| 摘要 |
PROBLEM TO BE SOLVED: To desirably control the speed change in transition by eliminating the influence of a speed change response delay from the variable speed control of a continuously variable transmission including a torque shift compensation. SOLUTION: A target variable speed ratio Ratio 0 is obtained by passing an arrival variable speed ratio Dratio through a filter 1 having a time constant G(s), and in consideration of a speed change response delay expressed with a transmission function Pr(s) of a continuously variable transmission, a target ratio RatioR=C(s) Dratio 0=[pr(s)-1.G(s)]Dratio by the feed- forward control is obtained by using a lead compensator 8 having a time constant C(s)=[P(s)-1.G(s) so that a system surrounded by a dashed lineαincluding the transfer function Pr(s) coincides with the described time constant G(s). A PI computing unit 3 obtains the feedback control variable FERTO on the basis of a deviation between the target variable speed ratio Ratio 0 before the lead compensation and a real variable speed ratio Ratio. A torque shift compensation quantity computing unit 9 obtains the torque shift compensation quantity TSTRO corresponding to the real change gear ratio on the basis of the input torque TKTinTRQ, the target change gear ratio Ratio 0, the torque shift transfer function Pr(s), a reciprocal number Pr(s)-1 of the transfer function Pr(s), and obtains a command variable speed ratio DSRRTO on the basis of RatioR+FERTO+TRSTO for variable speed control.
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