| 摘要 |
PROBLEM TO BE SOLVED: To remove disturbance, compensate deviation of a variable speed ratio, and suppress a sense of incongruity in speed change transition. SOLUTION: The speed change controller has a coefficient calculating part 101 calculating a time variant coefficient f determined in response to a shape of a toroidal transmission part, an output disk rotational frequency, and a tilting angle and representing a relationship between a power roller displacement and a tilting angular velocity, a coefficient differential value calculating part 105 calculating a time differential value of the coefficient f by using the coefficient f, the power roller displacement, the tilting angle, and the output disk rotational frequency, a gain correcting part 107 calculating a correction amount of a control gain where a controlled variable linearly responds to a desired value by using the time differential value of the coefficient f, and a command value calculating part 100 calculating a command value of a speed change actuator by using the correction amount of the control gain, the coefficient f, a desired controlled variable, the power roller displacement, and the tilting angle. |
