Control device

A control device that controls a torque transmission device, the torque transmission device including an actuator that operates by being energized and a torque transmission portion that is switched to a transmission state or a non-transmission state by the actuator operating, and configured to transmit a torque between a first transmission portion and a second transmission portion when the torque transmission portion is in the transmission state, the control device comprising:

• a target calculation unit configured to calculate a target transmission torque that is a torque to be transmitted between the first transmission portion and the second transmission portion;
• a mode determination unit configured to determine that an operating mode is an engagement mode when the target transmission torque increases over time, determine that the operating mode is a release mode when the target transmission torque decreases over time, and determine that the operating mode is a steady mode when the target transmission torque does not change over time;
• and
• a control unit configured to control the actuator based on the operating mode determined by the mode determination unit, wherein
• the control unit includes
• a feedback control unit configured to perform feedback-control of the actuator based on the target transmission torque,
• a gain setting unit configured to set a gain used for the feedback-control by the feedback control unit,
• a duty calculation unit configured to calculate a duty based on the gain,
• a duty output unit configured to output the duty calculated by the duty calculation unit as an output duty,
• an energization control unit configured to control energization of the actuator based on the output duty output from the duty output unit, and
• a feedback control adjustment unit configured to shift to a control stop mode that causes the feedback control unit to stop the feedback-control of the actuator when a predetermined stop condition is satisfied in a case where the mode determination unit determines that the operating mode is the steady mode, and
• the feedback control adjustment unit stores an integral calculation value in the feedback-control immediately before the feedback control unit stops the feedback-control of the actuator when shifting to the control stop mode, and then restarts the feedback control unit performing the feedback-control of the actuator by using the integral calculation value stored when a predetermined restart condition is satisfied.