WO2005057051A1

WO2005057051A1 - Electric actuator and control device thereof

Info

Publication number: WO2005057051A1
Application number: PCT/JP2003/015890
Authority: WO
Inventors: Toshiyuki Ajima; Hiroshi Kuroiwa; Hiroaki Saeki; Hideki Miyazaki; Ryoichi Naganuma
Original assignee: Hitachi, Ltd.
Priority date: 2003-12-11
Filing date: 2003-12-11
Publication date: 2005-06-23
Also published as: JPWO2005057051A1

Abstract

An electric actuator (10) capable of rapidly and smoothly switching a transmission torque and allowing a device cost to be lowered and a device size to be reduced and a control device thereof, the electric actuator (10) comprising a motor (40) outputting a torque, a torque distribution means (50) receiving the rotating motion of the motor and distributedly outputting the motion to two output shafts (53, 54), a rotation constraining means (60) selectively constraining the rotating motions of the two output shafts (53, 54) of the torque distribution means (50), a motion conversion means (70) receiving the rotating motion of one of the two output shafts (53, 54) and converting the motion into a reciprocating motion, and an output shaft (80) receiving the rotating motion of the other output shaft to perform a rotating motion and receiving the reciprocating motion to perform a reciprocating motion.

Description

Motorized actuator and its control device

The present invention relates to a motorized actuator and its control device, and more particularly to a motorized actuator which causes one output shaft to perform rotational motion and reciprocating motion with one motor and its control device. Background art

Heretofore, a shift of a vehicle using a synchronous mesh-type gear transmission has been performed by changing the meshing of the gears in the transmission (changing the gear ratio). Specifically, such a transmission selects (selects) an appropriate clutch from a plurality of coupled clutches that are torque transmitting means by using an electric actuator, and then selects the selected clutch. The gear ratio is changed by driving the gear (shift operation) and automatic shifting is performed. And, usually, in order to perform the select operation and the shift operation, one automatic transmission needs a plurality of electric actuator units in accordance with the number of operations.

In order to solve these problems, the specification of Japanese Patent Laid-Open No. 2 00 0 3 5 1 2 7

An electric select shift device is disclosed that performs select operation and shift operation (two operations) using one electric motor. This motorized select shift device has the following two configurations to control two operations independently with one electric motor. First, in this device, the output shaft of the motor is hollow and a select shift shaft is provided in the output shaft so as to be able to perform a select operation or a shift operation. The motor's output shaft and the select shift shaft are engaged via a ball screw mechanism. Second, in this device, an electromagnetic clutch is installed between the output shaft of the electric motor that generates the driving force and the rotating shaft that transmits the torque to the control target. Then, in this device, when the electromagnetic clutch is excited, the output shaft of the motor and the select shift shaft synchronously rotate, and the select operation is performed. On the other hand, When the latch is de-energized, rotation of the select shift shaft is restricted.

However, with such a mechanism, the friction surface of the electromagnetic clutch directly handles the transfer torque, so a large electromagnetic clutch is required. In addition, when switching the operation, a sudden torque fluctuation occurs, causing vibration in the device. Since this vibration may affect the controllability of the controlled object, it is desirable to stop the motor when switching the operation. In this way, repeated start and stop of the motor results in excessive dead time.

Furthermore, since the torque and speed required for the two operations are different from each other, it is necessary to select and control the motor capacity in accordance with the required torque and speed. Then, if the motor is selected so as to satisfy the necessary drive conditions from the relationship between the load torque and the required operating speed, the size of the motor will be increased. Also, even if simply using a reduction gear, at the design stage, minimize the installation space, select a reduction gear with an optimal reduction ratio, and determine the motor spec to match the reduction gear. It is difficult.

The present invention has been made in view of such problems, and the purpose of the present invention is to be able to switch the transmission torque quickly and smoothly, to reduce the device cost, and to make the device compact. It is to provide an electric motor and its control system. Disclosure of the invention

In order to achieve the above object, an electric actuator according to the present invention comprises: a motor that outputs a rotational torque; torque distribution means that distributes the rotational torque and outputs the two as output as rotational motion; Rotary restraint means for selectively restraining the rotational movement of the output shaft; converting the rotational movement of one of the two output shafts, receiving it for reciprocation and receiving the rotational movement of the other output shaft Output shaft that rotates

, Is characterized by including. Further, in the electric actuator according to the present invention, the torque distribution means is a planetary gear mechanism including a sun gear, a planetary gear and a ring gear, and the rotation shaft of the sun gear rotates with an output from the motor. The revolving shaft of the planetary gear, and the rotating shaft of the ring gear;

It is characterized in that it is one of two output shafts. Further, in the motor-driven factor according to the present invention, the torque distribution means may rotate on an input gear and an rotation shaft which is mated with the input gear and is perpendicular to the input rotation shaft of the input gear. Two pinion gears that rotate, an output gear that meshes with the two pinion gears and rotates coaxially with the input rotary shaft, and a ring gear that supports the two pinion gears and rotates integrally with the pinion gear. A differential gear that engages with the ring gear, and a select member that rotates in conjunction with the ring gear, wherein the rotation shaft of the input gear is a shaft that rotates with the output from the motor, and the output gear The rotary shaft of the carrier and the rotary shaft of the select member are any one of the two output shafts. Furthermore, in the motorized actuator according to the present invention, the output shaft of one of the two output shafts and the output shaft are screwed with each other, and the other output shaft of the two output shafts and the output shaft When the other output shaft is restrained, the output shaft reciprocates, and when the other output shaft is restrained. The output shaft is characterized by the rotational movement.

The motor-driven actuator of the present invention configured as described above has two output shafts for one motor, and can select the output shaft to be restrained by the rotation restraining means. In addition, since rotary motion is converted to reciprocating motion, it becomes possible to selectively perform two types of motion with one motor, which makes it possible to realize downsizing and cost reduction of the device.

Furthermore, since the torque distribution of the motor's rotational torque is possible, the two output shafts can operate at the same time, and with such a configuration, it is possible to smoothly start the rotation, and switch the torque transmission path. It is possible to suppress the sudden change of the transmission torque at the time. Also, if the ratio of torque distribution is properly selected, the motor output can not be changed significantly, so two motors with different capacities will not be controlled separately. In the case of using a planetary gear or a differential gear, each gear ratio can be made large, which is preferable when the transmission torque is large.

Further, in the electric actuator according to the present invention, the rotation restraint means is a solenoid. An activator, and a restraint member coupled to the solenoid actuator.

According to an excited state of the solenoid actuator, the restraint member is characterized in that either of the two output shafts is restrained and / or not restrained. Further, in the electric actuator according to the present invention, the rotation restraint means includes two clutches of an electromagnetic type and a hydraulic type, and either of the two output shafts is restrained in accordance with engagement or non-engagement of the clutch. And / or unconstrained.

The electric actuator of the present invention configured as described above can independently control the rotational restraint force by employing the electromagnetic clutch or the hydraulic clutch, so that the torque distribution amount in the torque distribution means can be finely controlled. It becomes possible to control the torque distribution in the aforementioned shift operation and select operation.

Further, an electric shift device according to the present invention includes: the electric actuator; and a control device for controlling the motor and the rotation restricting means. The electric shift device is for a synchronous mesh gear transmission of a vehicle. When used for such an application, the transmission may have transmission means for changing the transmission, and the control device may use the transmission device based on the operation of the transmission means. Control the motor and the rotational restraint means. As described above, also when the present invention is applied to a synchronous meshing gear transmission of a vehicle, it is possible to smoothly and quickly shift the transmission.

Further, an electric actuator controller according to the present invention is a control device for controlling the electric actuator shown above, which is a motor control means for controlling the motor, and a restraint control means for controlling the rotation restraint means. It is characterized by having. Further, the electric actuator controller according to the present invention is characterized in that, when the restraint control means selects and changes the restraint of the two output shafts, a non-restraint time is provided for a predetermined time.

As described above, the output torque of the motor can be properly distributed by providing an overlapping time in which the two output shafts are not constrained by the rotation constraining means and rotate at the same time. It is not necessary to increase the size of the motor if the lap time is set to the falling or rising edge of both select and shift operations. Furthermore, since the motor does not stop, the time required for switching the torque transmission path can be reduced, and continuous motor rotation can be achieved, and a series of speed change operations can be shortened. It can be done between.

Furthermore, when switching the drive, there is time for both to rotate on the way, so the rotational torque of the motor is smoothly transferred to the two output shafts. Furthermore, it is possible to suppress the rapid transmission torque fluctuation that occurs when switching the torque transmission path.

Further, the electric actuator controller according to the present invention is characterized in that the motor control means performs field weakening control by controlling the phase of the current supplied to the motor when the number of revolutions required of the motor is high. There is.

The motor actuator controller according to the present invention configured as described above requires even one motor by shifting to field weakening control set from the relationship between load torque and response speed required for two control targets. Speed torque characteristics can be obtained, and the response of the optimum actuator can be obtained.

Further, in the electric actuator controller according to the present invention, the control unit of the motor selects the capacity of the motor according to an output shaft which provides the largest required torque among two output shafts. There is.

In the motor actuator controller of the present invention configured as described above, there is no need to increase the size of the motor by appropriately selecting the motor in addition to the field-weakening control. It can be done.

The motorized actuator control device according to the present invention further comprises: motor angle detection means for detecting the rotation angle of the motor, wherein the motor control means is for detecting the detected motor angle, the number of rotations of the motor, and the output shaft. The displacement amounts of the two output shafts are calculated from the rotational ratio of the rotational speed of the motor and the torque distribution amount distributed by the torque distribution means, and control is performed so that the calculated displacement amounts match the target value. It is characterized by

The electric actuator controller according to the present invention configured as described above can detect and control the displacement of two controlled objects with only one rotation position detection sensor, thereby enabling space saving and cost reduction. It becomes.

A control method of an electric actuator according to the present invention is the control method of the electric actuator shown above, which controls the rotational torque of the motor, and It is characterized in that the rotational movement and / or the reciprocation movement of the output shaft is controlled by selectively restraining the rotational movement of the output shaft.

Further, the control method of the motorized actuator according to the present invention is characterized in that the non-restraint time is set to a predetermined time when the restraint of the two axes is selectively changed. The control method of the electric actuator according to the present invention is characterized in that field weakening control is performed by controlling the phase of the current supplied to the motor when the number of revolutions required of the motor is high.

In the control method of an electric actuator according to the present invention, the rotational angle of the motor is detected, the motor detection angle, the rotational speed of the motor and the rotational ratio of the rotational speed of the output shaft, and the torque distribution unit. The amount of displacement of the two output shafts is calculated from the amount of torque distribution distributed in and the control is performed so that the amount of displacement matches a target value. Brief description of the drawing '

FIG. 1 is a schematic view of the entire vehicle when the electric actuator according to an embodiment of the present invention and its control device are applied to a synchronous meshed gear transmission of the vehicle.

Fig. 2 is a diagram for explaining the operation of the star gear mechanism which is one component of the torque distribution means of the electric motor shown in Fig. 1. (a) is a device configuration of the planetary gear mechanism viewed from the front. It is a figure, (b) is a conceptual diagram showing when a rotation restraint means restrains a carrier, (c) is a conceptual diagram showing when a rotation restraint means restrains a ring, d) is a collinear diagram of the planetary gear in the state of (b) and (c).

Fig. 3 is a diagram for explaining the position control of the electric shift device shown in Fig. 1. (a) is a diagram showing a manual shift knob of the vehicle, and (b) is a diagram of the shift arm. (C) is a diagram for explaining the shift operation, (c) is a diagram for explaining the select operation of the shift arm, (d) is a shift operation and select operation of the motorized actuator shown in FIG. 1 (E) is a timing chart of the shift operation and select operation when operated using (a). FIG. 4 is a diagram showing the motor characteristics of the motorized actuator in the embodiment of FIG.

FIG. 5 is a diagram showing a second embodiment of the present invention.

FIG. 6 is a diagram showing a third embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

First Embodiment

Hereinafter, several embodiments of the motorized actuator of the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is an overall schematic view of a vehicle in which the electric shift device 100 including the electric actuator 10 according to the first embodiment of the present invention is applied to a synchronous meshed gear transmission (automatic transmission 20) of the vehicle. It is.

The electric shift device 100 shown in FIG. 1 comprises an electric actuator 10 and an electric motor controller 90 for controlling the actuator 10.

Then, the electric shift device 100 according to the present embodiment controls the electric actuator 1 0 with the electric actuator controller 90 to select (select) the shift selectors 3 0 and 3 1 to Shift the transmission of the vehicle. The configuration of the automatic transmission 20 and its operation will be described below. The automatic transmission 20 is provided with an input shaft 4, a counter shaft 5 and an output shaft 6 as shafts for transmitting power, and each shaft is for transmitting torque to these shafts 4, 5, 6. A plurality of gears 2 1 to 2 8 and interlocking clutches 3 0 A and 3 1 A for selecting and connecting the gears 2 1 to 2 8 are provided.

The input shaft 4 is a shaft to which the torque from the engine (motor) 1 is input, and the drive gear 21 is fixed. Further, the counter shaft 5 is juxtaposed to the input shaft 4 and the output shaft 6. The counter shaft 5 is provided with a counter gear 22 and is engaged with the drive gear 21. Besides, the first drive gear 23, the second drive gear 24 and the third drive gear 25 are fixed to the counter shaft 5, while the output shaft 6 of the automatic transmission 20 is Provided coaxially with the input shaft 4, A driven gear 26, a second driven gear 27 and a third driven gear 28 are provided for rotation. The first driven gear 26 is in engagement with the first drive gear 23, the second driven gear 27 is in engagement with the second drive gear 24, and the third driven gear 28 is It is combined with the third drive gear 25.

Then, between the first driven gear 26 and the second drive gear 23, the first driven gear 26 is engaged with the output shaft 6 or the second driven gear 27 is engaged with the output shaft 6. In order to make it possible, the coupling clutch 3 1 A with the synchronizer mechanism is axially supported.

Similarly, between the third driven gear 28 and the drive gear 21, the third driven gear 28 is engaged with the output shaft 6 or the input shaft 4 is engaged with the output shaft 6. , Joint clutch 3 OA with synchronizer mechanism is pivotally supported. Here, torque transmission of the automatic transmission 20 and its operation will be described. The torque input to the automatic transmission 20 is transmitted as follows. A first friction clutch 3 is provided on an engine shaft 2 which is an output shaft of the engine 1. The first friction clutch 3 couples the engine shaft 2 to the input shaft 4 of the automatic transmission 20 by the pressing force generated on the first friction clutch 3. Then, the torque of the engine 1 is transmitted to the input shaft 4 of the automatic transmission 20 along with the connection. Also, by using a first clutch drive device (not shown), control of the pressing force (clutch transmission torque) generated on the first friction clutch 3 is performed to adjust the torque. That is, with the adjustment of the pressing force by the operation of the second clutch drive device, it becomes possible to adjust the amount of torque to be transmitted, disconnected and transmitted from the engine shaft 2 of the engine 1 to the input shaft 4. .

The torque input to the input shaft 4 of the automatic transmission 20 is transmitted to the counter shaft 5 by the combination of the drive gear 21 and the counter gear 22. Here, the torque of the counter shaft 5 is transmitted to the output shaft 6 as one of the joint clutches 3 O A and 3 1 A moves in the direction of the output shaft.

Specifically, in the case of transmitting the rotational torque of the counter shaft 5 to the output shaft 6 via the meshing clutch 3 1 A, move the meshing clutch 3 1 A in the axial direction of the output shaft 6 to mesh the meshing clutch 3 1 A is engaged with the first driven gear 2 6 or the second driven gear 2 7 Let ■

When the rotational torque of the input shaft 4 is to be transmitted to the output shaft 6 via the interlocking clutch 3 OA, move the interlocking clutch 3 OA in the axial direction of the output shaft 6 to set the interlocking clutch 3 OA Engage with 3 driven gear 2 8 or input shaft 4.

Then, from the first drive gear 23, the second drive gear 24, or the third drive gear 25 through the first driven gear 26, the second driven gear 27, or the third driven gear 28 The obtained rotational torque or the rotational torque of the input shaft 4 directly transmitted to the output shaft 6 is transmitted to the axle 8 via the differential gear 7 to rotate the drive wheel 9.

Thus, there is an electric shift device 100 described later as a device for moving the coupling clutch 3 0 A, 3 1 A, and one of the shift selectors 3 0, 3 1 is selected (selected). Slide shift selector 3 0, 3 1, shift shaft 3 0 B, 3 1 B and shift fork 3 0 C, 3 1 C to operate meshing clutch 3 0 A, 3 1 A.

The automatic transmission 20 shown in FIG. 1 described above indicates a transmission corresponding to 1st to 4th gears, but if the functions of 5th gear and pack gear are added, the automatic transmission 20 is further added. , Fourth and fifth drive gears, fourth and fifth driven gears respectively engaged with the fourth and fifth drive gears, and a wedge supported between the fourth driven gear and the fifth driven gear Matching clutch and force Automatic transmission 20 is added. Also, the operation of these toothed wheels and the meshing clutch is similar to that of the gears 21 to 28 and the meshing clutch 3 OA, 31 A described above.

Next, the electric shift device 100 will be described. The electric shift device 100 is an electric actuator 10 consisting of a motor 40, torque distribution means 50, rotation restriction means 60, motion conversion means 70, shift arm (output shaft) 80, and An electric actuator controller 90 for controlling the electric actuator 1 0 is provided. First, the motor 40 receives the power signal d of the motor actuator control unit 90.

A power source for rotating and / or reciprocating the shift arm 80 of the motorized actuator 10. As shown in FIG. 1, the motor 40 has a motor shaft 41, a rotor 42, a stator 43 and a rotational position sensor 45. It is a lassless motor. As the motor 40, a permanent magnet is used for the rotor 42, and a stator 43 is used by winding a three-phase winding wire 44.

In order to rotate the motor 40, a current is supplied to the three-phase winding 4'4 in accordance with the rotational position of the rotor 42. Specifically, the motor 40 outputs the position signal a output from the rotational position detection sensor 45 of the rotor 42 to the electric actuator controller 90, and the electric actuator controller 90 to the motor 4. A power signal d for driving 0 is input. Then, the three-phase winding wire 44 is energized via an inverter circuit for generating a three-phase alternating current (not shown). As a result, the rotational torque of the motor 40 is output to the motor shaft 41.

Although a brushless DC motor is applied to the motor 40, the present invention is not limited to the brushless DC motor, and may be a power source such as a DC motor, a stepping motor, or an induction motor.

Next, the torque distribution means 50 will be described. The torque distribution means 50 includes a planetary gear mechanism (which will be described in detail later with reference to FIG. 2) which is one of the differential mechanisms, and performs distribution of rotational torque of the motor 40 and torque amplification by the reduction mechanism. It is.

This torque distribution means 50 is provided with a sun gear 51, three planetary gears 52A, 52B, 52C, a ring gear 53B, and a carrier 54. The rotational torque from the motor 40 is input to the sun gear 51, and the sun gear 51 is formed by cutting off the end of the motor shaft 41. And, around the sun gear 51, three planetary gears 5 2 A, 5 2 B, 5 2 C are disposed at equal intervals so as to be engaged with the sun gear 51, and further around the ring 5 3 A ring gear 53 B integrally supported on the inner side is disposed to be engaged with the three planetary gears 52 A, 52 B and 52 C. Also, the planetary gears' 5 2 A, 5 2 B, 5 2 C are rotatably supported by the carrier 54 so as to be rotatable (rotatable). Furthermore, when the planetary gears 5 2 A, 5 2 B, 52 2 revolve around the sun gear 51 by the rotational drive of the sun gear 51, the carrier 54 has a mechanism to rotate.

Here, the structure of the torque distribution mechanism will be briefly described. In general, there are various forms of combinations of sun gear, planetary gear, and ring gear which are a planetary mechanism, but in this embodiment, (1) an input shaft, one of two output shafts is an output shaft, There are three axes in which the axis constrains the movement (this is called the auxiliary axis), (2) The degree of freedom of the mechanism is at least 2 if the axis constraint is solved, and two points are satisfied. Must. The motor shaft 4 1 obtained by cutting the sun gear 5 1 mentioned above corresponds to the input shaft, and the output shaft and the auxiliary shaft include the ring 5 3 supporting the ring gear 5 3 B and the planetary gear 5 2 A, 5 One of Carriers 2 and 4 which is the rotation axis of 2 B and 5 2 C is applicable. And, by restraining the rotation of either ring 5 3 or carrier 5 4 by rotation restraint means 60 described later, either one of ring 5 3 and carrier 5 4 is an output shaft, and the other is an auxiliary shaft. Act as.

Thus, by having two output shafts (ring 5 3 and carrier 5 4) for one input shaft (sun gear), it is possible to selectively control two control objects (two operations). It becomes possible. Here, although a planetary gear mechanism is described, such a configuration may be a disk or the like that rotates with each other, not limited to a gear, and is not limited to a gear mechanism.

Next, the rotation restraint means 60 will be described. The rotation restraining means 60 is for selectively restraining one of the two output shafts described so far, and as a result, rotationally moving or reciprocating the shift arm 80, which is an output shaft. .

Specifically, the rotation restraint means 60 includes a solenoid actuator comprising a solenoid coil 61, a return panel 62, and a suction plate 63, a solenoid arm 64, a restraint member 65, and a carrier restraint plate 6. 6 and have. The rotation restricting means 60 can generate an appropriate magnetic attraction force by controlling the energization (excitation) of the solenoid coil 61, and the attraction plate 63 can be attracted and driven by the magnetic attraction force. On the other hand, when the solenoid coil 61 is not energized, the suction plate 63 returns to its initial position by the return force of the return panel 62. Here, although the return panel 62 is mounted on the solenoid actuator, it may be provided on the restraint member 6 5. The carrier restraint plate 66 rotatably supports the planetary gear 5 2 A, 5 2 B, 5 2 C shown above, and rotates integrally with the carrier 54. Here, the operation of restraint of the rotation restraint means 60 will be described. First, the suction plate

When 63 is driven by the magnetic attraction force, the solenoid arm 64 drives the restraint member 65 according to the principle of forceps. By this drive, the restraint member 65 is formed. The meshing teeth 6 5 A and the ring meshing teeth 5 3 A formed on the outer periphery of the ring 5 3 join to restrain the rotation of the ring 5 3. And while the solenoid coil 61 is energized, the ring 53 is in a state of rotation restriction.

In addition, when the state of the solenoid coil 61 is de-energized from being excited, the magnetic attraction force disappears, so that the constraining member 65 is returned to the initial position by the restoring force of the return panel 62. At this time, the joint between the meshing tooth 65A and the ring meshing tooth 53A is released, and the rotational restriction of the ring 53 is released. At this time, the meshing tooth 65A and the carrier are restrained. The mating teeth 6 6 A of the plate 6 6 are joined. As a result, the rotation of the carrier 54 integrally connected to the carrier restraint plate 66 is restrained. Thus, by providing the rotation restraint means 60, it is possible to directly and selectively restrain the rotation of the ring 53 of the torque distribution means 50 and the carrier 54.

Next, motion conversion means 70 will be described. The motion conversion means 70 converts the rotational movement of the carrier 54, which is one output shaft, and reciprocates the output shaft 80, or the rotational movement of the ring 53, which is the other output shaft. In conjunction with this, it rotates the output shaft.

Specifically, the lotus movement conversion means 70 is comprised of a rotation-reciprocation movement conversion gear portion 71, a rotation restraint groove portion 72, and a rotation restraint projection portion 73. The rotation-reciprocation conversion gear unit 71 includes: a tip external thread of the carrier 54; and a proximal end internal thread of the shift arm 80 coaxially installed with the tip external thread. The rotation arm of the shift arm 80 (the base end portion) is restricted by the rotation restricting groove portion 72 and the rotation restricting projection portion 73, so that the rotation of the ring 53 is restricted. It has a form in which eighty's strokes move back and forth.

As the motion converting means 70, when the rotation of the ring 53 is restricted by the rotation restricting means 60, the rotation of the shift arm 80 is also restricted, and only the carrier 54 is rotated. The rotational movement of the carrier 54 is converted to a reciprocating movement through the rotary-reciprocating movement conversion gear portion 71 to slide the shift arm 80 in the axial direction, and shift operation of the automatic transmission 20 is performed. To be possible.

In addition, when rotation of carrier 5 4 is restrained by rotation restraint means 60, ring 5

3 is rotated via the rotation restraint groove 72 and the rotation restraint projection 7 3, the shift arm 8 Transmit to 0 and rotate the shift arm 80 to enable selection of the automatic transmission 20.

Thus, by selecting the ring 5 3 and the carrier 5 4 using the rotation restraint means 60 and restraining either one of the rotations, the shift arm 80 can be It becomes possible to perform two operations of rotational movement and reciprocating movement, and the miniaturization and cost reduction of the device are realized.

Next, the motor actuator controller 90 will be described. The motor actuator control device 90 operates the torque distributing means 50 shown above by controlling the motor 40 and the rotation restricting means 60 to operate the motion converting means 70 appropriately. As a result, the selection operation and the shift operation of the automatic transmission 20 are controlled.

The motor actuator control unit 90 includes an actuator control unit 91 having a motor control unit and a restraint control unit, a displacement detection unit 92, and a shift setting unit 93. First, a position signal a including the motor detection angle from the rotational position detection sensor 45 of the motor 40 is input to the displacement detection means 92. The displacement detection means 92 calculates the shift position and the select position of the shift arm 80 based on the position signal a. Specifically, the motor detection angle, the rotational speed of the motor 40 and the rotational speed ratio of the output rotational speed of the output shaft (ring 5 3 or carrier 5 4), and the torque distribution distributed by the torque distribution means 50 The displacement detection means 92 calculates the amount of displacement of the shift arm 80 from the quantity and. Based on the calculation result, the motor control means controls the motor 40 so that the calculated displacement amount matches the target amount, and the restraint control means controls the rotation restraint means 60.

Further, the gear shift setting means 93 outputs displacement / torque command b corresponding to the operation amount in accordance with the operation of the shift / select operated by the operator. Then, the actuator control means 91 controls the motor 40 and the rotation restricting means 60 so as to correspond to the command value of the displacement and torque command b.

Then, the factor control means 91 outputs the power signal d to the motor 40.

By outputting a solenoid drive signal c to the rotation restraining means 60 and performing control, the shift arm 80 is controlled to an appropriate position desired by the operator.

Furthermore, the solenoid drive signal c for driving the suction plate 63 has a variable pulse width. The magnitude of the magnetic attraction force is controlled by changing the modulation factor of the drive signal C, and the change in the inductance of the solenoid coil 61 is detected by detecting the response of the current, that is, the attraction plate. Since the position of 63 is detected, the response speed and position of the restraint member 65 can be controlled.

Also, by calculating the position using one rotational position detection sensor 45 attached to the motor 40, a sensor that detects the rotation angle of the shift arm 80, and a sensor that detects a stroke. As a result, the space saving and low cost electric shift device can be provided.

Thus, the electric actuator controller 90 selects the shift shafts 3 0 B and 3 1 B with the shift arm 80 and the shift shaft 3 0 B, 3 1 selected with the shift arm 80. By sliding one of B, smooth and quick automatic shifting is possible.

Furthermore, it is possible to control not to restrain either the carrier 5 4 or the ring 5 3 3 by combining the torque distribution means 5 0 and the rotational restraint means 6 °, both the carrier 5 4 and the ring 5 3 Can be rotated at the same time to perform both select operation and shift operation simultaneously. By providing such simultaneous operation means, torque fluctuation does not occur at the time of switching between the select operation and the shift operation, so that the switching becomes smooth. In addition, since the operation can be performed in duplicate, the control time of the motorized actuator 10 can be shortened.

Also, it is possible to replace the rotation of the carrier 54 and the mechanical function of the ring 53 by changing the design of the mechanical configuration of the rotation restraint means 60 and the motion conversion means 70 partially. However, as a selection of the reduction ratio of the torque distribution means 50, it is preferable to connect to the carrier 5 4 the one with the larger reduction ratio, that is, the one with the larger required torque. However, there is no major problem in operation even if the design of these configurations is changed so that the shift operation and the select operation by the two output axes are reversed.

In addition, a sensor for detecting the rotational angle position of shift arm 80 by the select operation and a sensor for detecting the stroke position of shift arm 80 by the shift operation are separately provided. You may go. The important point here is the initial position of the shift arm 80 at power on. Always two when power is down The hardware configuration self-shutdown at the Eutrall (N) position, the shift arm 80 is rotated forward and reverse when the power is turned on, and the initial position is identified from the displacement of its operating range and the load current fluctuation of the motor By using the software configuration for neutral position correction, the correct position of the shift arm 80 can be detected. Furthermore, by installing the neutral position sensor, the position detection accuracy of the shift arm 80 can be further improved.

FIG. 2 is a view for explaining the operation of the planetary gear mechanism used in the torque distribution means 50 shown in FIG. 1. (a) is a device configuration view of the planetary gear mechanism viewed from the front, b) is a conceptual diagram showing when the rotational restraint means 60 restrains the carrier 54, and (c) is a conceptual diagram showing when the rotational restraint means 60 restrains the ring 53. is there. Furthermore, (d) in Fig. 2 shows an alignment chart of the planetary gears in the state of (b) and (c).

As shown in Fig. 2 (a), the planetary gear described briefly above in Fig.

4. A sun gear 51 to which a rotational torque from 0 is input, a planetary gear 5 2 A, 5 2 B, 5 2 C which rotates around the sun gear 51 and the planetary gear 5 and the planetary gear

It consists of a ring gear 5 3 B that can rotate together with 5 2 A, 5 2 B, 5 2 C.

(B) and (c) in Fig. 2 are conceptual diagrams showing the gear of (a) from the side, and also show the restraint position of the rotational restraint means 60 simultaneously. In this embodiment, the input shaft is always the sun gear 51, and the selection of the carrier 54 or the ring 53 as the output shaft is determined by the rotation restraint means 60. When the output shaft is selected for ring 53, as shown in (b) of FIG. 2, the mating teeth 6 6 A of the carrier restraint plate 6 6 and the mating teeth 6 5 A of the restraint member 6 5 Constrain the rotation of the carrier 54 by meeting the.

When the output shaft is selected as the carrier 54, as shown in (c) of FIG. 2, the ring mating teeth 5 3 A on the outer periphery of the ring 5 3 and the mating teeth 6 of the restraint member 6 5 Restrain the rotation of the ring 53 by combining 5 A and.

The speed ratio of the planetary gear when the ring 5 3 of the planetary gear and the carrier 5 4 are restrained is shown in (d) of FIG. 2, and the rotational speed o of the sun gear 51 1) s, ring 5

A rotation speed of 3 and a rotation taken out of the rotation of the carrier 5 4 as the rotation of the central axis Assuming that the speed is the rotational speed of the carrier 54 and the gear ratio is / 3, it is expressed by the following equation (1),

ω ^ β · ωβ + (1-β) ωτ (1)

From the condition that the center distance of each gear which composes the planetary gear must be satisfied, the possible value of 3 is in the range of 0 く 330.5. Here, as a method of improving the design freedom of the gear ratio, a double be-on (double planetary) planetary mechanism can also be adopted as necessary, and in this case, the design freedom of the reduction gear ratio of the motorized actuator 10 can be improved. .

Furthermore, as shown in the alignment chart of the planetary gears in (d) of Fig. 2, the case where the ring 53 is fixed (ωτ = 0) is shown by a solid line and the carrier 54 is fixed (ωΐ "= 0). A broken line indicates that the ring 5 3 and the carrier 5 4 are rotating (wr ≠ 0, c ≠ 0) by a single-point chain line, and there is actually a limit on the possible gear ratio of the planetary gear. The gear ratio of the motor actuator unit 10 is optimized by re-adjusting the gear ratio of the rotation-reciprocation conversion gear unit 71 of the motion conversion means 70.

Fig. 3 is a diagram for explaining the position control of the electric shift device 100 shown in Fig. 1, (a) is a diagram showing a manual shift knob of the vehicle, and (b) is a diagram FIG. 7 is a diagram for explaining the shift operation of shift arm 80, and FIG. 7 (c) is a diagram for explaining the select operation of shift arm 80. Furthermore, (d) in Fig. 3 shows the relationship between the shift operation and selection operation of the motorized actuator 10 shown in Fig. 1 and the rotation restriction, and (e) is operated using (a) 7 shows a timing chart of the shift operation and select operation at the time of operation.

As shown in Fig. 3 (a), when it is intended to control the shift operation of the synchronous gear transmission of the vehicle by using the electric shift device 100, the usual manual shift knob (shift means) There are operation patterns for selecting the 1st to 5th gears and the R (pack) gear. When shifting the operation of this type of synchronous mesh-type gear transmission, as shown in (b) and (c) of FIG.

Select 0. 1-2-speed shift selector 3 0 (rotational angle position shift) 3-4-speed shift selector 3 2 (rotational angle position 0) or 5-R shift selector 3 1 (rotational angle position-1) α), select and shift arm 80 times Roll over. Then, after the selection operation is finished, the shift position is immediately pushed (shift operation

Then, depending on the stroke direction, the coupling clutch moves, and torque is transmitted to the output shaft 6. For example, if shift selector 31 is selected by 1 速 2nd speed select operation and shift shaft 3 1 B is moved by a specified amount by shift operation, shift gear 1st gear is selected. It is possible.

Next, control of overlap of the electric shift device 10 will be described. As shown in (d) of FIG. 3, the electric shift device 100 selectively releases the restriction of the rotational movement of the ring 5 3 and the carrier 5 4. That is, the shift operation and the select operation of the shift arm 80 can be selectively performed by releasing the constraint of the rotational movement. In addition, when switching the rotational restraint between the ring 53 and the carrier 54, there is a state in which the rotational restraints for both the ring 53 and the carrier 54 are released. By holding this state, the selection operation and It is also possible to perform shift operations simultaneously.

On the other hand, in order for the selection and the shift to cooperate, a torque that allows the output of the motor 40 to perform both the select and shift operations simultaneously is required. In order to always generate such torque, the size of the motor 40 is increased.

However, the timing for generating such torque is when shifting from select operation to shift (gear-in) operation or shift from shift (neutral) to select operation.

Therefore, the motor 40 does not always require the torque shown above at all times, and the motor 40 may generate the above-mentioned torque for a predetermined period of time to such an extent that the size of the motor does not increase. In this embodiment, the shift time of the select operation and shift operation to be operated is set to a time of 1 Z 1 0 or less of the entire stroke from shift from select to shift to gearing in. By this setting, it is possible to wrap the select operation and the shift operation for a predetermined time.

Specifically, as shown in (e) of Fig. 3, when the time lapse at the time of shifting is taken on the horizontal axis and the position of the actuator (the position of the shift arm 80) is taken on the vertical axis, neutral (N

When shifting from 1) to 1st gear, there is ample time, and there is no need to operate the lap. Therefore, after the select operation, motor 40 once stops and then Shift to the gear movement and shift to gear 1 at the predetermined actuator position.

Next, when shifting from 1st gear to 4th gear, it is desirable that the gearshift be changed quickly. At this time, the selection operation is started from a predetermined time so as to overlap with the time of the shift operation of the first gear disengagement. In this manner, it is possible to shift to the selection operation without dropping the rotation of the motor 40. Similarly, shift operation is started at a predetermined time so that it will overlap with the time of the select operation, and geared into 4th gear.

As described above, by providing the overlapping time in which the ring 5 3 and the carrier 5 4 rotate simultaneously, it is possible to appropriately distribute the output torque of the motor 40. There is no need to raise the physical size of the motor 40 as described above, because the time to wrap is the fall or rise of the operation in both select and shift operations, and furthermore, stop the motor 40. As a result, the time required for switching the torque transfer path can be reduced, and continuous rotation of the motor 40 is also possible, and a series of speed change operations can be performed in a short time.

Furthermore, when switching the drive from the ring 5 3 during driving to the carrier 5 4 4 or from the carrier 5 4 during driving to the ring 5 3, since there is time for both to rotate in the middle, the motor The rotational torque at 40 is smoothly switched to the two output shafts. Furthermore, it is possible to suppress the rapid transmission torque fluctuation that occurs when switching the torque transmission path. In addition to this, when the present invention is applied to a synchronous meshing gear transmission of a vehicle, it is possible to smoothly and quickly shift the transmission. Jumping from 1st gear to 4th gear is performed to explain the operation, but during gear shifting, shift operation and select operation are linked, so the above-mentioned also applies to normal 1st gear shifting. The same effect as the effect is obtained.

FIG. 4 is a diagram showing motor characteristics of the motor 40 shown in FIG. The speed-torque characteristics of the motor 40 correspond to the required characteristics required for the electric shift device. As shown in Figure 4, the motor characteristics when requested during shift operation are the shift characteristics MA

(Solid line) This shift characteristic MA is the motor lock torque MA t at speed = 0, and the motor rotation speed MA s at no load. The shift operation requires a relatively large operating force, and the synchronizer mechanism synchronizes the gears. In this case, a great shift force is required.

On the other hand, the motor characteristics required during select operation are represented by the select characteristic MB (-dot-and-dash line). This selection characteristic MB is the motor lock torque MB t at speed = 0, and the motor rotation speed MB s at no load.

The motor characteristics to satisfy these two characteristics (characteristics for select MB and shift MA) are represented by the shared characteristic M C (dashed line). And, shared characteristic MC becomes motor lock speed MA t: at motor speed = 0 and motor rotational speed MC s at no load, and motor design with increased power consumption to satisfy this shared characteristic MC. Because the motor capacity is increased, the size of the motor 40 is increased.

Therefore, in order to minimize the size of the motor actuator unit itself and the current consumption, it is not necessary to apply a motor satisfying the shared characteristic MC, but the operation indicated by the shift characteristic MA and the selection characteristic MB It is desirable to change motor characteristics by performing motor control to satisfy region ACT.

In order to obtain this motor characteristic, the motor actuator controller 90 satisfies the shift characteristic MA to achieve the lock torque MA t, and satisfies the select characteristic MB at the light load rotational speed. Perform field weakening control. In this way, with the field weakening control characteristic MD by field weakening control, by performing motor control, it is possible to satisfy the characteristics required for the two controlled objects.

As shown in FIG. 4, the motor 40 is shifted to field-weakening control at a field-weakening transition point MP set from the relationship between load torque and response speed. That is, when the required torque is larger than the weak magnetic transition point M P (mainly during shift operation), the shift characteristic MA is obtained. On the other hand, when the required torque is smaller than the field weakening transition point MP (mainly during select operation), select characteristic MB is set.

By obtaining such speed-torque characteristics, it is possible to obtain the optimum response of the electric actuator, and it is not necessary to increase the motor capacity, and furthermore, the cost of the device itself can be reduced and the compactness can be achieved.

In the case of a motor characteristic that matches the shift characteristic MA, field weakening is required. However, depending on the required shift characteristic MA, by performing field weakening control also during shift operation, it is possible to provide a more suitable electric shift device.

Second Embodiment

FIG. 5 is a view showing a motor actuator 1 0 ′ according to a second embodiment of the present invention. In FIG. 5, the same parts as those in the first embodiment of FIGS. 1 to 4 are denoted by the same reference numerals, and the detailed description will be omitted. The second embodiment is different in that the specific configuration of the rotation restricting means 60 shown in FIG. 1 is an electromagnetic clutch.

As shown in FIG. 5, the motor actuator 1 0 ′ uses the electromagnetic clutch as the rotation restraint means and operates the electromagnetic clutch to obtain the ring 53 and the carrier.

5 4 rotations are constrained. Specifically, to restrain the rotation of the carrier 54, the first electromagnetic clutch 6 1 A and the clutch pad 6 2 A have a carrier restraint plate.

The magnetic attraction force generated by the excitation of the first electromagnetic clutch 6 1 A is arranged to restrain rotation of the carrier restraint plate 6 6 ′ through the clutch pad 6 2 A. It is arranged. Also, in order to restrain the rotation of the ring 53, the second electromagnetic clutch 61 B and the clutch pad 62 B are disposed on the ring 53, and excitation of the second electromagnetic clutch 61 B is performed. The generated magnetic attraction force is disposed to restrain the rotation of the ring 53 via the clutch pad 6 2 B. Each clutch 6 1 A, 6 IB is equipped with a clutch pressing panel (not shown). When the electromagnetic clutch is not energized and current is not supplied, the clutch pressing panel makes the clutch connected. That is, when the first electromagnetic clutch 61 A is de-energized, the rotation of the carrier 54 is restrained, and when the second electromagnetic clutch 61 B is de-energized, the rotation of the ring 53 is restrained. Also, when a current is supplied (excited) to the electromagnetic clutch so that a suction force more than the force of the clutch pressing panel is generated, the clutch is released, and the carriers corresponding to the respective electromagnetic clutches 6 1 A and 6 1 B Restraint of rotation of 5 4 and ring 5 3 is released.

As described above, by employing the electromagnetic clutch, the rotational restraint of the carrier 54 and the ring 53 can be controlled independently, so that it is possible to finely control the torque distribution amount in the torque distribution means 50 ', Between the shift operation and the select operation It is possible to control the torque distribution during the pump operation period.

In addition to this, it is possible to perform the same operation by combining one electromagnetic clutch with the return panel. In such a case, cost reduction of the electric shift device can be achieved, which is preferable. Also, the rotation restraining means can be realized by using a worm 'wheel mechanism. Furthermore, a wet or dry multi-disc clutch as described later can be used, and any configuration can be used as long as it can restrain the rotational torque of the carrier 54 or the ring 53.

Third Embodiment

Fig. 6 is a view showing a motorized actuator 10 "according to a third embodiment of the present invention. In Fig. 6, the same components as those of the second embodiment are designated by the same reference numerals, and the detailed description will be given In the third embodiment, different from the second embodiment in that the differential gear is applied to the torque distributing means and the wet multi-plate clutch is used as the rotation restraining means. It has become.

First, torque distribution means 50 "will be described. As shown in Fig. 6, torque distribution means 50" includes an input side gear 51 ', a pinion 52A, 52B, a pinion shaft 52C', and a ring gear (ring). A differential gear consisting of a gear 53 'and an output side gear 54', and a selector 55 as an accessory member are provided.

Specifically, to describe each arrangement, the input side gear 51 'is connected to the motor 40, and is connected to the pinions 52 ,, 52 B'. The pinon 52A 'and 52Β' are arranged to be capable of rotating on an axis of rotation that is perpendicular to the axis of rotation of the input side gear 51 ,. The output side gear 54, is engaged with the two pinions 52A ', 52B', and is arranged to rotate as the pinions 52 ', 52B' rotate.

On the other hand, the two pinions 52,, 52 B 'are rotatably supported on the pinion shaft 52 C, so that they can revolve around the rotation axis of the input side gear 51'. Are located in And the ring 53 'is the pinion shaft 5

The two pinions 52A 'and 52B' are supported via 2 C and rotate integrally with the two pinions 52A 'and 52B'. Furthermore, A ring mating tooth 53A 'is provided on the outer periphery of the ring 53, and is mated with the selective mating tooth 55A' of the motor selection member 55 ,. Also, at the other end of the select member 55 ', there is a select rail gear 55 B' that is combined with the slide mesh teeth 8 OA of the shift arm 80, and this select rail gear 55 B ' The gear is cut with a width that allows stroke in the direction.

Here, torque transmission by the mechanism using the differential gear will be described. The rotational torque of the motor 40 is input to the input side gear 51 '. As a result of this input, the pinions 52 A ′ and 52 B ′ combined with the input side gear 51 ′ rotate. The torque transmitted to the pinion 52,, 52 B 'is distributed to the ring 53' and the output side gear 54 ,. Then, the torque transmitted to the ring 53, is transmitted to the select member 55 'to rotate the shift arm 8 °. In this way, the selector operation of the actuator 10 "becomes possible.

On the other hand, the output side gear 54, is also rotated via the pinions 52 A 'and 52 B'. And, at the output end of the output side gear 54 ', there is a rotation-reciprocation conversion gear portion 71, which strokes the shift arm 80 in the axial direction. In this way, the shift operation of the factor 10 "becomes possible.

Next, the rotation restraint means will be described. The rotation restraint means includes wet multi-plate clutches 61A ", 61B", pressure plates 62A ,,, 62B ,, and fixed bodies 63A ", 63B".

As shown in FIG. 6, the wet-type multi-plate clutch 61 A ′ ′ which restrains the select operation is between the fixed body 63 A ′ ′ fixed to the outside of the motor 40 and the plate shap 62 ′ A wet multi-plate clutch 61 B ′ ′ inserted and restraining the shift operation is a fixed body 63 A ′ ′ fixed with a non-drive portion (not shown) outside the device, and a pressure plate to which an external force acts. It is inserted between 62 B ". Also, although the external force exerted by the pressure plates 62 A "and 62 B" is not shown, a solenoid coil and oil pressure may be mentioned.

To explain the operation of this rotation restraint means, the wet multi-plate clutch 61 A ′ ′ which restrains the selection operation is clutched by the external force acting on the pressure plate 62 A ′ ′, and the fixed body 63 A ′ ′ Fixed, constraining rotation of ring 53 ' . Then, the slide gear 8 OA of the shift arm 80 slides the selector rail gear 5 5 B 'because the select rail gear 5 5 B, is restrained from rotating with the rotation restraint of the ring 5 3'. A shift operation is possible.

Similarly, the wet multi-disc clutch 6 1 B "that restrains the shift operation is clutched by the external force acting on the plate shap- ture 6 2 B", and is fixed by the fixed body 6 3 B ". Since the shift arm 80 rotates in conjunction with the rotation of the shift member 5 5 ′ by restraining the rotation of the side gear 5 4 ′ by restraining the rotation of the side gear 5 4 ′. Operation is possible.

As described above, the electric actuator 10 "using the differential gear is suitable not only for the effects described above, but also for the large transfer torque because each gear can be taken large.

As mentioned above, although one embodiment of the present invention was explained in full detail, the present invention is not limited to the above-mentioned embodiment, In the range which does not deviate from the spirit of the present invention indicated in a claim, Various design changes can be made.

As described above, the case of controlling two control targets is described, and an example using a mechanism such as a planetary gear or differential gear as a means for distributing torque has been shown. Since it is possible to distribute torque to two or more control targets by providing, it is not limited to only two control targets.

In the present invention, although the invention is limited to the automobile, the invention may be applied to an automatic transmission used other than the automobile. In addition, although a dry single-plate clutch is generally used for the first friction clutch, any friction clutch such as a wet multi-plate clutch or an electromagnetic clutch may be used. Industrial Applicability

As described above, the motor-driven actuator of the present invention and its control device have two output shafts for one motor, and can select the output shaft to be restrained by the rotation restraining means. In addition, since it is possible to selectively perform two types of operation on the output shaft with one motor, the downsizing and cost reduction of the device are realized. It becomes possible. In addition, by releasing the rotational constraint of the control target to be driven together, the rotary element can be smoothly started to rotate, and it is possible to suppress the rapid fluctuation of the transmission torque when switching the torque transmission path.

Also, when changing the torque transmission path by distributing and controlling the torque

By providing a predetermined lap period in which the two rotational elements released from rotational restraint can rotate simultaneously, it is possible to reduce the waste time that occurs when switching the torque transmission path.

In addition, by controlling the phase of the current supplied to the drive motor and performing field-weakening control, one motor is optimized, and speed torque considering the load torque and response speed required for the two control targets As the characteristics can be obtained,

Claims

The scope of the claims

1. A motor that outputs a rotational torque, a torque distribution unit that distributes the rotational torque and outputs the rotational torque to two output shafts, and a rotational restraint unit that selectively restricts the rotational movement of the two output shafts And an output shaft that receives the rotational motion of one of the two output shafts, converts the received rotational motion, and reciprocates, and receives the rotational motion of the other output shaft to perform rotational motion. Motorized actuator.

2. The torque distribution means is a planetary gear mechanism comprising a sun gear, a planetary gear and a ring gear,

The rotation shaft of the sun gear is a shaft that rotates with the output from the motor, and the revolution shaft of the planetary gear and the rotation shaft of the ring gear are any of the two output shafts. The motorized actuator according to claim 1.

3. The torque distribution means includes: an input gear; and two pinion gears that rotate on a rotation shaft that is in mesh with the input gear and is perpendicular to the input rotation shaft of the input gear and revolves on the input rotation shaft A differential gear comprising: an output gear engaged with the two pin-on gears and rotating coaxially with the input rotary shaft; and a ring gear supporting the two gear-on gears and rotating integrally with the pinion gear. And a selection member that rotates in conjunction with the ring gear.

The rotational shaft of the input gear is a shaft that rotates with the output from the motor, and the rotational shaft of the output gear and the rotational shaft of the select member are any of the two output shafts. The motorized actuator according to claim 1, characterized in that:

4. One output shaft of the two output shafts and the output shaft are arranged in a manner such that the other output shaft of the two output shafts and the output shaft are synchronized with each other through the mechanism in which the two screw shafts are engaged. Interlocking connection via rotating mechanism,

When the other output shaft is restrained, the output shaft reciprocates, and when the one output shaft is restrained, the output shaft performs the rotational movement. Motorized actuator described in.

5. The rotation restraining means comprises a solenoid actuator and a restraint member interlocked with the solenoid actuator, wherein the excitation of the solenoid actuator is excited. 3. The motorized actuator according to claim 2, wherein the restraint member restrains and / or unconstrained either of the two output shafts.

6. The rotation restraint means comprises two electromagnetic or hydraulic clutches, and with engagement or non-engagement of the clutch, either of the two output shafts is restrained and / or unrestrained. The motorized actuator according to claim 2, characterized in that:

7. The rotational restraint means comprises two electromagnetic or hydraulic clutches, and restraining and / or unrestraining the displacement of the two output shafts according to engagement or non-engagement of the clutch. The motorized actuator according to claim 3, characterized in that:

8. An electric shift device comprising: the electric actuator according to claim 1; and a control device for controlling the motor and the rotation restraint means.

9. The electric shift apparatus according to claim 8, wherein the electric shift apparatus is for a synchronous mesh gear transmission of a vehicle.

1 0. The transmission has transmission means for shifting the transmission, and the control device controls the motor and the rotation restraint means based on the operation of the transmission means. An electric shift device according to item 9.

The control device for controlling the motorized actuator according to claim 2, wherein the control device comprises: motor control means for controlling the motor; and restraint control means for controlling the rotation restraint means. Control of the motorized actuator featuring

The control device for controlling the electric actuator according to claim 3, wherein the control device comprises: motor control means for controlling the motor; and restraint control means for controlling the rotation restraint means. Control of the motorized actuator featuring

13. The control of the motorized actuator according to claim 11, wherein when the restraint control means selectively changes the restraint of the two output shafts, a non-restraint time is set to a predetermined time. apparatus.

The motor control means performs field weakening control by controlling the phase of the current supplied to the motor when the number of revolutions required of the motor is high. Control unit of the motorized actuator.

15. The motor-driven actuator according to claim 11, wherein the motor control means selects the capacity of the motor in accordance with an output shaft that provides the largest required torque among two output shafts. Control device.

16 6. A motor angle detection means for detecting the rotation angle of the motor, the motor control means comprises the detected motor detection angle, the rotational speed of the motor and the rotational ratio of the rotational speed of the output shaft, and The displacement amounts of the two output shafts are calculated from the torque distribution amounts distributed by the torque distribution means, and control is performed such that the calculated displacement amounts match the target values. Control unit for the motorized actuator described in

A control method of the motorized actuator according to claim 1;

An electric motor characterized in that the rotational movement of the output shaft is controlled by controlling the rotational torque of the motor and selectively restricting the rotational movement of the output shaft. Control method of factor.

The control method of the electric motor according to claim 17, wherein when selecting and changing the constraint of the two output shafts, a non-restraint time is set to a predetermined time. -

A method of controlling an electric motor actuator according to claim 17, wherein field weakening control is performed by controlling a phase of a current supplied to the motor when the number of revolutions required of the motor is high.

2 0. While detecting the rotational angle of the motor, the motor detection angle, the rotational speed of the motor and the rotational ratio of the rotational speed of the output shaft, and the torque distribution amount distributed by the torque distribution means The control method of the electric actuator according to claim 17, wherein displacement amounts of the two output shafts are calculated from and, and control is performed so that the displacement amounts match a target value.