of modeling and correct | amending the transfer characteristic in the actuator control apparatus of one Example by this invention by curve approximation, (b) is in the actuator control apparatus of one Example by this invention. It is explanatory drawing in case a transfer characteristic is modeled by curve approximation and correct | amended.

  First, in order to understand the present invention, it will be described that a hysteresis characteristic exists between the command pressure (hydraulic command value) and the actual pressure (working hydraulic value) when hydraulic control is performed by an actuator. As a typical example, a hydraulically controlled clutch system that performs hydraulic control of a vehicle clutch by a solenoid actuator will be described.

[Overall configuration of hydraulically controlled clutch system]
FIG. 1 is a schematic diagram showing a hydraulically controlled clutch system to which an actuator control device is applied. The hydraulic control clutch system shown in FIG. 1 includes an actuator control device 1, a solenoid actuator 3, a clutch 4, and a hydraulic sensor 5. The actuator control device 1 can be composed of a central processing unit (CPU) 1a and a memory 1b.

  When the actuator control device 1 receives, for example, a change instruction request indicating a change instruction of the hydraulic pressure value from the CPU 1a, the actuator control device 1 inputs information on the hydraulic pressure value to the clutch 4 obtained from the hydraulic sensor 5, and receives the clutch according to the change instruction request. In order to change the hydraulic pressure value Po to 4, the current instruction is supplied to the solenoid actuator 3. The memory 1b can store a program or data necessary for controlling the actuator control device 1, and the CPU 1a can access the memory 1b for a program or data necessary for calculation as appropriate.

  The solenoid actuator 3 controls the hydraulic pressure Po from the line pressure Pi to the clutch 4 by a control signal (excitation current) according to the current instruction from the actuator control device 1, thereby enabling the engagement and release in the clutch 4 to be controlled.

  Therefore, the actuator control apparatus 1 can change the hydraulic pressure value of the clutch 4 by using the solenoid actuator 3 according to the current instruction.

  In such a hydraulically controlled clutch system, the hydraulic pressure value controlled by the solenoid actuator 3 is a characteristic that the hydraulic pressure value increases almost linearly with an increase in the excitation current to the solenoid actuator 3 (hereinafter referred to as an increase characteristic). ) And a characteristic (hereinafter referred to as a decrease characteristic) that the hydraulic pressure value decreases approximately linearly as the exciting current to the solenoid actuator 3 decreases.

  The increase characteristic and the decrease characteristic have almost the same slope as a function of the operating hydraulic pressure value for a certain command current, but are not completely matched functions. (Referred to as hysteresis width). For this reason, the characteristic of the hydraulic pressure value when the increase / decrease of the excitation current of the solenoid actuator 3 is switched is a characteristic in which the hydraulic pressure value shifts between the increase characteristic and the decrease characteristic (hereinafter referred to as a transition characteristic). It will have further. As described above, the hysteresis characteristic generated by the hydraulic control by the actuator has a predetermined state between the increase characteristic and the decrease characteristic in which the operating hydraulic pressure value changes almost linearly according to the hydraulic pressure instruction value, and the increase characteristic and the decrease characteristic. It has a characteristic state consisting of a transition characteristic that shifts by changing with the transition amount.

  Specifically, when the hydraulic pressure value for a certain command current in this hydraulic control type clutch system is represented by a characteristic diagram of the hydraulic pressure value corresponding to the command current and the hydraulic pressure value corresponding to the actual pressure of the clutch 4, FIG. It can be expressed as Referring to FIG. 2, when the exciting current (ie, the hydraulic pressure indication value) to the solenoid actuator 3 is switched from increase to decrease, the operating hydraulic pressure value (ie, actual pressure) is changed from the increase characteristic (h1) to the decrease characteristic (h1). According to the transition characteristic (h2) that shifts to h3). The hydraulic pressure value in the transition characteristic (h2) decreases as the exciting current to the solenoid actuator 3 decreases. Similarly, when the excitation current to the solenoid actuator 3 switches from decrease to increase, the hydraulic pressure value follows a transition characteristic (h4) that shifts from a decrease characteristic (h3) to an increase characteristic (h1). The hydraulic pressure value in the transition characteristic (h4) increases as the exciting current to the solenoid actuator 3 increases.

  In this way, when the actuator control device 1 instructs the solenoid actuator 3 as a series of operations for increasing and decreasing the operating hydraulic pressure value, for example, the operating hydraulic pressure value for the clutch 4 increases (h1) → transition characteristics. It changes with a hysteresis characteristic H (indicated by a thick line in FIG. 2) that becomes (h2) → decrease characteristic (h3) → transition characteristic (h4).

  However, the slip control of the clutch 4 will be described as an example. In such switching control of the hydraulic pressure value, the actuator control device 1 uses the value obtained from the hydraulic sensor 5 without considering the transition characteristic in the hysteresis characteristic H. If the next hydraulic pressure instruction value related to the slip control is determined and a current instruction is given to the solenoid actuator 3, smooth slip control may not be achieved.

  For example, referring to FIG. 2, once the hydraulic pressure of the clutch 4 is increased and engaged and the hydraulic pressure is lowered and a slip occurs at the level of the hydraulic pressure A, the actuator control device 1 performs the steady slip. For the purpose of fine adjustment of the hydraulic pressure for making, the hydraulic pressure instruction value b2 according to the increase characteristic (h1) is calculated from the target hydraulic pressure value B level, and the solenoid actuator 3 is supplied with a current instruction corresponding to the hydraulic pressure instruction value b2. Will give. In this case, in practice, the hydraulic pressure value generated by the hydraulic pressure instruction value b2 becomes the hydraulic pressure value B2 according to the transition characteristic (h4), and the hydraulic pressure is excessive with respect to the target hydraulic pressure value B level. This means that an actual pressure that smoothly changes and is intended to stabilize the steady slip for fine adjustment of the hydraulic pressure is not obtained.

  Therefore, for convenience of description of the present invention, a case where the actuator control device according to one embodiment of the present invention is applied to the actuator control device 1 shown in FIG. 1 will be described. Therefore, the actuator control apparatus 1 according to an embodiment of the present invention can be realized by the CPU 1a and the memory 1b, and will be described with the same reference numerals.

[Configuration of actuator controller]
FIG. 3 is a schematic diagram illustrating an actuator control apparatus according to an embodiment of the present invention. The actuator control apparatus 1 according to the present embodiment includes a hydraulic pressure characteristic determination unit 11, a hydraulic pressure instruction value calculation unit 12, and a signal conversion unit 13. The hydraulic pressure instruction value calculation unit 12 includes a temporary hydraulic pressure instruction value calculation unit 121 and a hydraulic pressure instruction value correction unit 122. The hydraulic pressure characteristic determination unit 11, the hydraulic pressure instruction value calculation unit 12, and the signal conversion unit 13 are functional blocks that function by executing a program in the memory 1b as needed under the control of the CPU 1a. The memory 1b can store modeling information representing the hysteresis characteristic H as shown in FIG. 2, that is, information on a function or map modeling at least the transition characteristics (h2) and (h4). Similarly, information of a function or a map modeling the increase characteristic (h1) and the decrease characteristic (h3) can be stored in the memory 1b. Such a memory 1b can also be provided outside the actuator control device 1.

  In response to the change instruction request for changing the hydraulic pressure value, the hydraulic pressure characteristic determination unit 11 determines whether or not the hydraulic pressure value of the change instruction request is in the transition characteristic state. More specifically, in response to a change instruction request to change the operating oil pressure value, the oil pressure characteristic determining unit 11 will describe later whether or not the operating oil pressure value of the change instruction request is in the transition characteristic state. Judged from history information.

  The hydraulic pressure instruction value calculation unit 12 calculates the hydraulic pressure instruction value according to the modeled transition characteristic approximated to the transition characteristic when the determination result obtained from the hydraulic characteristic determination unit 11 is in the characteristic state of the transition characteristic. The hydraulic pressure instruction value calculation unit 12 calculates the hydraulic pressure instruction value according to the increase characteristic or the decrease characteristic when the determination result obtained from the hydraulic pressure characteristic determination unit 11 is in the characteristic state of the increase characteristic or the decrease characteristic.

  The temporary hydraulic pressure instruction value calculation unit 121 included in the hydraulic pressure instruction value calculation unit 12 includes an increase characteristic that has passed immediately before the change instruction request when the determination result obtained from the hydraulic characteristic determination unit 11 is in the characteristic state of the transition characteristic, or In accordance with the decrease characteristic, a temporary hydraulic pressure instruction value corresponding to the hydraulic pressure value of the change instruction request is calculated and sent to the hydraulic pressure instruction value correction unit 122.

  The hydraulic pressure instruction value correction unit 122 included in the hydraulic pressure instruction value calculation unit 12 is a modeled transition characteristic that approximates the temporary hydraulic pressure instruction value calculated by the temporary hydraulic pressure instruction value calculation unit 121 with respect to the transition characteristic determined by the hydraulic pressure characteristic determination unit 11. And the corrected hydraulic pressure instruction value is sent to the signal converter 13.

  The signal conversion unit 13 converts the hydraulic pressure instruction value sent from the hydraulic pressure instruction value calculation unit 12 into a control signal (for example, a current instruction corresponding to the excitation current value of the solenoid) for controlling the actuator 3.

  Hereinafter, the operation of the actuator control device 1 of the present embodiment will be described in more detail.

  FIG. 4 is a diagram showing a control flow representing the operation of the actuator control device 1 of the present embodiment. In step S1, the hydraulic pressure characteristic determination unit 11 receives a change instruction request for changing the hydraulic pressure value. In step S <b> 2, the hydraulic pressure characteristic determination unit 11 determines whether or not the hydraulic pressure value of the change instruction request is in the transition characteristic state according to the received change instruction request from history information described later.

  If the determination result by the hydraulic pressure characteristic determination unit 11 is the increase characteristic (h1), the process proceeds to step S3, and the hydraulic pressure instruction value calculation unit 12 calculates the hydraulic pressure instruction value according to the increase characteristic (h1).

  If the determination result by the hydraulic pressure characteristic determination unit 11 is the decrease characteristic (h3), the process proceeds to step S4, and the hydraulic pressure instruction value calculation unit 12 calculates the hydraulic pressure instruction value according to the decrease characteristic (h3).

  If the determination result by the hydraulic pressure characteristic determination unit 11 is the transition characteristics (h2) and (h4), the process proceeds to step S5, and the temporary hydraulic pressure instruction value calculation unit 121 increases or decreases (h1) or decreases immediately before the change instruction request. According to the characteristic (h3), a temporary hydraulic pressure instruction value corresponding to the hydraulic pressure value of the change instruction request is calculated, and a modeled transition characteristic approximated to the transition characteristic determined by the hydraulic pressure characteristic determination unit 11 by the hydraulic pressure instruction value correction unit 122 Correction is performed according to (h2 ′) and (h4 ′), and the corrected hydraulic pressure instruction value (that is, corrected hydraulic pressure instruction value) is calculated.

  In step S6, the signal conversion unit 13 converts the corrected hydraulic pressure instruction value input through steps S3 to S5 into a control signal (excitation current) to be applied to the corresponding solenoid actuator 3.

  In step S <b> 7, the signal conversion unit 13 sends this current instruction value as a control signal (excitation current) for the solenoid actuator 3.

  In order to be able to compare with the description according to FIG. 2, correction of the hydraulic pressure instruction value based on the modeled transition characteristic obtained by approximately modeling the transition characteristic will be described with reference to FIG. 5. As in the description according to FIG. 2, let us consider a situation where a steady slip is produced. When creating the hydraulic pressure at the level of the target actual pressure B from the level of the operating hydraulic pressure value A of the decrease characteristic (h3), the hydraulic pressure instruction from the modeled transition characteristic (h4 ′) modeled by approximating the transition characteristic (h4) The value b2 can be obtained. The hydraulic pressure value by the command pressure b2 becomes the level of the hydraulic pressure value B2, and the difference with respect to the level of the target hydraulic pressure value B is smaller than the case of the hydraulic pressure value B2 described in FIG. This means that extremely smooth hydraulic pressure control is possible. For example, when the hydraulic pressure value in the slip control of the clutch is finely adjusted, the hydraulic pressure control can be performed with high accuracy.

  Further, history information used for determining the characteristic state in the change instruction request is held in a partial storage area of the memory 1b shown in FIG. For example, referring to FIG. 5, consider a case in which each change instruction request for the hydraulic pressure values A, B2, and B3 is sequentially input to the actuator control device 1. This history information includes the hydraulic pressure value (hydraulic pressure value B2) and the hysteresis characteristic state (transition characteristic (h4)) in the change instruction request immediately before at least one more than the current change instruction request (hydraulic pressure value B3). ), Or information on hydraulic pressure values (hydraulic pressure value A and hydraulic pressure value B2) in at least two immediately preceding change instruction requests than the change instruction request, or the current change Information on the difference between the corrected hydraulic pressure instruction values (corresponding to the distance between the hydraulic pressure instruction values a−b2) in at least one change instruction request immediately before the instruction request, or a combination thereof may be used. it can. According to the current change instruction request for changing the operating oil pressure value (operating oil pressure value B3), the history information indicates whether the operating oil pressure value of the change instruction request is in the characteristic state of the transition characteristic in the hysteresis characteristic. It is used to determine whether.

  Further, the history information includes a plurality of hydraulic pressure instruction values (for example, corrected hydraulic pressure values a and b2 after the previous and previous corrections) that have been instructed immediately before and a change instruction request level in order to specify a characteristic state in the hysteresis characteristic H. It can also be configured to hold the determined characteristic state.

  In this way, the actuator control device 1 according to the present embodiment calculates an appropriate hydraulic pressure instruction value according to the transition characteristic in the hydraulic hysteresis characteristic, and controls the operating hydraulic pressure value of the actuator. Therefore, according to the actuator control apparatus 1 of the present embodiment, the control is performed in consideration of the transition characteristic in the hysteresis characteristic of the hydraulic pressure, so that the target hydraulic pressure value can be obtained with high accuracy and smoothly.

  In particular, when the hydraulic pressure instruction value correction unit 122 corrects the temporary hydraulic pressure instruction value calculated by the temporary hydraulic pressure instruction value calculation unit 121 in the transition characteristic (h2) or (h4), the transition connecting the increase characteristic and the decrease characteristic. Since the correction amount is calculated using the modeled transition characteristic modeled with respect to the characteristic, it is possible to control to obtain the target hydraulic pressure value smoothly with high accuracy.

  Also, the modeled transition characteristics (h2 ') or (h4') can be curves that are asymptotic to the respective transition characteristics.

  Furthermore, as shown in FIG. 6, even if the command pressure is slightly changed between the increase characteristic (h1) and the decrease characteristic (h3), the change is made very smoothly according to the modeled transition characteristic (h5). Hydraulic control becomes possible.

  Hereinafter, an example of the correction amount in the modeled transition characteristic will be described.

  FIG. 7 and FIG. 8 are explanatory diagrams when the transition characteristic in the actuator control apparatus of one embodiment according to the present invention is corrected by modeling with linear approximation. As shown in FIG. 7, each of the increase characteristic and the decrease characteristic is assumed to be a slope 1 on the graph in which the horizontal axis indicates the hydraulic pressure indication value and the vertical axis indicates the operating hydraulic pressure value. The difference between the increase characteristic and the decrease characteristic is defined as a hysteresis width Hw. In addition, the range of the hydraulic pressure instruction value at the time of switching between the increase characteristic and the decrease characteristic is defined as an instruction pressure difference ΔT. The hysteresis width Hw and the command pressure difference ΔT can be defined in advance, and can be calculated from modeled hysteresis characteristics stored in advance.

  Further, as shown in FIG. 8A, when using the modeled transition characteristic approximated by a straight line, the slope coefficient K of the modeled transition characteristic h2 ′ using the command pressure difference ΔT and the hysteresis width Hw is expressed as K = Hw / Define as ΔT. In this case, for example, the slope of the modeled transition characteristic h2 ′ can be represented by α / ΔT, where α is the amount of change in the hydraulic pressure value at the command pressure difference ΔT, and the slope of the modeled transition characteristic h2 ′ is sloped. Using the coefficient K, it can be expressed as α / ΔT = (ΔT−Hw) / ΔT = 1−Hw / ΔT = 1−K.

  The modeled transition characteristic may be used by mapping it with a lookup table or the like, but an example of formulating will be described below.

  Referring to FIG. 8B, consider a case where there is a change instruction request from the hydraulic pressure value A of the previous change instruction request to the hydraulic pressure value B of the current change instruction request. The hydraulic pressure difference from the hydraulic pressure value A of the previous change instruction request to the hydraulic pressure value B of the current change instruction request is ΔPn. Current (nth) final hydraulic pressure command value (ie, corrected hydraulic pressure command value) P (n) = previous (n−1) th corrected hydraulic pressure command value P (n−1) −difference value ΔPn−correction amount A case where the hydraulic pressure command value can be expressed by Pc (n) and reduced at the nth time will be described. The slope of the modeled transition characteristic h2 ′ is 1-K, the temporary hydraulic pressure instruction value P ′ (n) related to the current (n-th) change instruction request, and the last (n− The corrected hydraulic pressure instruction value for the first time is P (n-1). Since the slope of the increase characteristic is 1, it can be expressed as ΔPn = P (n−1) −P ′ (n).

  First, the temporary hydraulic pressure instruction value P ′ (n) of the hydraulic pressure value B related to the current (nth) change instruction request is increased from the previous (n−1) time corrected hydraulic pressure instruction value P (n−1). The difference value ΔPn is obtained according to the characteristics. Next, the correction amount Pc (n) of the hydraulic pressure value B related to the current (n-th) change instruction request is calculated using the slope of the transition characteristic (h2 ').

Therefore, the necessary change from the previous (n−1) th corrected hydraulic pressure command value P (n−1) to the hydraulic pressure command value corresponding to the hydraulic pressure value B related to the current (nth) change command request is x Then,
ΔPn = (1−K) × x
And therefore
x = ΔPn / (1-K)
It can be expressed as.

Therefore, the correction amount Pc (n) is
Pc (n) = x−ΔPn
= ΔPn / (1-K) −ΔPn
= ΔPn × K / (1-K)
It becomes.

  Therefore, the hydraulic pressure instruction value (current corrected hydraulic pressure instruction value) P (n) corresponding to the hydraulic pressure value B related to the current (nth) change instruction request P (n) = previous (n−1) th corrected hydraulic pressure instruction value It can be calculated as P (n−1) −difference value ΔPn−ΔPn × K / (1−K). Therefore, the correction amount Pc (n) satisfies −Hw ≦ correction amount Pc (n) ≦ 0.

  Next, an example of calculating the correction amount in the modeled transition characteristic approximated by a curve will be described. FIG. 9 is an explanatory diagram when the transition characteristic in the actuator control apparatus according to the embodiment of the present invention is corrected by modeling with curve approximation. FIG. 10A and FIG. 10B are explanatory diagrams when the transition characteristic in the actuator control apparatus of one embodiment according to the present invention is modeled and corrected by curve approximation.

  Furthermore, as shown in FIG. 9, an example of using a modeled transition characteristic that approximates a curve will be described. As shown in FIG. 9, on the graph in which the horizontal axis indicates the hydraulic pressure indication value and the vertical axis indicates the operating hydraulic pressure value, when the increase characteristic and the decrease characteristic are both set to, for example, slope 1, the modeled transition characteristic h2 ′ approximated to a curve. , H4 ′ are preset and stored in the memory 1b.

  Referring to FIG. 10 (a), as in FIG. 8, the current (n-th) hydraulic pressure value B related to the current change instruction request, and the hydraulic pressure value A in the previous (n-1) th change instruction request. Will be described. Here, since the modeled transition characteristic h2 ′ approximated by a curve is defined in advance, the current hydraulic pressure instruction value P (n) corresponding to the current (nth) hydraulic pressure value B can be easily obtained. .

  On the other hand, according to the increase characteristic (h1) passed immediately before the current change instruction request by the temporary oil pressure instruction value calculation unit 121, the temporary oil pressure instruction value P ′ (n) corresponding to the operating oil pressure value of the change instruction request is obtained. After the calculation, the correction value Pc (n) is calculated by the hydraulic pressure instruction value correction unit 122 to calculate the corrected hydraulic pressure instruction value according to the modeled transition characteristics (h2 ′) and (h4 ′). it can. In this case, as shown in FIG. 10B, a temporary point whose origin is the point at which switching of the horizontal axis starts (in this example, the hydraulic pressure value corresponding to the hydraulic pressure value A in the previous change command request). For a modeled transition characteristic h2 ′ approximated by a curve, which is a function or map having a hydraulic pressure command value P ′ (n) and a vertical axis representing a correction amount Pc (n) corresponding to the temporary hydraulic pressure command value P ′ (n). It is advantageous for speeding up the operation to create a correction table. That is, the lower side (that is, the modeled transition characteristic h2 ′) correction table (hereinafter referred to as the “lowered side correction table”) is stored in the memory 1b in advance, and similarly, the higher side (that is, the modeled transition characteristic h4). ') Is stored in advance in the memory 1b, and more preferably a table created for reverse calculation of the correction table (hereinafter referred to as the upward correction reverse lookup table). Is stored in the memory 1b in advance.

  Therefore, the hydraulic pressure instruction value (current corrected hydraulic pressure instruction value) P (n) corresponding to the hydraulic pressure value B related to the current (n-th) change instruction request P (n) = previous (n−1th) change instruction request The corrected hydraulic pressure instruction value P (n−1) corresponding to the operating hydraulic pressure value A−difference value ΔPn−correction amount Pc (n) can be calculated. The difference value ΔPn is ΔPn = P (n−1) −P ′ (n).

  As described above, according to the actuator control device 1 of the present embodiment, the hydraulic pressure control that appropriately calculates the correction amount of the indicated pressure and changes it extremely smoothly regardless of the actual pressure state of the hysteresis characteristic. It becomes possible.

  Moreover, as one aspect of the present invention, the actuator control device 1 can be configured as a computer, and a program for realizing each function can be stored in the memory 1b. The memory 1b can be realized by a ROM or a RAM. In order to realize the function of the actuator control device 1, it can be realized by a central processing unit (CPU) or the like. That is, the CPU can implement the actuator control device 1 by appropriately reading and executing a program in which processing contents for realizing the function of each component of the actuator control device 1 are described from the memory 1b. it can.

  The actuator control device 1 of the above-described embodiment has been representatively described as an example applied to a clutch, but can be applied to any control that requires a damper device or other hydraulic control. Furthermore, in the above-described embodiment, a description has been given of a mode in which the provisional hydraulic pressure instruction value is calculated using the previous corrected hydraulic pressure instruction value and the correction is applied, but instead of using the previous corrected hydraulic pressure instruction value, the hydraulic sensor 5 Can be used. Alternatively, for example, the root mean square is calculated by using, for example, the previous corrected hydraulic pressure instruction value and the value obtained from the hydraulic pressure sensor 5 together to increase the reliability of the previous corrected hydraulic pressure instruction value. You can also. Furthermore, the memory can be used as appropriate for reading and writing data necessary for calculation. Accordingly, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the invention, and the invention should not be construed as limited by the above-described embodiments, but by the claims. Only limited.

  The present invention is useful for any application requiring hydraulic control.

1 Actuator control device 1a CPC
DESCRIPTION OF SYMBOLS 1b Memory 3 Solenoid actuator 4 Clutch 5 Oil pressure sensor 11 Oil pressure characteristic determination part 12 Oil pressure instruction value calculation part 121 Temporary oil pressure instruction value calculation part 122 Oil pressure instruction value correction part 13 Signal conversion part

Claims (8)

An actuator control device for controlling an actuator for changing hydraulic pressure,
The hysteresis characteristic generated by the hydraulic control by the actuator is a predetermined state transition amount between an increase characteristic and a decrease characteristic in which the operating hydraulic pressure value changes almost linearly according to a hydraulic pressure instruction value, and the increase characteristic and the decrease characteristic. It has a characteristic state consisting of transition characteristics that change and transition,
A hydraulic characteristic determination unit that determines whether or not the hydraulic pressure value of the change instruction request is in the characteristic state of the transition characteristic in response to a change instruction request to change the hydraulic pressure value;
A hydraulic pressure instruction value calculation unit that calculates a hydraulic pressure instruction value according to a modeled transition characteristic approximated to the transition characteristic when a determination result obtained from the hydraulic characteristic determination unit is in a characteristic state of the transition characteristic;
A signal converter that converts the hydraulic pressure instruction value into a control signal for controlling the actuator;
An actuator control device comprising: The hydraulic pressure instruction value calculation unit
When the determination result obtained from the hydraulic characteristic determination unit is in the characteristic state of the transition characteristic, the provisional pressure corresponding to the hydraulic pressure value of the change instruction request is determined according to the increase characteristic or the decrease characteristic that has passed immediately before the change instruction request. A temporary hydraulic pressure instruction value calculation unit for calculating the hydraulic pressure instruction value;
2. The hydraulic pressure instruction value correction unit according to claim 1, further comprising: correcting the temporary hydraulic pressure instruction value according to a modeled transition characteristic approximated to the transition characteristic and calculating a corrected hydraulic pressure instruction value. Actuator control device. The hydraulic pressure characteristic determination unit determines whether or not the operating hydraulic pressure value of the change instruction request is in a characteristic state of the transition characteristic from history information;
The history information is information on the hydraulic pressure value and the characteristic state of the hysteresis characteristic in at least one change instruction immediately before the change instruction request, or at least two or more than the change instruction request. Information on the operating hydraulic pressure value in the immediately preceding change instruction request, or information on the difference between the corrected hydraulic instruction values in at least one immediately preceding change instruction request than the change instruction request, or change The actuator control device according to claim 1 or 2, wherein the information is information on a characteristic state held at each instruction request, or information on a combination thereof.   The actuator control device according to any one of claims 1 to 3, wherein the modeled transition characteristic includes a straight line that approximates a transition characteristic included in the hysteresis characteristic.   The actuator control apparatus according to any one of claims 1 to 3, wherein the modeled transition characteristic includes a curve that approximates a transition characteristic included in the hysteresis characteristic.   The actuator according to any one of claims 1 to 5, wherein the actuator is a solenoid actuator used for controlling a clutch or a damper device, and the control signal is an excitation current of the solenoid actuator. Control device. An actuator control method for controlling an actuator for changing hydraulic pressure,
The hysteresis characteristic generated by the hydraulic control by the actuator is a predetermined state transition amount between an increase characteristic and a decrease characteristic in which the operating hydraulic pressure value changes almost linearly according to a hydraulic pressure instruction value, and the increase characteristic and the decrease characteristic. It has a characteristic state consisting of transition characteristics that change and transition,
Determining whether the hydraulic pressure value of the change instruction request is in a characteristic state of the transition characteristic in response to a change instruction request to change the hydraulic pressure value;
Calculating a hydraulic pressure indication value according to a modeled transition characteristic approximated to the transition characteristic when the determination result obtained from the step is in the characteristic state of the transition characteristic;
Converting the hydraulic pressure indication value into a control signal for controlling the actuator;
An actuator control method comprising: In a computer that functions as an actuator control device that controls an actuator for changing hydraulic pressure,
The hysteresis characteristic generated by the hydraulic control by the actuator is a predetermined state transition amount between an increase characteristic and a decrease characteristic in which the operating hydraulic pressure value changes almost linearly according to a hydraulic pressure instruction value, and the increase characteristic and the decrease characteristic. It has a characteristic state consisting of transition characteristics that change and transition,
Determining whether the hydraulic pressure value of the change instruction request is in a characteristic state of the transition characteristic in response to a change instruction request to change the hydraulic pressure value;
Calculating a hydraulic pressure indication value according to a modeled transition characteristic approximated to the transition characteristic when the determination result obtained from the step is in the characteristic state of the transition characteristic;
Converting the hydraulic pressure indication value into a control signal for controlling the actuator;
A program for running

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