| 摘要 |
PURPOSE:To make lowering speed concerning a command value of jointing pressure coincide with a hardware limit at the time of lowering the jointing pressure to release at the time of changing speed at a comparatively large set rate of change by feed forward control at the beginning of speed change. CONSTITUTION:In the case when a release side pressure command value PRS1 is set to exceed a hardware limit and to quickly lower, lowering of release side pressure PR1 is slightly delayed against it, feed back control at the time of an instant t2 after it causes delay of response, and an effective gear ratio g1 overshoots from a set value ge and races. This phenomenon is grasped by an integral value g1 and by delaying lowering speed of a release side pressure command value from PRS1 to PRS2 in the drawing by learning control, it is made close to the hardware limit. In this case, there is no large deviation caused between the release side pressure command value PRS2 and the release side pressure PR2, and it is possible to solve a problem. |
