Control device and control method for vehicle drive mechanism
The present invention relates to a control device and to a control method for a vehicle drive mechanism including a moving body having a movability range regulated by two stoppers, and a sensor which senses a position of the moving body. The control device of the present invention learns an output of the sensor corresponding to a contact state of a high-rigidity stopper, and limits, to a lower level, an operation variable of the actuator for moving the moving body toward a low-rigidity stopper along with an increase in an amount of change in the output of the sensor from the contact state of the high-rigidity stopper. Then, the control device learns the output of the sensor corresponding to the contact state of the low-rigidity stopper, and controls the actuator based on the output of the sensor learned at both the stopper positions.
1. A control device for a vehicle drive mechanism including a moving body which is movably supported, two stoppers, each of which defines an end of a movability range of the moving body, an actuator which drives the moving body in a moving direction, and a sensor which senses a position of the moving body, the control device comprising:
a learning unit that learns an output of the sensor corresponding to a contact state of each of the two stoppers,
wherein the learning unit executes the learning for a high-rigidity stopper of the two stoppers prior to the learning for a low-rigidity stopper of the two stoppers.
2. The control device for a vehicle drive mechanism according to claim 1 ,
wherein when the low-rigidity stopper is brought into the contact state, the learning unit limits an operation variable of the actuator to a lower level along with an increase in an amount of change in the output of the sensor from the contact state of the high-rigidity stopper.
3. The control device for a vehicle drive mechanism according to claim 2 ,
wherein the learning unit limits the operation variable for moving the moving body toward the low-rigidity stopper to a lower level than the operation variable for moving the moving body toward the high-rigidity stopper.
4. The control device for a vehicle drive mechanism according to claim 2 ,
wherein when the low-rigidity stopper is brought into the contact state, the learning unit changes an upper limit value of the operation variable to a smaller value in accordance with an increase in the amount of change in the output of the sensor from the contact state of the high-rigidity stopper.
5. The control device for a vehicle drive mechanism according to claim 2 ,
wherein the actuator is a motor, and
wherein the learning unit limits at least one of a current and an applied voltage of the motor.
6. The control device for a vehicle drive mechanism according to claim 1 ,
wherein the high-rigidity stopper is a stopper, closer to the actuator, of the two stoppers.
7. A control method for a vehicle drive mechanism including a moving body which is movably supported, two stoppers, each of which defines an end of a movability range of the moving body, an actuator which drives the moving body in a moving direction, and a sensor which senses a position of the moving body, the control method comprising:
moving the moving body toward a high-rigidity stopper of the two stoppers;
learning an output of the sensor corresponding to a contact state of the high-rigidity stopper;
moving the moving body toward a low-rigidity stopper of the two stoppers from the contact state of the high-rigidity stopper;
limiting, to a lower level, an operation variable of the actuator for moving the moving body toward the low-rigidity stopper from the contact state of the high-rigidity stopper along with an increase in an amount of change in the output of the sensor from the contact state of the high-rigidity stopper;
learning the output of the sensor corresponding to the contact state of the low-rigidity stopper; and
controlling the actuator based on a learned value of the output of the sensor.