Transmission controller for toroidal continuously variable transmission

A transmission controller of a toroidal continuously variable transmission that changes a transmission ratio by changing a roller position of a power roller with respect to a disc by an actuator to change a tilt angle of the power roller, the transmission controller comprising:

• an actual transmission ratio acquisition unit that acquires an actual value of the transmission ratio;
• a target position calculation unit that calculates a target value of the roller position by closed-loop control so as to reduce a deviation between a command value of the transmission ratio and the actual value of the transmission ratio;
• a gain setting unit that adjusts a gain of the closed-loop control in accordance with a change in a rotation speed of the disc in a first rotation speed range and a second rotation speed range higher than the first rotation speed range,
• wherein the gain setting unit changes, in the first rotation speed range, the gain so that sensitivity of the closed-loop control decreases with an increase in the rotation speed, and changes, in the second rotation speed range, the gain so that a rate of decrease in the sensitivity of the closed-loop control with the increase in the rotation speed is smaller than that in the first rotation speed range.