US 7,071,638 B2Granted

Actuator control apparatus

AssigneeHonda Motor Co., Ltd.

InventorsYuji Yasui, Kanako Shimojo, Eijiro Shimabukuro

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Abstract

An actuator control apparatus is provided, capable of causing a state value which changes according to the action of an actuator to match a prescribed target value. A synchronizing mechanism is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a first process until the coupling sleeve makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve, and in a process until the coupling sleeve engages a synchronized gear, is set such that the pressing force of the coupling sleeve matches a target pressing force.

Claims17

Dependent claims

An actuator control apparatus, relating to a control object having a plurality of state values changed according to an action of an actuator, comprising:

first state value ascertaining means, which ascertains a first state value which changes according to the action of an actuator;
second state value ascertaining means, which ascertains a second state value different from the first state value which changes according to the action of the actuator;
and
operation amount determining means, which uses a first response specifying control capable of variably specifying the attenuation behavior and attenuation speed of a deviation of the first state value from a first target value such that said first state value matches the first target value, taking at least the deviation as a first state amount, to determine a first operation amount to drive said actuator such that the first state amount is made to converge on an equilibrium point on a first switching function stipulated by a first linear function which takes as a variable the first state amount, and which determines the response characteristic of said first response specifying control such that said second state value matches a second target value.

1 more element

An actuator control apparatus, comprising:

first state value ascertaining means, which ascertains a first state value which changes according to the action of an actuator;
second state value ascertaining means, which ascertains a second state value differing from the first state value which changes according to the action of the actuator;
and
operation amount determining means, which uses response specifying control capable of variably specifying the attenuation behavior and attenuation speed of a deviation of the first state value and a first target value such that said first state value matches the first target value, to determine the operation amount to drive said actuator such that the value of a switching function stipulated by a linear function is made based at least on the deviation to converge on zero, and in addition performs switching, according to said first state value or to said second state value, to set the response characteristic of said response specifying control either according to said first state value, or such that said second state value matches a second target value.

1 more element

Dependencies are inferred from the claim text.

Facts

Application: 10/743,464Filed 23 Dec 2003
Priority: JP 2002-37862426 Dec 2002
Published: US 2004/0145321 A129 Jul 2004
Granted: 4 Jul 2006
Term ends: Not estimatedThe source records don’t support an estimate.

Classification15 codes

G05B 13/0205
Electric: not using a model or a simulator of the controlled system
F16H 59/68
Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion: inputs being a function of gearing status
F16H 61/0403
Smoothing ratio shift: synchronisation before shifting
F16H 61/28
Generation or transmission of movements for final actuating mechanisms: with at least one movement of the final actuating mechanism being caused…