To provide a toroidal continuously variable transmission where responsiveness to a torque shift compensation amount is properly set to suppress the deviation of a gear ratio due to torque shift even when an accelerator pedal is footed during up-shift in the direction of releasing engine torque.
Torque shift compensation input torque is calculated by using a filter having a filter time constant T for applying delay treatment to engine torque, a torque shift compensation amount for compensating for the deviation of a gear ratio due to torque shift is calculated in accordance with the torque shift compensation input torque, and a gear ratio command value is calculated by correcting a target gear ratio with the torque shift compensation amount, to control a shift actuator in accordance with the gear ratio command value. At this time, the time constant T of the filter is changed in accordance with a reached gear ratio (a gear ratio to be finally reached), a deviation equivalent value as a value corresponding to the deviation of a target gear ratio (a transient target value for a gear ratio to make an actual gear ratio follow the reached gear ratio in predetermined transient response) and a throttle opening (S5-S8).
KAWAMURA YASUTAKA
OKAZAKI MAKOTO
NISHIHARA YASUYUKI
TAKIZAWA SATORU
Yoshio Matsuda
Masaaki Iida
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