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 so that the learning for a high-rigidity stopper of the two stoppers is executed prior to the learning for a low-rigidity stopper of the two stoppers,
wherein when the low-rigidity stopper is brought into the contact state, the learning unit changes an upper limit value of an operation variable of the actuator to a smaller value along with an increase in an amount of change in the output of the sensor from the contact state of the high-rigidity stopper, and
wherein during a late period of movement after the amount of change in the output of the sensor from the contact state of the high-rigidity stopper reaches a predetermined value, the learning unit changes the upper limit value to a smaller value along with a speed reduction of the moving body moving toward a position corresponding to the contact state of the low-rigidity stopper.
2. 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;
changing an upper limit value of an operation variable of the actuator to a smaller value along with an increase in an amount of change in the output of the sensor from the contact state of the high-rigidity stopper when moving the moving body toward the low-rigidity stopper from the contact state of the high-rigidity stopper;
changing the upper limit value to a smaller value along with a speed reduction of the moving body moving toward a position corresponding to the contact state of the low-rigidity stopper during a late period of movement after the amount of change in the output of the sensor from the contact state of the high-rigidity stopper reaches a predetermined value;
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.