| 摘要 |
PURPOSE: To eliminate torque shift generated by such a state that the power roller offset quantity mechanically fed back for damping speed change control becomes different from the actual state due to disturbance. CONSTITUTION: A feedback system including a cam 7 feeds back a power roller inclined rotation angleϕand controls this value to become the value corresponding to the speed change command value U, and feeds back the power roller offset quantity (y) so as to impart damping effect to control. At the time of determining the speed change command value U, a controller 61 adds the step number SFB corresponding to the deviation between the power roller inclined rotation angleϕfed back through the system 61f and the target inclined rotation angleϕ*, and the step number SDP corresponding to the inclined rotation angular velocity fed back through a computing part 61d, to the step number SFF, corresponding to the target inclined rotation angleϕ*, to determine the speed change command value U. The feedback of the inclined rotation angle eliminates torque shift caused by disturbanceΔy, and the feedback of the inclined rotation angular velocity suppresses hunting. |
