An electric inertia control device 5A simulates the behavior of an inertial body having a predetermined set moment of inertia J.sub.set by means of a dynamometer, and is provided with: an inertia compensator 51A which generates a torque signal by multiplying a signal obtained by subtracting a shaft torque detection signal T.sub.12 from a higher-level command torque signal T* by the ratio of a moment of inertia J.sub.1 of the dynamometer to the set moment of inertia J.sub.set, and generates an inertia compensation torque signal T.sub.ref by summing the torque signal and the shaft torque detection signal J.sub.1; and a resonance suppression control circuit 53A which uses the inertia compensation torque signal T.sub.ref and the shaft torque detection signal T.sub.12 to generate a torque current command signal T.sub.1 in such a way as to suppress resonance in a mechanical system including a test piece and the dynamometer.

A shifting system for a human-powered vehicle comprises a controller. The controller is configured to receive a driving torque and a cadence of the human-powered vehicle from at least one sensor. The controller is configured to determine a permitted shift timing based on the driving torque and the cadence. The controller is further configured to control a shift mechanism to perform a gear shift during the permitted shift timing.

A controller executes a feedback control of a transmission so that an actual speed ratio reaches a target speed ratio. The controller includes first and second phase lead compensators configured to perform phase lead compensation of a feedback primary command pressure, a lead compensation on/off determination unit configured to determine to set on or off the phase lead compensation, and an advance amount filter unit configured to smooth a change of a gain according to on/off determination of the phase lead compensation when the phase lead compensation is on/off-switched.

A method for controlling a continuously variable transmission including a primary oil chamber, a secondary oil chamber, an oil pump provided in an oil passage between the primary oil chamber and a secondary oil chamber. The method including determining whether a required downshift speed is faster than an allowable value; setting a target piston position of the primary oil chamber; setting a target oil pressure of the primary oil chamber; and increasing priority of a position feedback control based on the target piston position in the setting of the target piston position when it is determined that the downshift speed is slower than the allowable value and increasing priority of a hydraulic feedback control based on the target oil pressure in the setting of the target oil pressure when it is determined that the downshift speed is faster than the allowable value.

A shifting system for a human-powered vehicle comprises a controller. The controller is configured to receive a driving torque and a cadence of the human-powered vehicle from at least one sensor. The controller is configured to determine a permitted shift timing based on the driving torque and the cadence. The controller is further configured to control a shift mechanism to perform a gear shift during the permitted shift timing.

A control device for a continuously variable transmission includes a belt type continuously variable transmission and a controller. The controller is configured to calculate an actual gear shift ratio based on rotation speed sensor values from a primary rotation speed sensor and a secondary rotation speed sensor, and to perform gear shift ratio control using feedback control to converge the actual gear shift ratio to a target gear shift ratio. The controller is further configured to stop calculation of the actual gear shift ratio when one of the rotation speed sensor values is less than a first threshold value determined based on a lower limit value of sensor detection accuracy, and stop calculation of the actual gear shift ratio even when one of the rotation speed sensor values is the first threshold value or greater, when a deceleration level of the drive wheel is a prescribed deceleration level or greater.

A control device for a continuously variable transmission performs feedback control so that an actual transmission control value becomes a target transmission control value. The control device includes a phase lead compensation unit configured to perform phase lead compensation of the feedback control, a phase delay compensation unit configured to perform phase delay compensation of the feedback control, a first peak value frequency determination unit configured to change a peak value frequency of the phase lead compensation according to a transmission ratio of the continuously variable transmission, and a second peak value frequency determination unit configured to change a peak value frequency of the phase delay compensation based on the peak value frequency of the lead compensation.

A position controller includes: an oil temperature acquisition unit that acquires information on an oil temperature of a hydraulic actuator; a position acquisition unit that acquires an actual value of an operation position of an object; a position control unit that calculates an operation command value for a control valve of the hydraulic actuator by closed-loop control so as to reduce a deviation between a target value of the operation position of the object and the actual value; and a gain setting unit that changes at least one gain of the closed-loop control so that sensitivity of the closed-loop control increases as the oil temperature decreases.

An electric inertia control device 5A simulates the behavior of an inertial body having a predetermined set moment of inertia J.sub.set by means of a dynamometer, and is provided with: an inertia compensator 51A which generates a torque signal by multiplying a signal obtained by subtracting a shaft torque detection signal T.sub.12 from a higher-level command torque signal T* by the ratio of a moment of inertia J.sub.1 of the dynamometer to the set moment of inertia J.sub.set, and generates an inertia compensation torque signal T.sub.ref by summing the torque signal and the shaft torque detection signal J.sub.1; and a resonance suppression control circuit 53A which uses the inertia compensation torque signal T.sub.ref and the shaft torque detection signal T.sub.12 to generate a torque current command signal T.sub.1 in such a way as to suppress resonance in a mechanical system including a test piece and the dynamometer.

A method for controlling a continuously variable transmission is a control method for controlling in/out of oil to/from a primary oil chamber by using an oil pump provided in an oil passage between the primary oil chamber and a secondary oil chamber. The method includes: a determination step of determining whether a required downshift speed is faster than an allowable value; a position control step of setting a target piston position of the primary oil chamber in accordance with an operating state of a vehicle and performing a position control of a piston of the primary oil chamber based on the target piston position; a hydraulic control step of setting a target oil pressure of the primary oil chamber in accordance with the operating state and performing a hydraulic control of the primary oil chamber based on the target oil pressure; and a feedback setting control step of increasing weighting according to a position feedback control based on the target piston position in the position control step when it is determined that the downshift speed is slower than the allowable value in the determination step and of increasing weighting according to a hydraulic feedback control based on the target oil pressure in the hydraulic control step when it is determined that the downshift speed is faster than the allowable value.