When electric power supply is started, an initial driving operation is performed to switch over a power supply phase of a motor in open-loop control. Initial learning processing is performed to learn a phase deviation correction value for the power supply phase relative to a count value of a pulse signal of an encoder. As a restraint caused by a shape of a detent mechanism, the motor need be rotationally driven so that a detent lever does not move in a negative direction beyond a bottom position of a P-range in the initial driving operation. In a case of performing the initial learning processing in the P-range in consideration of this restraint, the initial learning processing is performed by setting a rotation direction of the motor.

A variable speed drive wherein an impact to be transmitted to an inputting mechanism is absorbed. A shift spindle has an input side end portion to which an inputting mechanism is connected and an output side end portion supported for rotation at a transmission side supporting portion provided on a transmission case. A master arm is positioned between the input side end portion and the output side end portion in an axial direction of the shift spindle. An extension collar member is fixed integrally to the master arm. The extension collar member connects the master arm and a connection portion provided at a location of the shift spindle rather near to the input side end portion than the output side end portion. The extension collar member extends from the connection portion toward the master arm with a gap left from an outer circumferential face of the shift spindle.

A variable speed drive wherein an impact to be transmitted to an inputting mechanism is absorbed. A shift spindle has an input side end portion to which an inputting mechanism is connected and an output side end portion supported for rotation at a transmission side supporting portion provided on a transmission case. A master arm is positioned between the input side end portion and the output side end portion in an axial direction of the shift spindle. An extension collar member is fixed integrally to the master arm. The extension collar member connects the master arm and a connection portion provided at a location of the shift spindle rather near to the input side end portion than the output side end portion. The extension collar member extends from the connection portion toward the master arm with a gap left from an outer circumferential face of the shift spindle.

A motor control device controls a drive of a motor having a coil, and includes a drive circuit and a control unit. The drive circuit has a plurality of switching elements, and switches the energization of the coil. The control unit includes an energization control part and a current limit part. The energization control part accelerates and then decelerates the motor, and controls energization of the coil so that a rotation position of the motor stops at a target rotation position. The current limit part limits the current during a deceleration control.

A motor control device controls a drive of a motor having a coil, and includes a drive circuit and a control unit. The drive circuit has a plurality of switching elements, and switches the energization of the coil. The control unit includes an energization control part and a current limit part. The energization control part accelerates and then decelerates the motor, and controls energization of the coil so that a rotation position of the motor stops at a target rotation position. The current limit part limits the current during a deceleration control.

A control circuit controls driving of a motor to switch over a shift range. A target rotation speed setting part sets a target rotation speed of the motor. A rotation speed detection part detects a present rotation speed, which is an actual rotation speed, of the motor. A rotation speed error calculation part calculates a rotation speed error, which is an error between the target rotation speed and the present rotation speed. A request torque calculation part calculates a request torque for the motor based on the rotation speed error. A phase lead correction value calculation part calculates a phase lead correction value of a current supply phase relative to a rotation phase of a rotor of the motor based on the request torque.

A control circuit controls driving of a motor to switch over a shift range. A target rotation speed setting part sets a target rotation speed of the motor. A rotation speed detection part detects a present rotation speed, which is an actual rotation speed, of the motor. A rotation speed error calculation part calculates a rotation speed error, which is an error between the target rotation speed and the present rotation speed. A request torque calculation part calculates a request torque for the motor based on the rotation speed error. A phase lead correction value calculation part calculates a phase lead correction value of a current supply phase relative to a rotation phase of a rotor of the motor based on the request torque.

A PWM control part rotationally drives a motor based on a PWM control value. A rotation speed control part controls a rotation speed of the motor. A rotation angle detection part detects a rotation angle of the motor. A reference position learning part controls the motor to rotate at a constant rotation speed until a detent plate stops at a limit position of a movable range and learns a reference position of the motor. A current detection circuit detects a current value corresponding to a driving current. A current limitation part limits a current supplied to the motor. A PWM control value limitation part controls the PMW control value to be equal to or smaller than a PWM limitation value, which is a predetermined value. A relation check part checks whether a relation between a current value detected by the current detection circuit and the PWM control value is inappropriate.

A PWM control part rotationally drives a motor based on a PWM control value. A rotation speed control part controls a rotation speed of the motor. A rotation angle detection part detects a rotation angle of the motor. A reference position learning part controls the motor to rotate at a constant rotation speed until a detent plate stops at a limit position of a movable range and learns a reference position of the motor. A current detection circuit detects a current value corresponding to a driving current. A current limitation part limits a current supplied to the motor. A PWM control value limitation part controls the PMW control value to be equal to or smaller than a PWM limitation value, which is a predetermined value. A relation check part checks whether a relation between a current value detected by the current detection circuit and the PWM control value is inappropriate.

A control circuit switches over a shift range by controlling driving of a motor to rotationally drive a detent plate. A current detection circuit detects a current value corresponding to a driving current supplied to drive the motor. A current increase check part performs check processing to check whether the current value detected by the current detection circuit has increased. A motor rotation stop part stops rotation of the motor when the current increase check part determines that the current has increased. A reverse driving part reverses the rotation direction of the motor and rotationally drives the motor after stopping of the motor by the motor rotation stop part.