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 control shaft which is rotatably supported, two stoppers, each of which defines an end of a range of rotatability of the control shaft, a motor which drives to rotate the control shaft, and an angle sensor which senses an angular position of the control shaft, the control device comprising:
a learning unit that learns an output of the angle 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, and
wherein when controlling the motor so as to rotate the control shaft from the contact state of the high-rigidity stopper to the contact state of the low-rigidity stopper,
the learning unit identifies a timing of current limit change within a course of change in the angular position of the control shaft, based on a change amount of the angular position of the control shaft from the contact state of the high-rigidity stopper or based on a rotation velocity of the motor, and
the learning unit changes, at the timing of current limit change, a limit value of current supplied to the motor so as to reduce an absolute value of the rotation velocity of the motor.
2. A control method for a vehicle drive mechanism including a control shaft which is rotatably supported, two stoppers, each of which defines an end of a range of rotatability of the control shaft, a motor which drives to rotate the control shaft, and an angle sensor which senses an angular position of the control shaft, the control method comprising:
controlling the motor so as to rotate the control shaft toward a contact state of a high-rigidity stopper of the two stoppers;
learning an output of the angle sensor corresponding to the contact state of the high-rigidity stopper;
controlling the motor so as to rotate the control shaft toward the contact state of a low-rigidity stopper of the two stoppers from the contact state of the high-rigidity stopper;
identifying a timing of current limit change within a course of change in the angular position of the control shaft from the contact state of the high-rigidity stopper to the contact state of the low-rigidity stopper, based on a change amount of the angular position of the control shaft or based on a rotation velocity of the motor;
changing, at the timing of current limit change, a limit value of current supplied to the motor so as to reduce an absolute value of the rotation velocity of the motor;
learning the output of the angle sensor corresponding to the contact state of the low-rigidity stopper; and
controlling the motor based on a learned value of the output of the angle sensor.