| 摘要 |
PROBLEM TO BE SOLVED: To restrain torque fluctuation by quickly performing compensation of torque shift while restraining the increase of manufacturing costs. SOLUTION: A trunnion for supporting a power roller pinched between facing surfaces of an input disc and an output disc and able to be tilt-rolled, and able to be displaced in the axial direction by being driven by an actuator, a target gear ratio setting means for calculating the target gear ratio according to the operating state of a vehicle, a shift control means for dispersively controlling a step motor by the specified period T corresponding to a target gear ratio, and a compensating means for compensating the control amount of the actuator according to the deviation between the target gear ratio and the actual gear ratio and input torque are constituted of feedforward compensation for calculating the torque shift compensating amount according to input torque and feedback compensation for calculating the feedback compensating amount according to the deviation between the target gear ratio and the actual gear ratio. The control period T of the feedforward compensation is set to the control period shorter than the control period 8T of the feedback compensation, and the control period T of a step motor is set to the control period not more than the control period of the feedforward compensation. |
