KR101957508B1 - Motor control stratage for an electric shift-by-wire system - Google Patents

Abstract

The present invention relates to a motor control strategy of an electric shift lever system, which reflects a lever changing request of a driver in accordance with a rotation state of a motor to prevent unnecessary operation of the motor due to lever operation and increase durability of the electric shift lever system. According to various embodiments of the present invention, a method to control a motor of an electric shift lever system comprises: (a) a step of calculating a target lever position by the lever operation of the driver; (b) a step of starting controlling the motor; (c) a step of receiving a new target lever position by lever operation of the driver during rotation of the motor; (d) a step of checking whether a difference between the current position and the new position of the motor is greater than a preset value; (3) a step of determining whether a new moving direction of a lever corresponds to the same rotating direction as a previous rotating direction of the motor during rotation of the motor; and (f) a step of terminating controlling the motor. Accordingly, during the rotation of the motor, control of the motor in accordance with the new lever operate of the driver is separately performed based on the difference value between the current and new positions and matching with the previous rotating direction of the motor.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motor control strategy for an electric shift lever system,

The present invention relates to a motor control strategy of an electric transmission type shift lever system, and it relates to a motor control strategy of an electric type shift lever system, in which a request for switching a lever of a driver is reflected in accordance with a rotation state of a motor, thereby preventing unnecessary motor operation by lever operation, .

The transmission is a key component in driving a vehicle that increases the rotational power of the engine in accordance with the driving situation of the vehicle, or transmits the reduced power to the wheels according to the driving force of the engine.

The transmission is divided into a manual transmission and an automatic transmission according to the shift mode. In recent years, the automatic transmission has been used in many vehicles because of convenience and soft oscillation since no separate clutch operation is required.

An automatic transmission is an automatic transmission equipped with an automatic transmission equipped with a mechanical shift lever system that shifts to a mechanical link structure via a wire according to a shift mode, and an automatic transmission equipped with an electric shift lever system that shifts using an electrical signal using a substrate instead of a mechanical link structure Is divided.

Unlike the mechanical shift lever system, the electric shift lever system is able to transmit the information of the selected gear range to the electric signal without mechanical connection between the transmission and the shift lever, in spite of the disadvantage that the price is expensive. In recent years, there has been an increasing number of vehicles employing an electric shift lever system, i.e., SBW (Shift By Wire) system.

In the electric-type shift lever system, an electric actuator, that is, an electric motor is rotated to drive the transmission portion (or transmission mechanism) of the automatic transmission to switch the gear position.

The transmission portion mainly includes a detent plate rotatably driven by an electric motor, a manual valve installed to be interlocked with the detent plate to set the shift range of the automatic transmission to a shift range corresponding to the rotational position of the detent plate, And a detent spring that restricts the rotation of the detent plate, limits the shift range (shift range) within a predetermined range, and has regulating means capable of supporting the detent plate.

The current speed change stage can be changed to the speed change stage corresponding to the operation of the shift lever of the driver by controlling the electric motor and rotating the detent plate connected to the rotation axis of the motor.

However, there is a problem that the detent plate may be impacted by the detent plate and the detent spring during the movement of the detent plate from the bone to the acid, or conversely from the mountain to the bone, and noise may be generated by the impact.

To this end, the electric motor may further include a motor portion rotating at a high speed and a deceleration portion decelerating the rotation of the motor portion. And a sensor for outputting a pulse signal corresponding to a change in the rotation angle to control the deceleration of the rotation of the motor section. The rotation state of the motor section is detected based on the pulse signal, and the detected rotation state is fed back, It is possible to control the rotation of the motor.

US Patent Registration No. 8620537 " Shift-by-wire system "

In a general electric type shift lever system, when the target position is changed during the rotation of the motor in the process of properly controlling the motor according to the manipulation of the lever of the driver, if the difference from the new target position is large and the direction of rotation is the same, do.

However, if the new target position is opposite to the direction of rotation of the motor and the difference from the current position is small, a motor control strategy of performing the motor control to the new target position after completing the shift to the direction in which the motor is rotated Respectively.

This is to prevent the motor / controller from generating heat and adversely affecting the system durability if the motor is continuously operated by the lever operation in spite of the driver's nonsensical shift request.

According to various embodiments of the present invention, unnecessary driving of the motor is minimized in consideration of the driver's will, the shape of the detent plate, and the position of the motor at each point of view.

According to various embodiments of the present invention, there is provided a method of controlling an electric motor of an electric shift lever system, comprising the steps of: (a) calculating a target lever position by lever operation of a driver; (b) initiating motor control; (c) receiving a new target lever position by lever manipulation of the driver during motor rotation; (d) checking whether the difference between the current position and the new position of the motor is greater than a predetermined value; (e) determining whether the new movement direction of the lever during motor rotation is the same as the rotation direction of the base motor; And (f) terminating the motor control, wherein the control of the motor according to the operation of the new lever of the driver during the rotation of the motor is performed by comparing the difference between the current position and the new position of the motor, And a control unit for controlling the electric motor of the electric transmission lever system.

Here, the motor control is performed at a first time point in the step (b), the current position of the motor in the step (d) corresponds to a position of the motor at a second time point after the first time point, And the position corresponds to the position of the motor at the third time point after the second time point.

In the step (b), the motor control may include acceleration control when the detent spring is moved from the valley of the detent plate to the mountain, based on the unevenness of the detent plate connected to the motor by one rotation axis, And the deceleration control is performed when the tent spring is moved from the crest in the mountain of the detent plate.

According to various embodiments, if the difference between the motor current position and the new position of the motor in step (d) is greater than or equal to a predetermined value, and the new moving direction of the lever is equal to the initial motor rotation direction in step (e) And the lever position is changed.

According to various embodiments, when the target lever position is changed, the motor may be controlled to a full turn-on state.

According to various embodiments, when the difference between the current position of the motor and the absolute value of the new position is large in the step (d), the absolute value of the new position is relatively larger than that of the motor And controlling the motor.

In addition, the steps (c) to (e) are performed for each of the divided regions according to the shape information of the detent plate after the step (b) when the new target lever position is received. A method for controlling an electric motor of a system.

In addition, the divided regions may be regions divided by the irregularities formed on the detent plate.

According to various embodiments of the present invention, there is provided a method of controlling an electric motor of an electric shift lever system, comprising the steps of: (a) calculating a target lever position by lever operation of a driver; (b) setting a phase of the motor and starting motor control; (c) receiving a new target lever position by lever manipulation of the driver during motor rotation; (d) confirming whether the current phase and the new phase of the motor are the same; (e) determining whether the new movement direction of the lever during motor rotation is the same as the rotation direction of the base motor; And (f) terminating the motor control, wherein control of the motor according to the operation of the new lever of the driver during the rotation of the motor is performed based on whether the current phase and the new phase of the motor are the same, Based on the result of the classification.

In the step (b), the phase is set based on the motor position at the start of the motor control.

In the step (b), the motor control is performed at a first time point. In the step (d), the current phase of the motor corresponds to the phase of the motor at the second time point after the first time point, phase corresponds to the phase of the motor at the third time point after the second time point.

According to various embodiments, if the current phase of the motor is not the same as the new phase of the motor in step (d) and the new moving direction of the lever is the same as the initial motor rotation direction in step (e) .

 According to various embodiments, when the difference between the current phase and the new phase of the motor is large in the step (d), the electric motor is controlled with a greater driving force than in the case where the difference between the current phase and the new phase is relatively small .

According to the motor control method according to various embodiments of the present invention, the driver's request to switch the lever can be reflected in accordance with the rotation state of the motor.

According to various embodiments of the present invention, it is possible to minimize unnecessary driving of the motor in consideration of the shape of the detent plate constituting the electric shift lever system, the position of the motor according to the viewpoint, and the driver's will.

FIG. 1 is a view showing the components constituting the motor control system of the electric transmission shift lever system according to various embodiments of the present invention.
2 is a perspective view showing a detent plate and a detent spring of an electric type shift lever system according to various embodiments of the present invention.
3 (a) is a view showing a state where the detent spring is located at the valley portion of the detent plate, and FIG. 3 (b) is a view showing a state where the detent spring is located at the mountain portion of the detent plate in the shifting process .
FIG. 4 is a view illustrating how the detent plate and the motor of the electric type shift lever system according to various embodiments of the present invention are feedforwardly divided and controlled.
5 is a block diagram showing a motor control method of an electric shift lever system according to various embodiments of the present invention.
6 is a block diagram showing a motor control method of the electric shift lever system according to another embodiment of the present invention.
FIG. 7 is a conceptual view illustrating a state in which a detent plate of an electric type shift lever system according to another embodiment of the present invention is divided into phases.
8 is a block diagram showing a motor control method of the electric shift lever system according to another embodiment of the present invention.

The embodiments described below are provided so that those skilled in the art can easily understand the technical idea of the present invention, and thus the present invention is not limited thereto. In addition, the matters described in the attached drawings may be different from those actually implemented by the schematic drawings to easily describe the embodiments of the present invention.

It is to be understood that when an element is referred to as being connected or connected to another element, it may be directly connected or connected to the other element, but it should be understood that there may be other elements in between. Further, when a member is referred to as being "on " another member throughout the specification, this includes not only when a member is in contact with another member but also when another member exists between the two members.

Further, in connection with the description of the drawings, like reference numerals may be used for similar components. The singular expressions may include plural expressions unless the context clearly dictates otherwise. In this document, the expressions such as "a or b," "at least one of a and / or b," "a, b, or c," or "at least one of a, b, and / Possible combinations. Expressions such as " first ", "second ", and the like, can modify the components regardless of order or importance, and are used to distinguish one component from another component. Expressions such as "A "," B ", "C ", etc. can also be used to qualify the components, regardless of their order or importance, and to limit them only to distinguish one component from another. I never do that.

The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. Means that a feature, number, step, operation, element, component, or combination of features described in the specification is meant to imply the presence of one or more other features, A step, an operation, an element, a component, or a combination thereof.

It should be understood that the term " system " used in the present invention means a system including a plurality of configurations.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an electric shift lever system according to various embodiments of the present invention will be described in detail with reference to the drawings. First, with reference to Figs. 1 to 3, a description will be given of the schematic components of the electric shift lever system according to various embodiments of the present invention.

FIG. 1 is a view showing the components constituting the motor control system of the electric transmission shift lever system according to various embodiments of the present invention. 2 is a perspective view showing a detent plate and a detent spring of an electric type shift lever system according to various embodiments of the present invention. 3 (a) is a view showing a state where the detent spring is located at the valley portion of the detent plate, and FIG. 3 (b) is a view showing a state where the detent spring is located at the mountain portion of the detent plate in the shifting process .

The electric shift lever system of the present invention includes a shift lever sensor 110 for sensing the position of a shift lever 100 that is changed by an operation of a driver and confirming a target shift position, And receives the information from the electric motor position sensor 210 which confirms the speed change stage and the electric motor position sensor 210 of the shift lever sensor 110 and outputs the received information and the shape information of the previously stored detent plate 230 And a controller 300 for controlling the rotational speed of the electric motor 200 based on the rotational speed of the electric motor 200.

The shift lever sensor 110 may be a component that is attached to the shift lever 100 and can detect a change in the position of the shift lever 100 according to an operation of the driver. For example, when the driver operates the shift lever 100 to change the speed change stage from the "mode P" stage to the "mode D" stage, the shift lever sensor 110 recognizes the "mode D" stage as the target shift stage .

In the various embodiments of the present invention, the automatic transmission is provided with a P range as a non-driving range parking range, an R range as a reverse range, an N range as a neutral range, and a D range as a driving range. Here, the P range may correspond to "mode P", the R range may correspond to "mode R", the N range may correspond to "mode N", and the D range may correspond to "mode D". However, this is merely an example of a speed change stage set for the sake of convenience of explanation, but it is not limited thereto.

For example, the D-range may be subdivided into D-1, D-2, D-3, etc. depending on the speed or acceleration of the vehicle.

In each embodiment of the present invention, the respective ranges and corresponding regions of the detent plate 230 are represented as P, R, N, and D, but the present invention is not limited thereto. Depending on the example, they may be combined in different orders or in different ranges.

The detent plate 230 according to various embodiments of the present invention is an element included in the transmission portion according to various embodiments of the present invention and is configured to engage with the detent spring 240 to perform shifting according to the driver's will . ≪ / RTI >

The detent plate 230 may have a generally flat plate shape and may have a fan shape as a whole when viewed from the axial front, and may have a structure in which a plurality of concave portions and convex portions are intersected with each other. Here, the concave portion may have a configuration corresponding to the above-described gear range. The convex portion is located between the respective speed change stages and has a concavo-convex shape and can constitute the boundary between the respective speed change stages.

The detent plate 230 may be integrally formed with the shaft. The detent plate 230 can be rotationally driven by a motor integrally with the shaft. According to one embodiment, the rotational driving force of the motor 200 in the transmission portion may be configured to be converted into linear motion using the detent plate 230 and the shaft.

The detent spring 240 is a resiliently deformable elongate member and may include a detent roller at the end thereof as a movement restricting means. The detent spring 240 can be configured to apply an elastic force to the detent roller in the direction of the center of the detent plate 230, that is, in the depressed direction of the recess. When a motor-driven force is applied to the detent plate 230, the detent roller passes through the convex portions formed between the concave portions and moves to another adjacent concave portion. As a result, shifting can be achieved.

On the other hand, the concave portion of the detent plate may correspond to the speed change stages P, R, N, D of the present invention. The detent plate 230 has an obtuse angle shape corresponding to each of the P, R, N, and D gear positions and a detent spring 230 coupled to the fixed portion 250 by rotation of the detent plate 230 240 is positioned on the valley of the detent plate 230, the corresponding gear position becomes the current gear position. More specifically, the end of the detent spring 240, that is, the detent roller is fitted in one of the plurality of recesses, thereby restricting the rotation of the detent plate 230, whereby the shift range of the automatic transmission is set and supported.

For reference, according to various embodiments of the present invention, the direction in which the detent plate 230 rotates when the shift range is switched from P to the D side can be referred to as normal rotation, and conversely, the shift range is switched from the D side to the P direction The direction in which the detent plate 230 rotates can be referred to as reverse rotation.

An electric motor position sensor 210 according to various embodiments of the present invention may be attached to the electric motor 200 and configured to identify the current position of the electric motor 200. [ Here, the current position of the electric motor 200 may mean the angle at which the rotation axis 220 of the electric motor 200 rotates at the present time.

A detent plate 230 is coupled to the rotating shaft 220 of the electric motor 200 so that the detent plate 230 can be rotated according to the rotation of the rotating shaft 220.

The position information of the detent plate 230 and the detent spring 240 corresponding to the current position of the electric motor 200 may be mapped to a control unit 300 to be described later, When the current position of the motor is grasped, information on the current speed change stage of the vehicle can be grasped.

At this time, the electric motor position sensor 210 preferably includes at least one of an encoder, an inhibitor switch, and a hall sensor for magnetic detection. However, the present invention is not limited thereto, and the rotation angle of the electric motor 200 may be measured Anything that can be done is irrelevant.

The electric motor position sensor 210 can output a pulse signal in accordance with the change of the rotation angle of the electric motor.

Next, the control unit 300 of the present invention will be described. The control unit 300 of the present invention may be a component of a CPU, a TCU (Transmission Control Unit), or an ECU (Engine Control Unit).

The electric shift lever system according to various embodiments of the present invention can be divided into an automatic transmission control unit (not shown), an SBW control unit (not shown), and an engine control unit (not shown) Means a small computer having ROM, RAM, input / output means, etc. as means.

The automatic transmission control unit, the SBW control unit, and the engine control unit may be integrated by the control unit 300 of the present invention. That is, the control unit 300 may mean an integrated CPU. The control unit 300 is electrically connected to a battery (and / or alternator) that is the power source of the vehicle, and can be operated by electric power supplied from the battery.

The automatic transmission control unit drives the automatic transmission of the vehicle by hydraulic pressure. The automatic transmission control system may include a hydraulic circuit for switching the speed range and the speed change stage of the automatic transmission, and an electromagnetic valve for electrically controlling the hydraulic circuit.

A manual valve is provided in the hydraulic circuit, and the hydraulic circuit can be switched by moving in the axial direction. The manual transmission can be set to one of the shift ranges by switching the manual valve to the hydraulic circuit.

The automatic transmission control section receives the detection signal from the vehicle speed sensor that detects the speed of the vehicle, and can control each of the solenoid valves.

The SBW control unit includes an actuator and a transmission mechanism for driving valves and brakes of the automatic transmission control system. Here, the actuator may include the electric motor 200, the electric motor position sensor 210, and the like.

In the actuator, the motor unit may be an SR motor (Switched reluctance motor). According to an embodiment, the permanent magnet may not be used, but may be a brushless motor that includes a rotor made of plump to generate a driving force.

The SBW control unit sequentially energizes the plurality of coils constituting the electric motor at a predetermined timing to rotate the rotor and the shaft constituting the electric motor.

In summary, the control unit 300 of the present invention may include an automatic transmission control unit, an SBW control unit, and an engine control unit, and may control the electric motor according to the speed of the vehicle.

Further, according to various embodiments of the present invention, the controller 300 may include a position information receiver 310, a compensation unit 320, and a determination unit 330 in terms of functions.

First, the position information receiving unit 310 can receive information on the target speed change stage and the current speed change stage from the shift lever sensor 110 and the electric motor position sensor 210, respectively.

The position information receiving unit 310 receives the information about the current position (rotation angle) of the electric motor 200 so that the end of the detent spring 240 is positioned on the mountain or the valley of the detent plate 230 Whether it is in a position to move from a goal to a mountain, or vice versa.

The compensation unit 320 performs feedforward control and proportional integral derivative control (PID) control based on the information received from the position information receiver 310 to control the rotational speed of the electric motor 200 Lt; / RTI > In particular, the compensating unit 320 may calculate the target duty value for rotating the electric motor 200 at a desired speed by performing the feedforward control and the PID control simultaneously or at the same time to correct the duty value.

The compensation unit 320 may perform feedforward control based on the position information of the detent plate 230 and the detent spring 240 detected by the position information receiving unit 310. [ Here, the positional information of the detent plate 230 and the detent spring 240 may mean relative positional information between the detent plate 230 and the detent spring 240.

When the position of the detent spring 240 is changed from the valley to the mountain of the detent plate 230 by the rotation of the detent plate 230, a restoring force is applied by the detent spring 240, 230 may be slowed down.

At this time, the compensation unit 320 according to various embodiments of the present invention performs positive feed-forward control to control the rotation speed of the electric motor 200 more quickly.

On the contrary, when the position of the end of the detent spring 240 is changed from the mountain to the valley of the detent plate 230 by the rotation of the detent plate 230, the restitution force is reversed and the detent plate 230 rotates So that shock and noise can be generated between the detent plate 230 and the detent spring 240 in the process.

For this, the compensation unit 320 according to various embodiments of the present invention performs negative feed forward control to control the rotational speed of the electric motor 200 more slowly.

In other words, the compensation unit 320 performs the feedforward control as described above, so that compensation control of the motor according to the positional relationship between the detent plate 230 and the end portion of the detent spring 240 is possible.

The determination unit 330 compares the current position of the electric motor with the target position after the electric motor 200 is controlled by the compensation unit 320 to determine the current shift position and the target shift position It is determined whether or not the coincidence is reached.

The determination unit 330 may change the control strategy of the electric motor 200 when the current speed change stage and the new speed change stage (new target lever position) do not coincide with each other. If the current gear position and the target gear position coincide with each other, the motor control is stopped until the driver operates the new shift lever 100, or the target lever position (initial lever position) calculated (or computed) In accordance with the conventional motor control strategy according to the present invention.

Next, with reference to Figs. 4 to 7, a method of controlling the electric motor of the electric type shift lever system according to various embodiments of the present invention will be described.

FIG. 4 is a view illustrating how the detent plate and the motor of the electric type shift lever system according to various embodiments of the present invention are feedforwardly divided and controlled. 5 is a block diagram showing a motor control method of an electric shift lever system according to various embodiments of the present invention. 6 is a block diagram showing a motor control method of the electric shift lever system according to another embodiment of the present invention. FIG. 7 is a conceptual view illustrating a state in which a detent plate of an electric type shift lever system according to another embodiment of the present invention is divided into phases.

Referring to FIG. 6, an electric motor control method of an electric shift lever system according to various embodiments of the present invention includes: (a) calculating a target lever position by lever operation of a driver; (b) initiating motor control; (c) receiving a new target lever position by lever manipulation of the driver during motor rotation; (d) checking whether the difference between the current position and the new position of the motor is greater than a predetermined value; (e) determining whether the new movement direction of the lever during motor rotation is the same as the rotation direction of the base motor; And (f) terminating the motor control, wherein the control of the motor according to the operation of the new lever of the driver during the rotation of the motor is performed by comparing the difference between the current position and the new position of the motor, Based on the result of the classification.

The shift lever 100 operated by the driver can be electrically connected to the control unit 300 by the shift lever sensor 110. [

Therefore, when the driver operates the shift lever 100, the intention of the driver is transmitted as an electric signal to drive the electric motor of the present invention.

When the driver operates the shift lever 100, the control unit 300 can calculate (calculate) the target lever position of the driver. Here, the target lever position of the driver can be matched with the target position of the motor.

The change in the physical position of the shift lever 100 is an electrical signal that is input to the control unit 300 and the control unit 300 drives the electric motor 200 of the present invention using the detent plate 230 And the end portion of the detent spring 240 can be changed.

When the target lever position is calculated by the lever operation of the driver, the control unit 300 starts the motor control, and the motor control can be separately controlled according to the shape of the detent plate.

Meanwhile, in the method of controlling an electric motor according to various embodiments of the present invention, the motor control in the step (b) is performed at a first time point, and the current position of the motor in the step (d) The new position of the motor corresponds to the position of the motor at the second time point, and the new position of the motor corresponds to the position of the motor at the third time point after the second time point. That is, the start point (first point of time) of the motor control and the point of time (second point of time) relative to the current position of the motor and the point of time (third point of time) of the target position of the motor may be different from each other. According to one embodiment, the first point in time may precede the second point in time series order, and the second point in time may precede the third point in time. For example, the time unit may have a unit of several milliseconds to several hundreds of milliseconds.

In the method of controlling an electric motor according to various embodiments of the present invention, in the step (b), the motor control is performed by moving the detent spring to the detent plate Acceleration control is performed in the case of moving from the valley of the detent plate to the mountain, and the deceleration control is performed when the detent spring is moved from the valley in the mountain of the detent plate.

Specifically, the motor control of the present invention can be performed as the block diagram shown in Fig. When the motor target position is calculated (S510), motor control is started (S520), and acceleration or deceleration control can be performed according to the shape of the detent plate 230. [ Specifically, when the end (roller) of the detent spring 240 moves from the valley to the mountain of the detent plate 230, the motor can be accelerated, and when moving from the mountain to the goal, the motor can be decelerated . Here, acceleration or deceleration control may be performed by the compensation unit 320.

In the electric motor control method according to various embodiments of the present invention, if a new target lever position is received by manipulating the lever of the driver during motor control (during motor rotation), then (d) the difference between the current position of the motor and the new position (E) It is possible to confirm whether the direction of the new movement of the lever during motor rotation is the same as the rotation direction of the base motor. Here, the order of (c) and (d) may be reversed.

According to various embodiments, the difference between the current position and the new position of the motor may correspond to the current position and the new position of the detent spring 240 end. The difference between the current position and the new position of the motor may be converted into an absolute value. If the absolute value is converted, the difference value is determined based on whether or not the difference value is included in a predetermined range.

According to various embodiments, if the difference between the current position and the new position of the motor in step (d) is greater than or equal to a preset value and the new moving direction of the lever is equal to the initial motor rotation direction in step (e) And changing the position.

That is, the position of the target lever can be changed only if it is greater than a predetermined value in the steps (d) and (e) and the movement direction of the lever satisfies the same condition as the rotation direction of the base motor simultaneously.

On the other hand, if the difference between the current position and the new position of the motor is smaller than the predetermined value in the step (d), it is determined that there is no need to change the target lever position and the motor control can be terminated or the existing motor control strategy can be maintained .

According to an embodiment, in the step (e), when the direction of the new movement of the lever is opposite to the initial rotation direction of the motor, the motor control can be terminated or the existing motor control strategy can be maintained. Here, the direction of the new movement of the lever may mean the direction of movement of the lever by the target stage change. If the new direction of movement of the lever is opposite to the initial direction of rotation of the motor, the operation of the lever of the driver is continuously observed, but the change control of the motor control is not performed.

Toward the target lever position (ex, mode N) calculated in a situation where the end of the detent spring 240 is initially positioned at a speed change stage (ex, mode P) of the detent plate 230, The movement of the end of the first detent spring 240 moves toward the mountain A from the valley P of the detent plate 230 because the gear stage corresponds to the recess. For example, when the difference value is set to exceed the predetermined value when the difference value exceeds the range of 'a-1' in the step (d), the driver's new lever operation (ex, mode P ), The difference between the current position of the motor (included in the a-1 section) and the new position (included in the a-1 section) is not greater than the preset value. Therefore, Acceleration control can be done following (from the goal to the mountain).

And the end of the detent spring 240 moves from the mountain A to the valley R of the detent plate 230. For example, when the difference value is set to exceed the predetermined value when the difference value exceeds the range of 'a-1' in the step (d), the driver's new lever operation (ex, mode P , The difference between the current position of the motor (included in the b-1 section) and the new position (included in the a-1 section) is larger than the predetermined value, but the initial rotation direction of the motor (forward direction) Since the directions (opposite directions) are opposite to each other, the motor control can be terminated or the deceleration control can be made according to the existing motor control strategy (since the goal is pointed at the mountain).

The above embodiments are for convenience of description and can be inferred from various other embodiments.

For example, in the above embodiment, it is assumed that the first gear position (the first gear position) is 'mode P'. Alternatively, the first gear position may be referred to as 'mode R', 'mode N' It can be set to either one.

In the above embodiment, it is assumed that the target lever position (the shift position at the second time point) by the lever manipulation of the driver corresponds to the 'mode N'. Alternatively, the target lever position by the lever manipulation of the driver may be referred to as' Mode R ', or' mode D '.

In addition, in the above embodiment, it is assumed that the new target lever position (the shift position at the third time point) also corresponds to 'mode P', but the target lever position by the driver's new lever operation is referred to as 'mode R' 'Or' mode D '.

According to various embodiments of the present invention, when the difference between the current position and the new position of the motor is greater than or equal to a predetermined value in step (d), and the new moving direction of the lever is the same as the rotating direction of the motor When the target lever position is changed, the motor can be controlled to the full turn-on state. So that a quick shift can be made, reflecting the willingness of the driver to shift.

If the difference between the current position of the motor and the absolute value of the new position is large in the step (d), the electric motor is controlled with a greater driving force than when the difference between the absolute value of the new position and the current position of the motor is relatively small You may.

Referring to FIG. 7, if the current position of the motor corresponds to the mode P and the new position (the newly set position) corresponds to the mode D, the current position corresponds to the mode P and the new position corresponds to the mode N It is possible to control the electric motor by applying a larger driving force than in the case of Fig.

According to various embodiments of the present invention, the steps (c) to (e) may include: when the new target lever position is received, performing the step (b) Further, the divided region may be a region divided by the irregularities formed on the detent plate.

This may mean resetting the control method of the electric motor described above with the protrusions (projections) formed on the detent plate as a boundary.

Next, with reference to FIG. 8, a description will be made of a motor control method of the electric type shift lever system according to another embodiment of the present invention.

8 is a block diagram showing a motor control method of the electric shift lever system according to another embodiment of the present invention.

The motor control method here is characterized in that the phase of the motor is discriminated based on the rotation angle. The same contents as those of the above-described embodiment based on Fig. 6 will be omitted below.

A method of controlling an electric motor of an electric shift lever system according to various embodiments of the present invention includes the steps of: (a) calculating a target lever position by lever operation of a driver; (b) setting a phase of the motor and starting motor control; (c) receiving a new target lever position by lever manipulation of the driver during motor rotation; (d) confirming whether the current phase and the new phase of the motor are the same; (e) determining whether the direction of movement of the lever by the target stage change during the motor rotation is the same as the rotation direction of the base motor; And (f) terminating the motor control, wherein control of the motor according to the operation of the new lever of the driver during the rotation of the motor is performed based on whether the current phase and the new phase of the motor are the same, Based on the result of the classification.

According to various embodiments, the phase in the step (b) may be set based on the motor position at the start of the motor control.

In the step (b), the motor control is performed at a first time point. In the step (d), the current phase of the motor corresponds to the phase of the motor at the second time point after the first time point, phase corresponds to the phase of the motor at the third time point after the second time point.

According to the method for controlling the electric motor of the electric shift lever system according to various embodiments of the present invention, the current phase of the motor and the new phase of the motor are not the same in the step (d) and the target phase change It is possible to perform control to change the target lever position when the direction of movement of the lever by the motor is equal to the rotation direction of the motor.

7, six phases are set with respect to each of the valleys (P, R, N, D) and the acids (A, B, C) of the detent plate 230 as one of various embodiments Is shown. Here, the six phases may be formed with a slight difference from each other depending on the shape of the detent plate 230.

According to various embodiments, when the first gear position at the start of the motor control is set to P, a number of 6, 5, 4, 3, 2, or 1 may be assigned to each phase for not P control. Based on the phase shown in FIG. 7, according to various embodiments, the phase of the odd-numbered phase (e.g., phase P in FIG. 7) (eg, phases 6, 4, and 2 of FIG. 7 are applicable), the motor may be accelerated (or full turn-on). Here, based on the current position of the motor, it is possible to perform control for terminating the motor control or reducing the motor speed for the even-numbered phase (ex, phase 5, 3, 1 in FIG. When the motor reaches the target position (mode D in FIG. 7), the phase becomes 0 and the control can be terminated.

According to the embodiment, when the target stage is changed by the lever operation of the driver during the motor rotation, it is determined whether the new lever movement direction and the initial rotation direction of the motor are the same direction, have. When the direction of the new lever movement is the same as the direction of rotation of the motor (forward direction), it is possible to perform acceleration (or full turn-on) control on odd-numbered phases based on the current position of the motor. Here, based on the present position of the motor, it is possible to perform control for terminating the motor control or decreasing the speed for the even-numbered phases.

When the difference between the current phase and the new phase of the motor is large in the step (d), the electric motor can be controlled with a greater driving force than when the difference between the current phase and the new phase is relatively small. According to various embodiments, in the case of Phase # 6 in which the distance from the current position of the motor to the new target position is the longest, the electric motor is driven with a driving force larger than that of Phase # 4 and Phase # 2, Can be controlled.

According to various embodiments of the present invention, when the motor is controlled by setting the phase based on the rotation angle of the motor, the calculation of the current position and the new position of the motor becomes simple.

It should be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. And will be apparent to those skilled in the art to which the invention pertains.

100: Shift lever
110: Shift lever sensor
200: Electric motor
210: Electric motor position sensor
220:
230: Detent plate
240: Detent spring
250:
300:

Claims (13)

A method of controlling an electric motor of an electric shift lever system,
(a) calculating a target lever position by lever operation of a driver;
(b) initiating motor control;
(c) receiving a new target lever position by lever manipulation of the driver during motor rotation;
(d) checking whether the difference between the current position and the new position of the motor is greater than a predetermined value;
(e) determining whether the new movement direction of the lever during motor rotation is the same as the rotation direction of the base motor; And
(f) terminating the motor control;
Wherein the control is performed based on whether the control of the motor in accordance with the operation of the new lever of the driver during the motor rotation is based on whether the difference between the current position and the new position of the motor coincides with the initial rotation direction of the motor. A method of controlling an electric motor of a shift lever system.
The method according to claim 1,
In the step (b), the motor control is performed at a first time point,
In the step (d), the current position of the motor corresponds to the position of the motor at the second time point after the first time point, and the new position of the motor corresponds to the position of the motor at the third time point after the second time point Wherein the electric motor is an electric motor.
The method according to claim 1,
In the step (b), the motor control performs acceleration control when the detent spring is moved from the valley of the detent plate to the mountain, based on the unevenness of the detent plate connected to the motor by one rotation axis, Is decelerated when it is moved from the crest in the mountain of the detent plate.
The method according to claim 1,
If the difference between the motor current position and the new position of the motor in step (d) is greater than or equal to a preset value, and the new moving direction of the lever is the same as the initial motor rotation direction in step (e) Wherein the electric motor is an electric motor.
5. The method of claim 4,
And when the target lever position is changed, the motor is controlled to the full-turn-on state.
5. The method of claim 4,
In the step (d), when the difference between the current position of the motor and the absolute value of the new position is large, the electric motor is controlled with a greater driving force than when the difference between the current position of the motor and the absolute value of the new position is relatively small Wherein the electric motor of the electric shift lever system is controlled.
The method according to claim 1,
Wherein the steps (c) to (e) are performed for each of the divided regions according to the shape information of the detent plate after the step (b) when the new target lever position is received. A method for controlling an electric motor. 8. The method of claim 7,
Wherein the divided region is an area defined by the unevenness formed on the detent plate.
A method of controlling an electric motor of an electric shift lever system,
(a) calculating a target lever position by lever operation of a driver;
(b) setting a phase of the motor and starting motor control;
(c) receiving a new target lever position by lever manipulation of the driver during motor rotation;
(d) confirming whether the current phase and the new phase of the motor are the same;
(e) determining whether the new movement direction of the lever during motor rotation is the same as the rotation direction of the base motor; And
(f) terminating the motor control;
Wherein the control of the motor in accordance with the operation of the new lever of the driver is performed based on whether the current phase and the new phase of the motor are the same or not and whether the motor is in the initial rotation direction during the motor rotation. A method of controlling an electric motor of a shift lever system.
10. The method of claim 9,
Wherein the step (b) sets the phase based on the motor position at the start of the motor control.
11. The method of claim 10,
In the step (b), the motor control is performed at a first time point,
In the step (d), the current phase of the motor corresponds to the phase of the motor at the second time point after the first point of time, and the new phase of the motor corresponds to the phase of the motor at the third point of time after the second point of time Wherein the electric motor is an electric motor.
10. The method of claim 9,
Wherein the target lever position is changed when the current phase of the motor and the new phase of the motor are not the same in the step (d) and the new moving direction of the lever is the same as the rotating direction of the motor in the step (e) A method of controlling an electric motor of a shift lever system.
13. The method of claim 12,
Wherein when the difference between the current phase and the new phase of the motor is large in the step (d), the electric motor is controlled with a greater driving force than when the difference between the current phase and the new phase of the motor is relatively small. A method for controlling an electric motor of a system.

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