JP4652630B2 - Actuator control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention rotates the worm wheel so as to contact the stopper from the learning start point within the range of a predetermined allowable rotation angle by driving the electric motor, and the worm when the worm wheel and the stopper contact each other. The present invention relates to an actuator control device that learns as a stopper point based on a rotation angle of a wheel.
[0002]
[Prior art]
Conventionally, as described in Japanese Patent Application Laid-Open No. 58-191635, when the driver's intention to shift is confirmed, the actuator is driven to displace the clutch lever, which is adopted in a conventional manual transmission vehicle. 2. Description of the Related Art A clutch control device that automatically performs a clutch connecting / disconnecting operation similar to a clutch is known.
[0003]
In such a clutch control device, a force (external force) from the clutch is input to the actuator via the clutch lever. If the actuator is displaced by the input force from the clutch, for example, when the force generated by the actuator is lost, the clutch is engaged, and an unintended clutch connection occurs. There is. Therefore, as such an actuator, an electric motor type actuator provided with a worm gear (worm and worm wheel) that is not displaced by a force from the clutch is suitable.
[0004]
[Problems to be solved by the invention]
By the way, the electric motor type actuator provided with the worm gear (worm and worm wheel) is provided with a stopper for restricting the rotation of the worm wheel when the worm wheel is brought into contact therewith. However, since the rotational torque of the electric motor is transmitted to the worm wheel via the worm, the worm wheel may come into contact with the stopper with a strong force, and the worm may bite into the worm wheel. . In some cases, this biting cannot be canceled by the torque of the electric motor.
[0005]
These problems are solved by reducing the force generated between the worm wheel and the worm when the worm wheel comes into contact with the stopper. In order to reduce this force, it is necessary to control the torque, rotational speed, etc. of the electric motor at the position where the worm wheel and the stopper abut. For this control, the position where the worm wheel abuts the stopper ( It has been proposed by the present applicant to grasp the rotation angle.
[0006]
Specifically, when a predetermined starting condition is satisfied, the electric motor is driven to rotate the worm wheel until the worm wheel contacts the stopper. When it is determined that the rotation of the worm wheel has stopped and the worm wheel has come into contact with the stopper, the rotation angle (equivalent value) of the worm wheel is detected by a corresponding sensor. And what performed the known learning process based on the detected rotation angle (equivalent value) is memorize | stored as an engagement side stopper point of the said actuator. The reason why the learning process is performed with respect to the rotation angle (equivalent value) of the worm wheel detected at this time is to absorb, for example, variations in sensor attachment related to the detection.
[0007]
According to the above, when it is necessary to bring the worm wheel into contact with the stopper, the speed and torque of the electric motor are reduced when the rotation angle (equivalent value) of the worm wheel is detected near the engagement side stopper point. It is possible to cause the worm wheel to come into contact with the stopper with a small force by performing control such as causing the worm to bite into the worm wheel.
[0008]
By the way, in learning the engagement side stopper point of the actuator, the rotation of the worm wheel until the worm wheel is brought into contact with the stopper is restricted within a predetermined allowable rotation range. This is to prevent erroneous learning of the engagement-side stopper point of the actuator when the rotation angle (equivalent value) of the worm wheel exceeds the range where the contact of the worm wheel with the stopper should be determined. is there. In this case, the previous engagement-side stopper point is continuously stored.
[0009]
However, when trying to learn the engagement-side stopper point of the actuator in factory shipment learning, this learning may not be completed. This is because, for example, external vibrations or the like are applied during conveyance for shifting to each process, and the angle between the worm wheel and the stopper may be excessively spread beyond the allowable rotation range. is there.
[0010]
An object of the present invention is to provide an actuator control device that can reliably complete the learning of stopper points in factory learning.
[0011]
[Means for Solving the Problems]
In order to solve the above problems, the invention according to claim 1 is a worm driven by an electric motor fixed to a housing, and a worm wheel that meshes with the worm and is rotatably supported by the housing. And a stopper against which the worm wheel comes into contact when the worm wheel rotates more than a predetermined angle, and the electric motor drives the worm wheel from a learning start point within a predetermined allowable rotation angle range to the stopper. In the actuator control device that is rotated so as to contact and learns as a stopper point based on the rotation angle of the worm wheel when the worm wheel and the stopper are in contact with each other, Rotation when the worm wheel is rotated to contact the stopper from the learning start point When the degree exceeds the range of the allowable rotation angle, the worm wheel is rotated so as to contact the stopper from a new learning start point obtained by raising the learning start point, and the worm wheel, the stopper, The gist is to learn as a stopper point based on the rotation angle of the worm wheel when the abuts.
[0012]
The gist of the invention according to claim 2 is that, in the actuator control device according to claim 1, the learning at the time of factory shipment is set when the stopper point is at an initial value.
[0013]
The invention according to claim 3 is the actuator control device according to claim 1 or 2, wherein a new learning start point obtained by raising the learning start point is set based on the allowable rotation angle. And
[0014]
(Function)
According to the first or second aspect of the invention, in learning at the time of factory shipment, the rotation angle when rotating the worm wheel so as to contact the stopper from the learning start point is equal to the allowable rotation angle. When the range is exceeded, the worm wheel is rotated so that it comes into contact with the stopper from the new learning start point obtained by raising the learning start point. Learning as a stopper point based on the moving angle. Therefore, in learning at the time of shipment from the factory, the learning of the stopper point is reliably completed by repeating the raising of the learning start point until the worm wheel comes into contact with the stopper regardless of the setting of the allowable rotation angle range. .
[0015]
According to the invention described in claim 3, the new learning start point obtained by raising the learning start point is set based on the allowable rotation angle. Therefore, since a new learning start point is set by the maximum raising, the repetition of raising the learning starting point is suppressed to the minimum.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a vehicle control system in the present embodiment. In the vehicle control system, an automatic clutch 20 is assembled to a flywheel 10 a that rotates integrally with an output shaft (crankshaft) of an engine (internal combustion engine) 10, and an automatic transmission 30 is connected via the automatic clutch 20. ing.
[0017]
The engine 10 is provided with an engine speed sensor 16 that detects the engine speed Ne.
The automatic clutch 20 includes a mechanical (dry single plate type) friction clutch 21, a clutch lever 22, and a clutch actuator 23 that operates rotation transmission by the friction clutch 21 via the clutch lever 22.
[0018]
The friction clutch 21 includes a clutch disk 21 a that is disposed to face the flywheel 10 a and rotates integrally with the input shaft 31 of the automatic transmission 30. The friction clutch 21 rotates between the flywheel 10a and the clutch disk 21a (between the output shaft of the engine 10 and the input shaft 31 of the automatic transmission 30) by changing the pressure-bonding load of the clutch disk 21a to the flywheel 10a. Change transmission.
[0019]
The clutch actuator 23 moves the clutch lever 22 by moving the rod 25 forward or backward (back and forth). As a result, the release bearing 27 is pushed through the clutch lever 22, and the diaphragm spring 28 that is elastically contacted with the release bearing 27 is deformed to generate a pressure-bonding load on the pressure plate 29. The clutch actuator 23 moves the clutch lever 22 via the rod 25 to change the pressure-bonding load of the clutch disc 21a to the flywheel 10a via the pressure plate 29 in the manner described above, and transmit the rotation by the friction clutch 21. To operate.
[0020]
As shown in FIG. 2, the clutch actuator 23 includes a DC electric motor 36 that is a driving source thereof, and a housing 37 that supports the DC electric motor 36 and is fixed to an appropriate portion of the vehicle. In the housing 37, a worm (rotating shaft) 38 that is driven to rotate by a DC electric motor 36, a fan-shaped fan in a side view, and supported by the housing 37 so as to be swingable around the rotation center P, and a circular arc. A worm wheel (worm sector gear) 39 meshing with the worm 38 is accommodated in a portion (outer peripheral portion) 39a.
[0021]
The base end of the rod 25 (the end opposite to the tip connected to the clutch lever 22) is rotatably supported by the worm wheel 39. Thus, when the DC electric motor 36 rotates, the worm 38 rotates and the worm wheel 39 rotates, whereby the rod 25 moves forward and backward with respect to the housing 37. In FIGS. 1 and 2, when the rod 25 is moved (advanced) in the right direction, the clutch disk 21a is released (not engaged, disconnected) from the flywheel 10a, while the rod 25 is When moved (retracted) to the left, the clutch disc 21a is engaged (contacted) with the flywheel 10a.
[0022]
The DC electric motor 36 rotates forward when the supplied current is in the positive direction, and in FIG. 2, the worm wheel 39 is rotated clockwise around the rotation center P via the worm 38, thereby the rod 25. Is moved (advanced) in the right direction to release the clutch disc 21a from the flywheel 10a. On the other hand, the DC electric motor 36 reverses when the supplied current is in the negative direction, and in FIG. 2, the worm wheel 39 is rotated counterclockwise around the rotation center P via the worm 38. The rod 25 is moved (retracted) to the left to engage the clutch disc 21a with the flywheel 10a. Further, the DC electric motor 36 generates a larger rotational torque as the absolute value of the supplied current is larger.
[0023]
A contact portion 39b is formed on the side end surface of the worm wheel 39. When the worm wheel 39 is rotated counterclockwise by a predetermined angle or more in FIG. A stopper 37a that contacts the contact portion 39b is formed.
[0024]
The automatic clutch 20 is provided with a stroke sensor 26 for detecting the movement position (stroke) of the rod 25 of the actuator 23. Based on the stroke St detected by the stroke sensor 26, rotation transmission by the friction clutch 21 is performed. The state is determined. As described above, the advance / retreat of the rod 25 is interlocked with the rotation of the worm wheel 39, and thus the detected stroke St uniquely corresponds to the rotation angle of the worm wheel 39. In other words, the detection of the stroke St substantially corresponds to the detection of the rotation angle of the worm wheel 39. As will be described later, the stroke St when the worm wheel 39 abuts against the stopper 37a is used for learning the engagement-side stopper point as a stopper point.
[0025]
The automatic transmission 30 according to the present embodiment is, for example, a parallel shaft gear type transmission having five forward speeds and one reverse speed, and includes an input shaft 31 and an output shaft 32 and a plurality of transmission gear trains. The input shaft 31 of the automatic transmission 30 is connected to the clutch disc 21a of the friction clutch 21 so that power can be transmitted, and the output shaft 32 is connected to an axle (not shown) so as to be able to transmit power. The automatic transmission 30 also includes a shift actuator 41 for operating switching of a gear train (shift stage) capable of transmitting the power. The automatic transmission 30 is switched to a required shift stage by driving the shift actuator 41.
[0026]
Further, the automatic transmission 30 is provided with a rotation speed sensor 33 that detects the rotation speed of the input shaft 31 (input shaft rotation speed Ni).
The vehicle control system of FIG. 1 includes an electronic control unit (ECU) 50 that performs various controls. The ECU 50 is configured around a known microcomputer (CPU), and includes a ROM that stores various programs and maps, a RAM that can read and write various data, an EEPROM that can hold data without a backup power source, and the like. I have. The ECU 50 is connected to various sensors such as the engine speed sensor 16, the stroke sensor 26, and the speed sensor 33, the clutch actuator 23, and the speed change actuator 41 described above. The ECU 50 takes in detection signals from various sensors, and thereby detects the vehicle operating state (rotation transmission state by the friction clutch 21, input shaft rotational speed, etc.). Then, the ECU 50 drives the clutch actuator 23 and the shift actuator 41 based on the vehicle operating state.
[0027]
Specifically, the ECU 50 adjusts rotation transmission by the clutch 21 by driving the clutch actuator 23. Thereby, rotation transmission by the friction clutch 21 according to the vehicle operating state is automatically controlled.
[0028]
Further, the gear shift actuator 41 is driven to switch the gear train (shift stage) capable of transmitting power in the automatic transmission 30. Thereby, the gear position in the automatic transmission 30 according to the vehicle operating state is automatically controlled.
[0029]
Next, the learning mode of the engagement-side stopper point according to the actuator control of this embodiment (control of the clutch actuator 23) will be described based on the flowchart of FIG. 3 and the time chart of FIG. This routine is executed by a scheduled interruption every predetermined time.
[0030]
When the processing shifts to this routine, first, at step 101, the ECU 50 determines whether or not learning of the engagement-side stopper point is currently being performed. That is, the determination is made by checking a learning flag that is turned on when a learning start condition described later is satisfied.
[0031]
If it is determined that learning of the engagement-side stopper point is not currently being performed, the ECU 50 proceeds to step 102 and determines whether or not a learning start condition is satisfied. Specifically, whether the friction clutch 21 is in a completely connected state (for example, whether the engine rotational speed Ne and the input shaft rotational speed Ni substantially match during traveling of the vehicle, whether the vehicle has shifted to the parking state, Judgment whether it is at the time of factory shipment).
[0032]
If it is determined in step 102 that the learning start condition is not satisfied, the ECU 50 once terminates the subsequent processing. On the other hand, if it is determined in step 102 that the learning start condition is satisfied, the ECU 50 proceeds to step 103 and performs a learning initialization process. That is, the learning flag is turned on, the current stroke St is set as the learning start point, and the corresponding counter is reset. As shown in FIG. 4, the learning start point is a target for driving the DC electric motor 36 to rotate the worm wheel 39 until the contact portion 39b of the worm wheel 39 contacts the stopper 37a. This is the reference point for the stroke. In this embodiment, the stroke (stroke St) of the rod 25 is feedback-controlled by setting the target stroke, and the rotation angle of the worm wheel 39 is controlled via this. Therefore, for example, by increasing the target stroke from the learning start point (reference point of the target stroke) to the engagement side at a constant speed, the contact portion 39b of the worm wheel 39 is moved to the stopper 37a by the retraction of the rod 25 accompanying this. The worm wheel 39 rotates so as to approach.
[0033]
In step 101, the ECU 50 that determines that learning of the engagement-side stopper point is currently being performed or that has performed learning initialization processing in step 103 proceeds to step 104. Then, the ECU 50 increases the target stroke to the engagement side at a constant speed, and further shifts to step 105 to perform feedback control of the stroke (stroke St) of the rod 25 based on this target stroke. That is, the ECU 50 drives the DC electric motor 36 so as to make the stroke of the rod 25 coincide with the set target stroke so that the contact portion 39b of the worm wheel 39 approaches the stopper 37a via the worm 38. The worm wheel 39 is rotated (to the engagement side). Therefore, as shown in FIG. 4, the actual stroke of the rod 25 basically increases with the increase of the target stroke by the processing of steps 104 and 105.
[0034]
The ECU 50 that has executed the processing of step 105 proceeds to step 106 and determines whether or not the clutch stroke stop determination condition is currently satisfied. That is, in the feedback control of the stroke (stroke St) of the rod 25, for example, in a state where the contact portion 39b of the worm wheel 39 is not in contact with the stopper 37a, the actual stroke of the rod 25 increases as the target stroke increases. To go. Therefore, the deviations of the target stroke and the stroke St fall within the predetermined deviation ΔS. On the other hand, when the contact portion 39b of the worm wheel 39 contacts the stopper 37a and the worm wheel 39 stops, the actual stroke of the rod 25 does not increase regardless of the increase of the target stroke. Therefore, the deviation between the target stroke and the stroke St exceeds the deviation ΔS. The ECU 50 determines that the contact portion 39b of the worm wheel 39 is in contact with the stopper 37a by comparing and determining the deviation of the target stroke and the stroke St and the deviation ΔS, and determines that the clutch stroke stop determination condition is satisfied. To do.
[0035]
If it is determined in step 106 that the clutch stroke stop determination condition is satisfied, the ECU 50 proceeds to step 107. And a learning stroke is calculated by performing a well-known learning process with respect to the stroke St at this time. For example, the ECU 50 calculates a learning stroke by performing a predetermined averaging process on the current stroke St and each stroke up to a predetermined number of times.
[0036]
Then, the ECU 50 proceeds to step 108, and determines whether or not the learning stroke is within the design range allowed as the engagement-side stopper point. This is to avoid erroneous learning of the engagement-side stopper point that exceeds the range to be detected.
[0037]
If it is determined that the learning stroke is within the design range allowed for the engagement-side stopper point, the ECU 50 proceeds to step 109 and updates the learning stroke at this time as the engagement-side stopper point. This is stored in the EEPROM. On the other hand, if it is determined that the learning stroke is not within the design range permitted for the engagement-side stopper point, the ECU 50 proceeds to step 110 to hold the engagement-side stopper point at the previous stopper point, Store in EEPROM. And ECU50 which performed the process of step 109 or 110 once complete | finishes subsequent processes.
[0038]
If it is determined in step 106 that the clutch stroke stop determination condition is not satisfied, the ECU 50 proceeds to step 111. Then, it is determined whether or not the current target stroke exceeds a predetermined value SA. The predetermined value SA is set to a value (a value that should satisfy the clutch stroke stop determination condition) that the contact portion 39b of the worm wheel 39 should contact with the stopper 37a when the target stroke is set. Yes. In other words, by restricting the upper limit of the target stroke to the predetermined value SA, the rotation of the worm wheel 39 beyond the range where the contact with the stopper 37a should be determined is restricted. This is to prevent erroneous learning of the engagement side stopper point.
[0039]
Here, if it is determined that the current target stroke exceeds the predetermined value SA, the ECU 50 determines that the contact portion 39b of the worm wheel 39 exceeds the value to be contacted with the stopper 37a, and step 112 is performed. Migrate to Then, the ECU 50 determines whether the engagement side stopper point at the time of factory shipment is currently being learned. Specifically, after factory shipment, the engagement side stopper point (learned value) stored in the EEPROM has some value other than the initial value (for example, zero), and this engagement side stopper point By reading from the EEPROM, it is determined whether learning at the time of factory shipment is in progress.
[0040]
If it is determined in step 112 that the engagement-side stopper point at the time of shipment from the factory is not being learned, the ECU 50 proceeds to step 113, holds the engagement-side stopper point at the previous stopper point, and stores this in the EEPROM. . Then, the ECU 50 proceeds to step 114 to set the learning end, that is, turns off the learning flag and once ends the subsequent processing.
[0041]
On the other hand, if it is determined in step 112 that the engagement-side stopper point at the time of factory shipment is being learned, the ECU 50 proceeds to step 115 and executes a learning initialization process.
This is to cope with an excessively widened angle between the worm wheel 39 and the stopper 37a as a unique phenomenon at the time of shipment from the factory. That is, as shown in FIG. 4, a predetermined value SA based on the current learning start point is set as a new learning start point. Therefore, by further increasing the target stroke from the new learning start point (reference point of the target stroke) to the engagement side at a constant speed, the worm wheel 39 is moved so that the contact portion 39b of the worm wheel 39 approaches the stopper 37a. Rotate further. Thus, at the time of factory shipment, the learning of the engaging side stopper point of the actuator is reliably completed by continuing to raise the learning start point in the above-described manner every time the target stroke exceeds the predetermined value SA. ECU50 which performed the process of step 115 once complete | finishes subsequent processes.
[0042]
If it is determined in step 111 that the current target stroke does not exceed the predetermined value SA, the ECU 50 proceeds to step 116. Then, it is determined whether or not the learning prohibition condition is currently satisfied. Specifically, it is determined whether or not there is a clutch disengagement request (for example, a gear shift request) and the engagement-side stopper point cannot be learned.
[0043]
Here, if it is determined that the learning prohibition condition is currently satisfied, the ECU 50 proceeds to step 117, holds the engagement side stopper point at the previous stopper point, and stores this in the EEPROM. Then, the ECU 50 proceeds to step 118 to set the learning end, that is, turns off the learning flag and once ends the subsequent processing. If it is determined in step 116 that the learning prohibition condition is not currently established, the ECU 50 once terminates the subsequent processing.
[0044]
As described above in detail, according to the present embodiment, the following effects can be obtained.
(1) In the present embodiment, in learning at the time of factory shipment, when the target stroke for rotating the worm wheel 39 so as to contact the stopper 37a from the learning start point exceeds the range of the predetermined value SA. The worm wheel 39 was rotated so as to contact the stopper 37a from a new learning start point obtained by raising the learning start point. And it learned as an engagement side stopper point based on the stroke St (equivalent to the rotation angle of the worm wheel 39) when the said worm wheel 39 and the stopper 37a contact | abut. Therefore, in learning at the time of shipment from the factory, learning of the engagement-side stopper point is performed by repeating raising the learning start point until the worm wheel 39 contacts the stopper 37a regardless of the setting of the range of the predetermined value SA. Can be completed reliably. For example, even if an external vibration or the like is applied during conveyance for shifting to each process and the angle between the worm wheel 39 and the stopper 37a is excessively widened, the engagement-side stopper point in learning at the time of factory shipment is used. Can be completed without fail.
[0045]
(2) In the present embodiment, a new learning start point obtained by raising the learning start point is set based on the predetermined value SA. Therefore, since a new learning start point is set by the maximum raising, the repetition of raising the learning start point can be suppressed to the minimum, and the inspection man-hour can be shortened.
[0046]
(3) In the present embodiment, the stroke St of the rod 25 (corresponding to the rotation angle of the worm wheel 39) is feedback-controlled with respect to the target stroke so that the worm wheel 39 is brought into contact with the stopper 37a smoothly. It can be rotated.
[0047]
(4) In this embodiment, the contact between the worm wheel 39 and the stopper 37a can be determined very simply based on the deviation between the target stroke and the stroke St.
[0048]
(5) In the present embodiment, the stopper 37 a is integrally formed with the housing 37. For this reason, it is not necessary to provide the stopper 37a separately, and the number of parts can be reduced.
[0049]
In addition, embodiment of this invention is not limited to the said embodiment, You may change as follows.
In the embodiment, the stopper 37a is integrally formed on the inner wall surface of the housing 37. However, a configuration in which a stopper is separately provided and fixed to the housing 37 may be employed.
[0050]
In the embodiment described above, the learning start point is raised based on the predetermined value SA and set as a new learning start point. On the other hand, it may be raised based on the stroke St when the target stroke exceeds the predetermined value SA and set as a new learning start point. Alternatively, it may be raised based on a value slightly smaller than the predetermined value SA to be a new learning start point.
[0051]
In the above-described embodiment, it is determined by comparing the deviation ΔS with the deviation of the target stroke and the stroke St that the contact portion 39b of the worm wheel 39 is in contact with the stopper 37a. On the other hand, the determination may be made by detecting a voltage change or a current (torque) change (such as a lock current of the electric motor) of the DC electric motor 36.
[0052]
In the embodiment, the rotation angle of the worm wheel 39 is detected based on the stroke of the rod 25 corresponding to the rotation angle. In contrast, the rotation angle of the worm wheel 39 may be directly detected by an angle sensor or the like. Further, by utilizing the correspondence of the mechanical connection structure interlocked with the rotation of the worm wheel 39, for example, the rotation of the worm wheel 39 depending on the rotation angle of the rotating shaft of the DC electric motor 36 of the clutch actuator 23 or the power supply amount. You may make it detect an angle indirectly.
[0053]
In the above-described embodiment, the diaphragm spring type clutch is used as the friction clutch 21, but a coil spring type clutch may be used.
In the above-described embodiment, the present invention is applied to learning of the engagement-side stopper point of the clutch actuator 23, but may be applied to other actuators.
[0054]
Next, technical ideas other than the claims that can be grasped from the above embodiments will be described together with the effects thereof.
(A) In the actuator control device according to any one of claims 1 to 3, feedback control of the rotation angle of the worm wheel with respect to a target rotation angle set within a range of a predetermined allowable rotation angle. Thus, the actuator control device rotates the worm wheel so as to contact the stopper. According to this configuration, the worm wheel can be smoothly rotated so as to contact the stopper.
[0055]
(B) In the actuator control device according to (a) above,
The actuator control device, wherein the contact between the worm wheel and the stopper is determined based on a deviation between the target rotation angle and the rotation angle of the worm wheel. According to this configuration, the contact between the worm wheel and the stopper can be determined very simply.
[0056]
(C) The actuator control device according to any one of claims 1 to 3, and (a) and (b), wherein the stopper is integrally formed with the housing. According to this configuration, it is not necessary to provide a separate stopper, so the number of parts can be reduced.
[0057]
【The invention's effect】
As described in detail above, according to the first or second aspect of the present invention, the learning of the engagement-side stopper point can be reliably completed in the factory learning.
[0058]
According to the third aspect of the present invention, since a new learning start point is set by the maximum raising, the repetition of raising the learning starting point can be minimized.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of a vehicle control system according to an embodiment.
2 is a schematic configuration diagram of the clutch actuator of FIG. 1;
FIG. 3 is a flowchart for explaining processing of the ECU in the embodiment.
FIG. 4 is a time chart for explaining processing of the ECU according to the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 23 ... Actuator for clutches, 26 ... Stroke sensor, 36 ... DC electric motor, 37 ... Housing, 37a ... Stopper, 38 ... Worm, 39 ... Worm wheel, 39b ... Contact part, 50 ... ECU.

Claims (3)

A worm driven by an electric motor fixed to the housing, a worm wheel that meshes with the worm and is rotatably supported by the housing, and the worm wheel abuts by rotating more than a predetermined angle of the worm wheel. A stopper, and the electric motor is driven to rotate the worm wheel from the learning start point within the range of a predetermined allowable rotation angle so that the worm wheel and the stopper are in contact with each other. In an actuator control device that learns as a stopper point based on the rotation angle of the worm wheel when in contact,
In learning at the time of factory shipment, when the rotation angle when rotating the worm wheel so as to contact the stopper from the learning start point exceeds the range of the allowable rotation angle, the learning start point is set. The worm wheel is rotated so that it comes into contact with the stopper from the newly raised learning start point, and is learned as a stopper point based on the rotation angle of the worm wheel when the worm wheel and the stopper are in contact with each other. An actuator control device. The actuator control device according to claim 1,
The learning at the time of factory shipment is set by the fact that the stopper point is at an initial value. In the actuator control device according to claim 1 or 2,
A new learning start point obtained by raising the learning start point is set based on the allowable rotation angle.

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