KR101526216B1 - Method for sensing abnormal clutch operation of vehicle using speed sensor value - Google Patents

Abstract

The present invention relates to a clutch abnormality detection method using a speed sensor value, comprising the steps of: detecting an input revolution speed (Nt), an output revolution speed (No) and an engine revolution speed (Ne) of an automatic transmission; (N), shifting from neutral (N) to neutral (N), or neutral (N) from running (Dx), and detecting the position and shift operation of the shift lever And comparing the detected value with a preset rotational speed condition for each case, and determining a normal or abnormal operation of the specific clutch among the plurality of clutches constituting the automatic transmission, in accordance with the comparison result.

Description

Technical Field [0001] The present invention relates to a method for detecting a clutch abnormality using a speed sensor value,

[0001] The present invention relates to a clutch abnormality detection method using a speed sensor value, and more particularly, to a speed sensor value detecting method for detecting an abnormality of a clutch of an automatic transmission using speed sensor information of an automatic transmission, To a method for detecting anomalous clutch.

Generally, a vehicle equipped with an automatic transmission controls an oil pressure in a shift range set according to the running speed of the vehicle and the throttle opening amount, so that the automatic transmission can be operated by automatically shifting the transmission to the target speed change stage.

Therefore, in the vehicle equipped with the automatic transmission whose operating state is controlled according to the hydraulic pressure as described above, the operation of the clutch pedal for interrupting the power to the engine is not required to vary the operating state of the corresponding shift gear, It is possible to reduce the driving fatigue of the engine and to prevent the engine stall due to malfunction of the driver during operation and insufficient operation.

In the above-described automatic transmission, a torque converter changes a rotational power of an engine, and a solenoid valve is controlled by a control signal applied from a transmission control unit (TCU) And a hydraulic circuit is formed so that the corresponding friction element can be operated to execute the automatic shift operation.

Therefore, the automatic transmission outputs the corresponding control signal in accordance with the shift position of the shift lever of the driver, the vehicle speed and the amount of opening of the throttle valve, and the corresponding solenoid valve is driven by the output control signal, And controls the operating state of the operating friction element for selecting one of the gear stages of the transmission mechanism by the hydraulic pressure supplied from the oil pump accordingly. The friction element composed of the clutch and the brake switches the operating state of the planetary gear set according to the selective operation of the friction element, is changed to an appropriate speed change ratio, and then transmitted to the drive gear.

As described above, the automatic transmission has an advantage of improving the driver's convenience. However, in the case of the 8-speed automatic transmission, the fourth clutch C4 is abnormally shifted from neutral in the shift lever (for example, In case of operation (for example, the C4 clutch and the B1 brake engagement, see Fig. 3), there arises a problem that the vehicle is backward.

As described above, since the operating elements (i.e., clutches) have increased in accordance with the recent high-speed automatic transmission transmission and the abnormal operation of the operating elements becomes difficult to cope with only the fail-safe valve on the hydraulic circuit, Is increasing. The pressure switch observes an abnormal operation of a specific clutch pressure under a specific condition, and operates the corresponding logic corresponding to the abnormal operation of the specific clutch to avoid a dangerous situation.

In recent years, however, not only quality problems such as the reliability of the pressure switch signal due to the cleanliness of the automatic transmission have been caused but also the cost has increased due to an increase in the number of pressure switch parts. An alternative method is urgently needed.

In addition, a synchronous determination method is used as a method of detecting an abnormal operation of an automatic transmission operating element. In the synchronous determination method, the input speed value calculated using the gear ratio of each stage and the output speed sensor value and the actually measured input speed sensor value And performs synchronous determination at each constant speed stage, thereby making it possible to determine the abnormality of the control element (i.e., the clutch hydraulic pressure) of the corresponding speed change stage. However, the above-described synchronous determination method has a problem that the gear ratio of each stage is not known at all, or even if it is known, it is not accurate and can not be utilized properly.

BACKGROUND ART [0002] The background art of the present invention is disclosed in Korean Registered Patent No. 10-0302725 (Registered Jul. 2001, May, 2001, Method for diagnosing output shaft rotation speed sensor of automatic transmission).

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to provide a clutch abnormality detection apparatus and method which can detect a clutch abnormality of an automatic transmission using speed sensor information of an automatic transmission The purpose of the method is to provide.

Further, the present invention can be applied to an automatic transmission that can detect an abnormal operation of a clutch by using a speed correlation between an engine speed sensor value (Ne), an input speed sensor value (Nt), and an output speed sensor value (No) And a method of detecting a clutch abnormality using sensor values.

A method of detecting a clutch abnormality using a speed sensor value according to an aspect of the present invention includes detecting an input rotational speed (Nt), an output rotational speed (No), and an engine rotational speed (Ne) of an automatic transmission; Detecting a position and a shift operation of the shift lever for the automatic transmission control; When the position of the shift lever is neutral (N), is shifted from neutral (N) to neutral (N), or is shifted from neutral (N) to neutral (N) Comparing; And determining a normal or abnormal operation of the specific clutch among the plurality of clutches constituting the automatic transmission according to the comparison result.

In the present invention, the specific clutch is a fourth clutch (C4) of the rear-wheel 8-speed automatic transmission.

In the present invention, the rear-wheel 8-speed automatic transmission is configured to control four planetary gear sets by combining them with four clutches (C1 to C4) and two brakes (B1, B2). In the first speed, The first clutch C1 and the second brake B2 are actuated in the second speed by engaging the clutch C1 and the first brake B1 and the one way clutch OWE, The first clutch C1 and the fourth clutch C4 are actuated to perform shifting in the third speed and the first clutch C1 and the third clutch C3 are engaged in the fourth speed, In the fifth speed, the third clutch C3 and the fourth clutch C4 are actuated to perform shifting. In the sixth speed, the second clutch C2 and the third clutch C3 operate, In the seventh speed, the third clutch C3 and the second brake B2 are operated, In the eighth speed, the third clutch C3 and the first brake B1 are actuated to perform the shifting. In the reverse shift stage R, the fourth clutch C4 and the first brake B1 , And the first brake (B1) is operated at the neutral speed change stage (N).

Ne)이면 정상으로 판단하고, 상기 입력 회전수(Nt)와 엔진 회전수(Ne)의 차이가 미리 설정된 상수 값보다 크면(Ne - Nt > 상수) 비정상으로 판단하는 것을 특징으로 한다.In the present invention, in the step of determining normal or abnormal operation of the specific clutch, when the shift lever is in the neutral (N-th) position, the input rotation speed Nt is the rotation speed (Nt

Ne) is determined to be normal, and if the difference between the input rotation speed Nt and the engine rotation speed Ne is greater than a predetermined constant value (Ne - Nt> constant), it is determined to be abnormal.

Ne)가 되면 정상으로 판단하고, 상기 입력 회전수(Nt)가 0이 되거나(Nt = 0), 혹은 상기 입력 회전수(Nt)가 엔진 회전수(Ne)와 같지 않으면(Nt

Ne) 비정상으로 판단하는 것을 특징으로 한다.In the present invention, when the shift lever is shifted from the reverse (R-end) to neutral (N-th) in the step of determining normal or abnormal operation of the specific clutch, the input rotation speed (Nt) Nt > 0), and the input rotation speed Nt is a rotation speed Nt close to the engine rotation speed Ne

(Nt = 0) or when the input rotation speed Nt is not equal to the engine rotation speed Ne (Nt = 0)

Ne) is abnormal.

In the present invention, it is preferable that the step of determining normal or abnormal operation of the specific clutch includes, when the shift lever is shifted from running to neutral, the second planetary gear set, which is one of the four planetary gear sets constituting the automatic transmission, If the rotation speed Npc2 of the second planetary carrier PC2 and the output rotation speed No are equal to each other (Npc2 = No (NO)), ) Is determined to be abnormal.

Even if the gear ratios of the respective stages are not known, the present invention uses the speed correlation between the engine speed detection sensor value Ne, the input side speed sensor value Nt, and the output side speed sensor value No provided in the automatic transmission It is possible to detect the abnormal operation of the clutch by software in the N (Neutral) stage, thereby reducing the cost by replacing the existing pressure switch.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a schematic configuration of a clutch abnormality sensing apparatus using a speed sensor value according to an embodiment of the present invention; FIG.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic transmission,
FIG. 3 is an exemplary view showing an operating element table for each of the rear wheels 8 in FIG. 2; FIG.
FIG. 4 is a graph illustrating a comparison between the speed characteristics of the planetary gear member according to the operating conditions and the case where the speed characteristics of the planetary gear member are normal and abnormal in order to explain a clutch abnormality detection method using the speed sensor value according to an embodiment of the present invention. .
5 is a flowchart for explaining a clutch anomaly detection method using a speed sensor value according to an embodiment of the present invention.
FIG. 6 is an exemplary table showing the abnormality operation determination condition of the fourth clutch according to the neutral (N-th) entry condition in FIG. 5; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, an embodiment of a clutch abnormality detection method using a speed sensor value according to the present invention will be described with reference to the accompanying drawings.

In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a diagram illustrating a schematic configuration of a clutch abnormality sensing apparatus using a speed sensor value according to an embodiment of the present invention.

1, a clutch abnormality sensing apparatus using a speed sensor value according to an embodiment of the present invention includes an engine speed sensor 110 for detecting the speed (or the number of revolutions) of the engine, a speed sensor An output speed sensor 130 for detecting the speed (or the number of revolutions) on the output side, and a sensor value (for example, the number of rotations) detected through each of the speed sensors 110 to 130. [ And a control unit 140 for detecting an abnormal operation of the fourth clutch C4 in the 8-speed automatic transmission and outputting a control signal to the corresponding logic 150 using Ne, Nt, No.

At this time, the controller 140 may be configured using a shift control unit (TCU). Therefore, the control unit 140 may perform the functions performed by the existing shift control unit (TCU). However, the clutch abnormality detection function of the control unit 140 will be mainly described in the embodiment of the present invention.

Hereinafter, the clutch abnormality detection function of the controller 140 will be described in detail with reference to FIGS. 2 to 6. FIG.

2 is an exemplary diagram showing a schematic structure of a rear-wheel 8-speed automatic transmission according to the present invention.

As shown in Fig. 2, the rear-wheel 8-speed automatic transmission relating to the present invention is configured so that four planetary gear sets are controlled by a combination of four clutches C1 to C4 and two brakes B1 and B2.

The four planetary gear sets each have a sun gear, a planetary carrier, and a ring gear.

For convenience, the first planetary gear set of the four planetary gear sets is described as having the first sun gear S1, the first planetary carrier PC1, and the first ring gear R1. And the second planetary gear set has the second sun gear S2, the second planetary carrier PC2, and the second ring gear R2. Similarly, the third planetary gear set has the third sun gear S3, the third planetary carrier PC3, and the third ring gear R3, and the fourth planetary gear set includes the fourth sun gear S4, The planetary carrier PC4, and the fourth ring gear R4.

  In the combination of the four planetary gear sets, the first ring gear R 1 is directly connected to the input side for inputting, and the third and fourth ring gears R 34 are connected directly to the output side, The first planetary carrier PC1 and the second sun gear S2 are physically connected (or linked) so that the same speed can be obtained while the second planetary carrier PC2 is operated, And the third sun gear S3 are physically connected (or linked) to obtain the same speed.

The first clutch C1 connects the second sun gear S2 and the fourth sun gear S4 so that the relative speed between the second sun gear S2 and the fourth sun gear S4 at the time of clutch- The second clutch C2 connects the second ring gear R2 and the second planetary carrier PC2 so that the relative speed becomes zero at the time of clutch ON, The third clutch C4 is connected to the third sun gear S3 and the fourth sun gear S3 so that the relative speed of the first sun gear S3 and the third sun gear S3 is set to zero by connecting the first ring gear R1 and the third and fourth planetary carrier PC34, And the third and fourth ring gear R34 are connected to make the relative speed zero.

On the other hand, the first and second brakes B1 and B2 are members in the relative state as a case (or a transmission housing), that is, The second brake B2 restrains the second planetary carrier PC2 and the third sun gear S3 when the clutch is turned on.

At this time, the first sun gear S1 is fixed to the case itself. That is, the first sun gear S1 is always in the constrained state. The third and fourth ring gears R 3 and R 4 are physically coupled and fixed to each other to integrally transmit rotation force to each other. And the third and fourth planet carriers PC3 and PC4 are physically coupled and fixed to rotate integrally.

FIG. 3 is an exemplary view showing an operating element table for each of the rear wheels 8 in FIG. 2.

3, the first-speed clutch C1 and the first brake B1 and the one-way clutch OWE (one-way clutch) operate in the first speed, The first clutch C1 and the second brake B2 are actuated to perform shifting in the second speed and in the third speed the first clutch C1 and the fourth clutch C4 operate In the fourth speed, the first clutch C1 and the third clutch C3 are operated to perform shifting. In the fifth speed, the third clutch C3 and the fourth clutch C4 operate In the sixth speed, the second clutch C2 and the third clutch C3 are actuated to perform shifting. In the seventh speed, the third clutch C3 and the second brake B2 operate And the third clutch C3 and the first brake B1 operate in the eighth gear, The fourth clutch C4 and the first brake B1 are operated to perform the shifting and the first brake B1 is operated in the neutral speed change stage N .

FIG. 4 is a graph illustrating a comparison between the speed characteristics of the planetary gear member according to the operating conditions and the case where the speed characteristics of the planetary gear member are normal and abnormal in order to explain a clutch abnormality detection method using the speed sensor value according to an embodiment of the present invention. to be.

Fig. 4A shows the speed characteristics when the fourth clutch C4 is operating normally, and Fig. 4B shows the speed characteristics when the fourth clutch C4 is operating abnormally. For reference, the fourth clutch C4 is also referred to as "35R clutch" by operating in the third, fifth, and R-stages, as shown in the table for each of the eighth- Also, the first brake B1 is also referred to as an " 8LR brake " in that it operates in eight stages, one stage (or L stage), and R stage, as shown in the table for the eight- .

Hereinafter, a method of detecting an abnormal operation of the fourth clutch C4 will be described.

Ne)로 자유 회전한다.4A, when the fourth clutch C4 is normally operated (clutch OFF) at the neutral position of the shift lever (N-th stage), the input speed sensor value Nt, that is, (Nt) is the operation of the torque converter (not shown), and the engine speed sensor value Ne, that is, the rotation speed Nt close to the engine rotation speed Ne

Ne).

The normal operation (clutch off) of the fourth clutch C4 is a state in which the fourth clutch C4 is fully opened and the first brake B1 is locked when the shift lever is set to the neutral (N-th) position it means. Therefore, the rotational force of the input side should not be transmitted to the output side.

The input speed sensor value Nt senses the turbine shaft rotational speed of a torque converter (not shown) connected to the input side of the automatic transmission through the input speed sensor 120 and outputs the corresponding input rotational speed Nt ).

In other words, when the fourth clutch C4 is in a normal operation (clutch off), the third sun gear S3 and the third and fourth ring gear R34 are not connected, The speed (i.e., the number of revolutions) does not decrease. Accordingly, the speed (i.e., the number of revolutions) of the second planetary carrier PC2 directly connected to the third sun gear S3 does not decrease, and therefore, the second sun gear S2 is directly connected to the second sun gear S2 The speed (i.e., the number of revolutions) of the first planetary carrier PC1 is not reduced.

Ne)로 자유 회전한다. As a result, the input rotation speed Nt is the rotation speed Nt close to the engine rotation speed Ne

Ne).

However, when the fourth clutch C4 is in an abnormal operation (clutch ON), a considerable difference occurs between the input rotational speed Nt and the engine rotational speed Ne as shown in FIG. 4 (b) (Ie, Ne - Nt> constant).

At this time, the abnormal operation (clutch On) of the fourth clutch C4 is a state in which the fourth clutch C4 is not completely opened nor completely locked, that is, when the shift lever is set to the neutral And the first brake B1 is locked. The degree of finely spreading is a state intermediate between a completely opened state and a completely locked state. Therefore, the state in which the rotational force of the input side is gradually transmitted to the output side according to the degree (or degree of opening) of the fourth clutch C4 is referred to as an abnormal operating state.

Therefore, referring to FIG. 4B, when the fourth clutch C4 is in an abnormal operation (clutch ON) at the neutral position of the shift lever (Nth stage), the speed of the third sun gear S3 decreases , And approaches zero direction), thereby reducing the speed of the first planetary carrier PC1 (i.e. approaching the zero direction). As a result, the number of revolutions Nt of the turbine, which is attached to the engine and is rotating, is also reduced.

In other words, when the fourth clutch C4 is in an abnormal operation (clutch ON), the third sun gear S3 and the third and fourth ring gear R34 are finely connected, that is, The relative speed between the input side and the output side is gradually reduced to zero, so that the speed (i.e., the number of rotations) of the third sun gear S3 is reduced. Accordingly, the speed (i.e., the number of revolutions) of the second planetary carrier PC2 directly connected to the third sun gear S3 is also reduced, and thus the speed of the second planetary carrier PC2 directly connected to the second sun gear S2 The speed (i.e., the number of revolutions) of the first planetary carrier PC1 also decreases.

As a result, the input rotation speed Nt is decreased, so that a considerable difference occurs between the input rotation speed Nt and the engine rotation speed Ne (i.e., Ne - Nt> constant). Accordingly, it is possible to detect the abnormal operation of the fourth clutch C4.

FIG. 5 is a flowchart for explaining a clutch abnormality detection method using a speed sensor value according to an embodiment of the present invention. FIG. 6 is a flowchart for explaining the abnormal operation of the fourth clutch according to the neutral FIG. 8 is an example of a judgment condition as a table. FIG.

When the shift clock value is neutral (N: Neutral), the input rotation speed (= turbine rotation speed) Nt is determined by the operation of the torque converter (not shown) The input rotation speed Nt is deviated from the engine rotation speed Ne and is calculated as the rotation speed Ne when the shift lever is operated in the reverse (R-stage) or forward (or running) (I.e., the number of output rotations (No) x gear ratio).

Hereinafter, a normal or abnormal determination method of the fourth clutch C4 with respect to the neutral (N-th) entry condition will be described with reference to Figs. 5 and 6. Fig.

When the shift lever is in the neutral (N-th) position, it is in any of the following three cases. For example, when the shift lever is changed from the reverse (R-stage) to neutral (N-stage), or from the running Dx to neutral (Nx), or the neutral state is maintained at the neutral It is one.

Ne)로 자유 회전한다. 그러나 상기 제4 클러치(C4)가 비정상 작동한다면 상기 입력 회전수(Nt) 감소 및 차량이 후진될 수 있으며, 상기 입력 회전수(Nt)와 엔진 회전수(Ne)에는 상당한 차이가 발생하게 된다(즉, Ne - Nt > 상수)(S102).First, when the shift lever is in the neutral (N-th) position (S101), if the fourth clutch C4 is operating normally, the input rotation speed Nt is equal to the rotation speed Nt

Ne). However, if the fourth clutch C4 operates abnormally, the input rotation speed Nt may be reduced and the vehicle may be advanced, and a significant difference may occur between the input rotation speed Nt and the engine rotation speed Ne That is, Ne - Nt> constant) (S102).

Ne)가 된다. 그러나 상기 제4 클러치(C4)가 비정상 작동한다면, 입력측과 출력측의 동기가 여전히 유지되므로, 상기 입력 회전수(Nt)는 0이 되거나(Nt = 0), 혹은 상기 입력 회전수(Nt)는 엔진 회전수(Ne)와 같지 않게 된다(Nt

Ne)(S104).Next, when the shift lever is changed from the reverse (R-stage) to neutral (N-stage) (S103), if the fourth clutch C4 is operating normally, synchronization between the input side and the output side is released, ) Is greater than 0 (Nt > 0), and the input rotation speed Nt is a rotation speed Nt close to the engine rotation speed Ne

Ne). However, if the fourth clutch C4 is operating abnormally, the input side and the output side are still synchronized, so that the input rotation speed Nt becomes 0 (Nt = 0) It is not equal to the rotation number Ne (Nt

Ne) (S104).

As described above, when the shift lever is in the neutral (N-th) position (S101) and the shift lever is changed from the reverse (R-stage) to neutral (N-stage) The brake B1 is engaged. Therefore, as described with reference to FIG. 4, when the fourth clutch C4 is operated in an abnormal state, the first brake B1 acts as a supporting point and affects the input rotation speed Nt. Therefore, it is possible to determine whether the fourth clutch C4 is operating normally or abnormally by comparing the input rotation speed Nt and the engine rotation speed Ne.

On the other hand, if the shift lever is changed from running (Dx) to neutral (Nx) (S105) and the fourth clutch C4 is operating abnormally, the output side planetary gear relative speed 0, the speed (i.e., the number of revolutions) of the second planetary carrier PC2 directly connected to the third sun gear S3 becomes equal (Npc2 = No) (S106).

5 and 6, the controller 140 controls the engine rotation speed Ne and the input rotation speed Nt in accordance with the neutral (N-th) entry condition of the shift lever It is possible to detect whether or not the fourth clutch C4 is abnormally operated.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, I will understand the point. Accordingly, the technical scope of the present invention should be defined by the following claims.

110: engine speed sensor 120: input speed sensor
130: output speed sensor 140:
150: Corresponding logic C1 to C4: clutch
S1 to S4: first to fourth sun gears R1 and R2: first and second ring gears
R34: third and fourth ring gears PC1 and PC2: first and second planetary carriers
PC34: third and fourth planetary carrier B1, B2: first and second brake

Claims (6)

Detecting the input rotation speed (Nt) and output rotation speed (No) of the automatic transmission, the engine speed (Ne), the position of the shift lever, and the shift operation;
Determining whether the position of the shift lever is neutral (N), shifting from a reverse (R) to neutral (N), or shifting from a travel (Dx) to neutral (N);
Determining normal or abnormal operation of a specific clutch among a plurality of clutches constituting the automatic transmission according to a preset rotational speed condition for each of the cases,
When the shift lever is in the neutral (N-th) position, the input rotation speed Nt is equal to the rotation speed Nt

Ne), it is determined that the specific clutch is normal. If the difference between the input rotational speed Nt and the engine rotational speed Ne is greater than a preset constant value (Ne - Nt> constant) In addition,
When the input rotation speed Nt is greater than 0 (Nt > 0) and the input rotation speed Nt is greater than the engine rotation speed (Nt> 0) when the shift lever is shifted from the reverse Ne) < / RTI > (Nt

(Nt = 0) or when the input rotation speed Nt is not equal to the engine rotation speed Ne (Nt = 0), it is determined that the specific clutch is normal

Ne) judges that the specific clutch is abnormal,
Detecting the number of revolutions (Npc2) of the second planetary carrier (PC2) of the second planetary gear set, which is one of the four planetary gear sets constituting the automatic transmission, when shifting the shift lever from running to neutral; And determines that the specific clutch is abnormal if Npc2 of the second planetary carrier PC2 and output rotational speed No are equal to each other (Npc2 = No)
The specific clutch is a fourth clutch (C4) of a rear-wheel 8-speed automatic transmission in which four planetary gear sets are controlled by a combination of four clutches (C1 to C4) and two brakes (B1, B2) A clutch for controlling the connection of the third sun gear S3 of the third planetary gear set of the four planetary gear sets and the third and fourth ring gears R34 of the third and fourth planetary gear sets,
The first and second brakes B1 and B2 are a transmission housing and the first brake B1 is a ring gear of the second planetary gear set of the fourth planetary gear set of the four planetary gear sets And the second brake B2 restrains the second planetary carrier PC2 and the third sun gear S3 when the clutch is on.
delete The automatic transmission as set forth in claim 1, wherein the rear-
The first clutch C1 and the first brake B1 and the one way clutch OWE are operated to perform the shifting in the first speed and the first clutch C1 and the second brake The first clutch C1 and the fourth clutch C4 are actuated to perform shifting in the third speed and in the fourth speed, the first clutch C1 and the third clutch The third clutch C3 and the fourth clutch C4 are actuated to perform the shifting in the fifth speed and the sixth clutch C2 and the third clutch The third clutch C3 and the second brake B2 are actuated to perform shifting in the seventh speed and the third clutch C3 and the first brake The first clutch C1 and the first brake B1 are operated at the reverse shift stage R, The speed change operation is made, the neutral gear position (N) in the first brake (B1) is detected, the clutch over-speed sensor using the value, characterized in that arranged to the operations.

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