JPH0645346B2 - Transmission control device for multiple-connection vehicle equipped with dolly with power unit - Google Patents

Description

TECHNICAL FIELD The present invention relates to a multiple articulated vehicle towed by a tractor, and in particular, a dolly with a power unit (hereinafter referred to as “power dolly”) is used for an inter-vehicle connecting section. The present invention relates to a transmission control device for a multiple articulated vehicle.

[Conventional technology]

Conventionally, as for a dolly used for connecting between vehicles of a connected driving vehicle (trailer), that is, a multi-connection vehicle towed by a tractor, for example, Japanese Patent Laid-Open No.
There are documents such as −85765. This relates to the structure of a dolly without a power unit, but there are also multiple articulated vehicles that use a power dolly with a power unit.

FIG. 2 is a diagram showing a multiple coupling vehicle provided with such a dolly with a power unit. In FIG. 2, 2-1 is a tractor, 2-1a is a drive wheel, 2-2, 2-4, 2-6 are trailers, 2-3 is a power dolly (motorized dolly),
2-3a is a drive wheel and 2-3b is a power unit. An engine is mounted on the power unit 2-3b of the power dolly 2-3, and can generate a driving force like a tractor.
As a transmission control device for a multiple-connection vehicle equipped with such a dolly with a power unit, there is Japanese Patent Application No. 60-256242 previously proposed by the applicant.

In the past, an auto transmission with a torque converter was used as the transmission on the power dolly side, and which gear stage was used was controlled to be determined by the load and the vehicle speed.

[Problems to be solved by the invention]

However, in a conventional transmission control device for a multiple-connection vehicle equipped with a dolly with a power unit, the gear stage used on the power dolly side is simply determined by the load and the vehicle speed regardless of the gear stage used on the tractor side. However, there is a problem in that the driving forces on the tractor side and the power dolly side may not be well balanced.

For example, when the driving force on the power dolly side exceeds the driving force on the tractor side, the power dolly pushes up against the preceding vehicle and the vehicle posture becomes unstable, and when it is severe, the jack knife phenomenon (bends in the vehicle link section, the entire vehicle also There is also a risk of causing the phenomenon that the jack knife is bent.

Alternatively, when a large driving force is required, it may not be produced well, resulting in a lack of driving force, or conversely, unnecessary driving force may be produced to reduce fuel consumption even though it is not necessary.

Furthermore, since an auto transmission with a torque converter is used as the transmission on the power dolly side, there is a risk that the power dolly may cause a creep phenomenon (a phenomenon in which the vehicle slowly progresses like crawling) while the vehicle is stopped. The power dolly has the power to independently move the multiple articulated vehicle as long as the weight of the trailer's luggage is not too heavy, so if a creep phenomenon occurs, the preceding vehicle is pushed up and the vehicle attitude becomes unstable. There was something to do.

The present invention aims to solve the above problems.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention takes the following means for controlling the transmission.

First, the gear to be used on the power dolly side is determined not only by the load and the vehicle speed, but also on the tractor side.

Secondly, the transmission on the power dolly side is set to be neutral when the driving force on the power dolly side is not required (for example, when the vehicle is stopped, backed up, when the tractor is stalled, when a failure is detected, etc.). Then, after detecting either the half clutch or the clutch complete connection, the gear position is shifted to the first gear (1st).

[Work]

By taking the above means, the present invention operates as follows.

Since the gear stage to be used on the power dolly side is determined not according to the load and vehicle speed but to the gear stage on the tractor side, the driving force on the tractor side and the drive dolly side can be balanced. Therefore, it is possible to prevent the driving force on the power dolly side from exceeding the driving force on the tractor side, and to prevent thrusting up.

Further, when the driving force on the power dolly side is not required, such as when the vehicle is stopped, the transmission on the power dolly side is in neutral, so that the power dolly can prevent an undesired creep phenomenon.

〔Example〕

(Structure) FIG. 3 is a system diagram according to the present invention. The left side shows the part on the tractor side, and the right side shows the power dolly side, with the two-dot chain line drawn up and down in the center of FIG. 3 as the boundary. The outline of this system is to collect signals obtained from various sensors installed in the engine, transmission, accelerator pedal, clutch of the tractor side, power dolly, etc. in the control unit 1,
Control unit 1 based on those signals collected
Then, the desired processing is performed and a control signal for each department is issued.

The symbols in FIG. 3 indicate the following, respectively.

1: Control unit 2: Tractor side engine 3: Tractor side transmission 4: Tractor side engine injection pump 6: Tractor side engine exhaust manifold 7: Tractor side engine exhaust brake 8: Tractor side engine flywheel 11: Tractor side exhaust Brake clutch switch 12: Exhaust brake delay relay 13: Tractor side exhaust brake accelerator switch 14: Tractor side exhaust brake switch 18: Tractor side accelerator petal 18a: Tractor side accelerator sensor 19: Tractor side clutch petal 19a: Tractor side clutch complete Connection switch 19b: Tractor side clutch complete switch 23: Tractor side engine rotation sensor 24: Tractor side neutral switch 25: Tractor side backup lamp switch (back gear switch) 26: Vehicle speed sensor on tractor side 30: Engine on power dolly side 31: Injection pump on engine on power dolly side 32: Exhaust manifold on engine on power dolly side 33: Exhaust brake on engine on power dolly side 37: Engine stop actuator 37a: Solenoid valve on engine stop actuator 37b Engine stop actuator magnetic valve 38: Load sensor 39: Step motor 40: Power doll side engine rotation sensor 41: Power doll side engine flywheel 42: Power doll side auto transmission 44: Retarder actuation solenoid valve 45: Lock-up actuation solenoid Valve 46: Transmission shift actuator 46a: Shift up solenoid valve 46b: Shift down solenoid valve 46c: Harness for position switch 47a: Auxiliary brake selector switch (retarder contact) 47b: Auxiliary brake selector switch (exhaust brake contact) 83: Exhaust brake operation signal harness (outline of operation) Driving force generated on the tractor side When balancing the driving force generated on the power dolly side, when using which gear in the tractor side transmission,
In the power dolly side transmission, consider which gear stage should be used to balance the driving force. Then, the correspondence relationship is determined by what kind of engine is used on each side.

An example is shown in FIG. FIG. 1 is a diagram showing the relationship between the vehicle speed and the engine speed. The solid line shows the tractor side, and the dotted line shows the power dolly side. The number attached to each line is a number representing the gear stage. In the case of the example of FIG. 1, in order to balance the driving force, when the gear used on the tractor side is gear stage 3 or less, the gear stage 1 is used on the power dolly side, and the tractor side uses the gear stage 4 , 5, gear stage 2 on the power dolly side,
When the tractor side has the gear stages 6, 7, and 8, the gear stage 4 is used on the power dolly side. In FIG. 1, the dotted line in the case of the gear stage 3 on the power dolly side is not shown, but the reason is that in the engine combination of this example, when the gear stage 3 is used, the driving force cannot be balanced well. Because I decided not to use it. The line of the tractor-side gear stage 8 is located below the line of the power dolly-side gear stage 4, but the power dolly-side gear stage 4 together with the gear stages 6 and 7 located above is located.
Since the gear ratio is small and the driving force is small in the gear stage 8 as well, there is not much difference in the driving force from the gear stage 7, and even if the gear stage 7 and gear stage 4 are made to correspond, This is because there is no obstacle in taking it.

Now, in order to determine the correspondence as described above and change the gear stage on the power dolly side according to the gear stage on the tractor side,
First, it is necessary to determine which gear is currently used on the tractor side. FIG. 4 is a diagram showing a method of determining the gear stage on the tractor side. For example, straight lines 8-1, 8-2
Is set, and when the data obtained from the vehicle speed sensor and the engine speed sensor are located between the straight lines, it is determined that the tractor-side gear is 8. The method of this determination is expressed as follows.

Where f _ET [Hz]: engine rotation sensor pulse frequency f _MT [Hz]: vehicle speed sensor pulse frequency r _MT : meter gear ratio r _i : transmission i gear ratio α: correction value gear ratio on the tractor side If it is determined, a command (gear shift command signal pulse) is sent so that the corresponding gear stage on the power dolly side enters.

The above operation is as follows, referring to FIG.

In FIG. 3, based on a pulse signal input from a vehicle speed sensor 26 attached to the speedometer gear portion of the tractor side transmission 3 to detect the vehicle speed and an engine rotation sensor 23 detecting the rotational speed of the engine 2 on the tractor side. , Determine the gear used by the tractor side transmission 3.

Neutral switch 24, backup switch 25
Therefore, the gear position of the tractor side transmission 3 is
It is determined whether it is the forward gear, the neutral position, or the reverse gear.

It is attached to the clutch petal 19 via a link mechanism,
The clutch state is detected from the clutch complete switch 19b and the clutch complete connection switch 19a, which detect the clutch disengagement and engagement from the full position and the return position of the clutch petal 19, and whether the vehicle is coasting during gear change. Determine.

The voltage input via the exhaust brake operation signal harness 83 determines whether the auxiliary brake is operating.

On the other hand, the gear stage of the transmission 42 on the power dolly side is the transmission shift actuator 46.
Determined by the position switch built into the.

Needless to say, the above determination operation is performed by the control unit 1.

Then, based on the above determination result, the control unit 1 determines whether or not it is necessary to change the gear stage on the power dolly side, and if necessary, activates the hydraulic circuit of the actuator 46 of the power dolly transmission, A gear shift instruction signal pulse is sent to the shift-up solenoid 46a or the shift-down solenoid 46b. Thus, the gear stage on the power dolly side is shifted to the desired gear stage corresponding to the gear stage on the tractor side at that time.

The above is the outline of the operation. Next, the details of the operation to be performed by the control unit 1 will be described using a flowchart with specific numerical examples.

(Details of Operation and Flowchart) FIG. 5 shows the input / output configuration and main functions of the control unit 1. FIG. 6 is a block diagram of the control unit 1. 7 to 22 show flowcharts regarding the processing in the control unit 1.

(1) Main program (see Fig. 7) When the power of the control unit is turned on, the contents of the ROM and RAM are checked at P101 and P102, respectively. The sum of the memory data is taken and compared with the verification data in P103 to determine the presence or absence of a memory error. If there is an error, the microcomputer failure display (the warning buzzer for failure diagnosis and the lamp are continuously operated) is displayed on P115. If there is no memory error, the RAM data initial set in P104, P1
At 05, the initial setting of the timer for 0.5 ms fixed-cycle interrupt that interrupts the step motor control L1 level program (Fig. 21) is performed, and at P106, the input / output processing LO level program other than the step motor (Fig. 22). Perform the initial setting of the timer for 10ms fixed-cycle interrupt that performs the interrupt in step 1). The interrupt prohibition is released in P107 and the initial processing at power-on ends.

Subsequently, the control process is performed during P108 and P114, and the steps during this period are repeated thereafter. Accelerator sensor 1 on P108
The analog input signals of 8a and load sensor 38 are read.
In P109, L0 with the analog data read in P108
The vehicle condition is determined based on the switch input signals and pulse input signals read every 10 ms by the level program (Fig. 22). In P110, control data is created according to the vehicle status based on the determination result. In P111, it is determined whether or not there is a sensor or actuator failure. The presence / absence of a failure is determined in P112, and if there is a failure, the control data created in P110 is corrected in P113 according to the failure location. If there is no failure, skip P113 and proceed to P114. At P114, control data for the step motor 39 is calculated according to the analog signal and the vehicle condition.

The control data created in P110, P113 and P114 is 0.5ms.
From the fixed-cycle interrupt timer and the 10 ms fixed-cycle interrupt timer,
The L1 and L0 level programs (FIGS. 21 and 22) are executed and output every 0.5 ms and every 10 ms.

(2) Vehicle status determination program (FIGS. 8 to 20)
Fig.) P109 vehicle condition determination and P110 control data creation of the main program (Fig. 7) will be described.

1) At P201, determine whether one second has elapsed after the control unit was powered on. If it is less than 1 second, go to P215 and create output data of the initial set in task 00 (Fig. 10). Solenoid valve for lock-up actuation 45 as auxiliary brake control data for power dolly on P301
OFF, and the retarder actuating solenoid valve 44 is turned off.
Then, the data for turning off the magnetic valve for the exhaust brake (included in the exhaust brake 33, not shown in detail) is created. In P302, data is created to make the transmission 42 on the power dolly side neutral. P303
In order to make the engine 30 on the power dolly side idle, data for controlling the step motor 39 to the idle side is created. In P304, data for turning on the exhaust brake delay relay 12 that delays the operation of the exhaust brake 7 of the tractor side engine is created as tractor auxiliary brake control data.

2) When 1 second has passed after turning on the power, proceed from P201 to P202,
The gear position of the tractor-side transmission 3 is calculated from the ratio of engine rotation and vehicle speed.

Next, at P204, it is determined whether the vehicle is stopped or running. If the vehicle is stopped, the program proceeds to P233 (Fig. 9) to judge whether the tractor side transmission 3 is in neutral or not by turning ON / OFF the neutral switch 24. If it is neutral, use P241 to turn on the back gear switch 25, just in case.
If it is OFF, if it is ON, for safety, it is determined that the tractor side transmission 3 is in the back position, and it goes to P245 task 00 (Fig. 10), the power dolly side transmission 42 is neutral (P302), and the engine 30 is idle. The data to be set to (P303) is created. If the back gear switch 25 is OFF in P241, the tractor side transmission 3 is definitely judged to be in neutral, and P
Proceed to 242, and determine whether the transmission 42 on the power dolly side is in neutral. The determination is made by turning on / off the neutral switch of the gear position switches incorporated in the shift actuator 46. If it is not neutral, go to P245 task 00 and create data to be neutral in P302 (Fig. 10). If neutral, P243 task 02
(Fig. 11) is executed to create data for air filling. Create auxiliary brake control data on the power dolly side on P401. In P402, create data to make the power dolly side transmission 42 neutral. Injection pump of the engine 30 on the power dolly side on P403
Set a flag that controls the control lever angle of 31 in correspondence with the stepping angle of the accelerator petal 18 in a ratio of 1: 1.
At P404, tractor side auxiliary brake control data is created.

3) If the tractor side transmission 3 is not in neutral in P233 (Fig. 9), it is determined in P234 whether the clutch complete connection switch 19a is ON or OFF, and whether or not the clutch petal 19 is depressed. When the clutch petal 19 is stepped on and the clutch complete switch 19a is OFF, the clutch complete switch 19 is pressed at P235.
Whether b is ON or OFF is determined, and it is determined whether the clutch petal 19 is completely depressed and the clutch is disengaged. When the clutch complete switch 19b is ON and the clutch is disengaged, the data for air filling is created as in the case of neutral.
The task 02 (FIG. 11) is executed from P244.

When the clutch complete connection switch 19a is ON in P234 and the clutch is engaged in P235 and when the clutch complete switch 19b is OFF in P235 and it is in a half-clutch condition, the routine proceeds to P236 to P239 to determine whether or not the vehicle is in a starting condition. When the back gear switch 25 is ON in P236 and the gear of the tractor side transmission 3 is in reverse, when the tractor side exhaust brake signal is ON in P237 and the auxiliary brake is activated, in P238 the tractor side engine rotation is 400 rpm idling rotation or less and the tractor side engine When 2 is stopped and the access petal is not stepped on at P239, it is determined that the vehicle is not in the starting state but in the stopped state, and because it is complete, the process shifts to P245 task 00 (Fig. 10) and the transmission 42 is set at P302. Create data that makes the engine 30 idle at P303 with neutral. Also, in P301, data for not operating the power dolly side auxiliary brake and P304 for not operating the tractor side auxiliary brake are created. P237
The reason why the auxiliary brake is not operated even when the exhaust brake signal is ON in FIG. 9 is to prevent engine stall. P
If it is determined that the vehicle is in the start state from the combination of the input conditions between 233 and P239, the P246 task 13 (first
3). In task 13, all of the power dolly auxiliary brake control data is turned off at P421, and data for turning on the exhaust brake delay relay 12 is created as tractor auxiliary brake control data at P424, and the auxiliary brake is not activated. Create data to shift the gear of the power dolly side transmission 42 to 1st in P422, and data of petal control 1 of the step motor 39 to move the control lever in 1: 1 interlocking with the stepping angle of the accelerator petal 18 in P423. Set the flags to create.

4) If the vehicle speed is more than 0.2km / h at P204 (Fig. 8), the exhaust brake operation signal at P205 (tractor side exhaust brake switch 14 is ON and tractor side exhaust brake accelerator switch 13). It turns on when is ON.) Is input. When the exhaust brake operation signal is ON, it is determined in P205 whether or not a predetermined time has elapsed since the exhaust brake operation signal was turned ON. When the time is short, P251 task 11 (Fig. 19)
Go to.

In task 11, in P711, the engine speed of the power dolly side detected by the rotation sensor 40 is compared with the reference speed. If it is higher than 800 rpm, lock up the auxiliary brake control data for power dolly at P712 and turn on retarder O
N, turn on the exhaust brake. P72 if lower than 800 rpm
At 0, the power dolly auxiliary brake control data is set to lockup OFF, retarder ON, and exhaust brake ON.
When the engine speed is high, the lock-up is ON, and when the engine speed is low, the lock-up is ON. When the vehicle speed is high and the engine speed is high, the engine brake is effectively used. Therefore, when the vehicle speed is low, the transmission and the engine are directly connected. The reason is that the power dolly side has no clutch and will stall if it is directly connected, so it is possible to prevent stall by using the slip of the torque converter via the torque converter. Here, the reference rotation speed is 800 rpm. If this standard is set to the idling speed of the power dolly engine at no load or lower, the engine speed will be regulated from the tire side when lockup is ON and the engine speed will be below this standard at low vehicle speeds, and control will proceed from P711 to P720. The lockup is turned off. However, when the lockup is turned off, the tire side and the engine go through the torque converter, the load on the engine is reduced, and the engine speed is higher than that at the lockup time, and is higher than the reference speed. Therefore, in the next control cycle, the control advances from P711 to P712 and the lockup is turned on. In this way, at low vehicle speeds, lockup is ON / O every control cycle.
Repeat FF. In order to prevent this, the engine comparison reference rotation speed of P711 must be higher than the unloaded andring rotation of the engine. If this reference rotation speed is too high, the engine brake cannot be effectively used.
Therefore, it is better to set it between 600 and 1000 rpm.

After creating auxiliary brake control data for power doll P713 ~
Create shift data for the power dolly side transmission on P715. The gear position on the tractor side is LoL on P713
In case of o ~ 3rd, data for setting the transmission 42 on the power dolly side to 1st is created on P721. If the gear position of the tractor side transmission is 4th and 5th in P714, the data for the power dolly transmission 42 is set to 2nd in P722, and to 4th in P715 if 6th, 7th and 8th. The third gear of the power dolly transmission has a poor balance with the gear ratio of the tractor side transmission 3, so it is not used in this example. In P716, create data to set the control lever of the engine 30 on the power dolly side to idle so that the engine brake on the power dolly side can be activated. P
At 717, data for turning on the tractor side exhaust brake delay relay 12 is created.

When the exhaust brake actuation operation is performed on the tractor side in this manner, the auxiliary brake on the power dolly side first operates, and the exhaust brake 7 on the tractor side does not operate until the auxiliary brake on the power dolly side starts to be activated.

At P250 (Fig. 8), when the exhaust brake signal is turned ON and a predetermined time has elapsed, the process proceeds to P252 task 12 (Fig. 20).

In task 12, from P731 to P736, task 11 (first
It is exactly the same as P711 to P716 in Fig. 9). P737
Unlike P717 only, the tractor side exhaust brake delay relay 12 is turned off and the tractor side exhaust brake 7 is activated.

The set time in P250 (FIG. 8) is determined in consideration of the operating time of the exhaust brake 33 and the retarder operating time of the engine on the power dolly side.

5) When the exhaust brake operation signal is OFF in P205, it is determined in P206 whether the engine speed of the tractor side is 400 rpm or less, that is, whether the engine is stopped. When the engine is stopped, it is determined that the engine has stopped, and task P (FIG. 10) is executed at P216.

Even if the engine 2 on the tractor side suddenly stalls during running, P
At 302, the transmission 42 on the power dolly side is neutral, and at P303, the engine 30 on the power dolly side is made idle, so there is no danger of being pushed up from the power dolly side. Also, since the auxiliary brake does not work at P301 and P304, there is no sudden deceleration.

6) The engine rotation of the tractor side is 400 at P206 (Fig. 8).
At rpm or higher, that is, while the engine is operating, it is determined at P207 whether the tractor side transmission 3 is in neutral or not by turning ON / OFF the neutral switch 24. If it is neutral, it is determined that the vehicle is gear-shifted or coasting to neutral, and task 10 (FIG. 18) is executed at P217.

In task 10, in order to make the power dolly side engine 30 idle, the flag for setting the step motor 39 to the idle position is set at P701. Since no other work is done, the gear stage of the power dolly-side transmission 42, the operation of the auxiliary brake, and the like are the same as before.

Neutral switch 2 on the tractor side on P207 (Fig. 8)
When 4 is OFF, check whether the clutch on the tractor side is in the fully engaged state at P208 by turning on / off the clutch complete disengagement switch 19a.
Judge with F. When the clutch complete connection switch 19a is OFF (the clutch petal is stepped on and the clutch is not completely connected), it is determined at P260 whether the vehicle speed is 5 km / h or more. When the vehicle speed is 5 km / h or more, regardless of whether the clutch is a half-clutch or completely disengaged, it is determined to be coasting operation due to gear change or clutch off, and P263 task 10 (Fig. 18) is executed.

If the vehicle speed is 5 km / h or less on P260 and it is considered that the vehicle is still starting, then on P261, the clutch disengagement switch 19b is ON / O.
The FF determines whether the tractor side clutch is in the completely disengaged state or the half clutch state. When the clutch disengagement switch 19b is ON (the clutch petal is fully depressed and the clutch is disengaged), it is determined to be coasting due to gear change or clutch off, and P263 task 10 (Fig. 18) is executed. .

In task 10, since the power dolly side is in the engine braking state, the vehicle posture is stable without being pushed up from the power dolly side during gear change or coasting operation, which is safe.

7) At P261, when the clutch complete switch 19b is OFF and the clutch is in a half-clutch state, or at P208, the clutch complete switch 1
When 9a is ON and the clutch is engaged, the backup lamp switch 25 is turned ON / OFF by P209 to determine whether the gear position of the tractor side transmission 3 is in the reverse position.
Determine with. When it is determined that the switch 25 is ON and in the back position, the P216 task 00 (FIG. 10) is executed. The transmission 42 on the power dolly side is in neutral, and the engine 30 becomes idle so that no driving force is generated.

8) The backup lamp switch 25 is turned off at P209.
When it is determined that the gear position of the tractor side transmission 3 is in the forward gear, the vehicle speed is determined in P210 to determine whether the vehicle is running at a very low speed.

When the vehicle speed is 0.2 km / h or more and 5 km / h or less, it is determined that the vehicle is traveling at a low speed, and P271 task 03 (Fig. 12) is executed. In task 03, the power dolly auxiliary brake control data is turned OFF at P411, and the gear stage of the power dolly transmission 42 is set to 1st at P412. Regardless of the gear position of the tractor-side transmission 3, the power dolly-side transmission 42 is set to 1st because the difference between the engine speeds depending on the gear position is small at a vehicle speed of 5 km / h or less, because the tractor-side transmission 3 is The gear position cannot be accurately determined.

If the speed of the power dolly transmission 42 is set to 2nd or higher at a vehicle speed of 5 km / h or less, the corresponding rotation speed of the power dolly engine 30 will be less than the idle speed.

Etc.

Subsequently, at P413, a flag for controlling the step motor 39 with the characteristics of the petal control 2 is set in order to set the accelerator control of the tractor side engine 2 to control during traveling. In this control, the depression amount of the accelerator petal 18 is the specified value (A
SSP) or less, the step motor 39 is in the idle position, and when the depression amount is the specified value (ASSP) or more, the step motor 39 causes the accelerator control lever (not shown in FIG. 3) of the injection pump 31 to move to the full side according to the depression amount. When the accelerator pedal 18 is fully depressed, the step motor 39 is also in the full position. Therefore, when the driving force is required, sufficient driving force of the engine 30 on the power dolly side is generated, and when it is not necessary, the engine 30 on the power dolly side tends to be engine braked, and the vehicle posture can be stably run without pushing up afterwards and is safe. Is.

Next, at P414, the exhaust brake delay relay 12 is turned on.

9) If the vehicle speed is 5 km / h or more in P210 (Fig. 8), it is determined that the vehicle is running, and after P211 it corresponds to the gear position of the tractor side transmission 3 and the rotation speed of the engine 2,
The gear stage of the power dolly side transmission 42 and the accelerator control of the engine 30 (control of the step motor 39) are performed.

At P211, it is determined whether the gear stage of the tractor side transmission 3 is less than 2nd. The method of determining the gear position (stage) from the ratio of the signal of the engine rotation sensor 23 and the signal of the vehicle speed sensor 26 is known and will not be described. If the gear is less than 2nd (LoLo, Lo, 1st) on P211, P271 Task 03
(Fig. 12) is executed, the power dolly side transmission 42 is set to 1st at P412, and the step motor 39 is set at P413.
Is controlled by Petal control 2. Also, do not operate the auxiliary brake.

Transmission 2 on tractor side on P211 (Fig. 8)
When the gear position of is 2nd or higher, it is determined at P212 whether it is 2nd or 3rd.

If it is 2nd or 3rd, P270 determines whether the tractor side engine speed is 1000 rpm or higher. If it is 1000 rpm or lower, P272 task 06 (Fig. 14) is used. If it is 1000 rpm or higher, P271 task 03 (second) is used. 112).

In task 06, all the power dolly auxiliary brake control data is turned off in P501, the gear stage of the power dolly transmission 42 is set to 1st in P502, the step motor 39 is set to the idle position in P503, and the exhaust brake delay relay 12 is set in P504. Create the data to be turned on.

P271 task 03 (Fig. 12) and P272 task 06 (first
4) is that the control of the step motor 39 is the petal control 2 in p413 and the idle position in P503. The reason why the step motor 39 is set to the idle position when the engine speed of the tractor side is 1000 rpm or less is to prevent pushing up from the power dolly side when turning a curve.

Transmission 2 on the tractor side on P212 (Fig. 8)
If the gear of is not 2nd or 3rd, it is judged at P213 whether it is 4th or 5th. If it is 4th or 5th, the engine speed of the tractor side is 1000 rpm at P214 as in P270.
It is determined whether or not it is above, and if it is above, P280 task 08
(Fig. 16) If the following, P219 task 07 (Fig. 15)
Figure) is executed respectively.

Data for setting the gear stage of the transmission 42 on the power dolly side to 2nd is created at P612 and P602, respectively. The control data of the step motor 39 is the same as the difference between P271 and P272, and the petal control is performed in P613 and idle in P603. The reason is the same.

If the gear stage of the tractor side transmission 3 is not 4th or 5th in P213, it is judged to be 6th, 7th, 8th, and P
218 Task 09 (FIG. 17) is executed. In task 09, all the power dolly auxiliary brake control data is turned OFF in P612, the gear stage of the power dolly side transmission 42 is set to 4th in P622, and the step motor 39 is set in P623.
Data for turning on the exhaust brake delay relay 12 is created in P624 for the control of No. 2 and for the petal control 2.

(3) L1 level program (Fig. 21) The step motor 39 is controlled in 0.5 ms cycles by the timer set in P105 of the main program (Fig. 7).

Save all registers in P1801. Task 0 on P1802
0 (Fig. 10) to P13 based on the control conditions of the step motor 39 set in the task 13 (Fig. 13) respectively.
The control data calculated in 4 (Fig. 7) is output.

All registers are restored in P1803, and interrupt disable is released in P1804.

When the step motor 39 is controlled at high speed, if it does not follow the movement of the accelerator petal 18 poorly, it may be pushed up or dragged from the power dolly side, and the vehicle attitude may become unstable and the stability may deteriorate. ， Because the fuel efficiency of the whole becomes worse. Another reason is to reduce or eliminate overshoot and undershoot with respect to the target value of the step motor.

This interrupt program has a higher priority than the L0 level program which is another interrupt program.

(4) L0 level program (Fig. 22) The input signal is read in 10ms cycle by the timer set in P106 of the main program (Fig. 7) and the accelerator control lever of the power dolly engine 30 is controlled by the step motor 39. Control other than.

All registers are saved in P1811. From P1812 to P1814, the power dolly side auxiliary brake control data, the T / M shift control data, and the tractor auxiliary brake control data set by the main program are output, respectively, and the respective devices are controlled.

P1815 turns ON / OFF the clutch complete switch 19a and each position switch built in the shift actuator 46.
The F digital signal is read. In P1816 and P1817, data is updated only when the same data is input three times in succession to eliminate errors due to switch chattering. From P1818 to P1820, a pulse signal is read by the engine rotation sensor 23, the vehicle speed sensor 26, etc. at a cycle of 100 ms, and data of the vehicle speed, the tractor side engine speed and the power dolly side engine speed are created. The 100 ms cycle and the long cycle are because the number of pulses detected by each sensor is counted and data is recorded. Since the inertia of the vehicle and engine is large and the vehicle speed and engine rotation do not change suddenly, a long cycle is fine.

All registers are restored in P1821, the interrupt prohibition is released in P1822, and this interrupt processing program is terminated.

(Other Embodiments) In the case of a transmission with a torque converter, the rotational force of the engine is transmitted through the driving force transmitting oil, but the fuel consumption loss due to slipping of the torque converter (fuel consumption loss due to stirring the driving force transmitting oil) occurs. , It is better to lock up the torque converter as much as possible (directly connect the transmitting side and the transmitted side to transmit the torque of the engine in the torque converter).

Therefore, an embodiment is conceivable in which the power dolly side is locked up when the tractor side gear is the highest gear among the gears corresponding to the power dolly side gear. In the example of FIG. 4, the tractor-side gear stages 1, 1,
3, the power dolly gear 1 is made to correspond, but when the tractor gear becomes the highest gear 3 in this correspondence, the power dolly transmission is locked up.

Locking up can reduce fuel consumption loss. Since the power dolly side is locked up only when the tractor side gear is the highest gear among the gears corresponding to the power dolly side gear, thrust up from the dolly side during gear shifting of the tractor side transmission can be suppressed.

〔The invention's effect〕

As described above, according to the present invention, a transmission control device for a multiple articulated vehicle including a dolly with a power unit is provided.
Means for detecting the gear stage used by the tractor side transmission, and means for selecting a gear stage previously associated with the gear stage used on the tractor side as the gear stage used for the dolly transmission with power unit based on the detection result. Therefore, when the driving force on the dolly side with the power unit is required, the driving force balanced with the driving force on the tractor side is generated, and the driving force on the dolly side with the power unit is required. Otherwise, the neutral position is set and the driving force is not generated.

Therefore, the vehicle attitude does not become unstable due to the push-up from the dolly side with the power unit, and the jack knife phenomenon does not occur. Further, the tractor side is not pushed up by the creep phenomenon while the vehicle is stopped.

[Brief description of drawings]

FIG. 1 ... A diagram showing a gear-step correspondence relationship which is the basis of the transmission control of the present invention. FIG. 2 ... A multi-connection vehicle equipped with a dolly with a power unit. FIG. 3 ... A system diagram according to the present invention. Fig. 5 shows a gear stage determination zone of the transmission Fig. 5 shows the input / output configuration and main functions of the control unit Fig. 6 shows a block diagram of the control unit Fig. 7 to Fig. 22 shows the operation of the control unit In the flow chart, 1 is a control unit, 2 is a tractor side engine, 3 is a tractor side transmission, 30
Is a power dolly side engine, 31 is a power dolly side engine injection pump, 38 is a load sensor,
39 is a step motor, 42 is a power dolly side transmission, and 46 is a transmission shift actuator.

Claims (1)

[Claims] 1. A signal for detecting an operating condition on the tractor side,
Based on a signal that is connected between the vehicles towed by the tractor and has detected the operating condition of a dolly with a power unit that employs an auto mission with a torque converter as a transmission, with respect to the transmission on the dolly side with the power unit, In a transmission control device for a multiple articulated vehicle equipped with a dolly equipped with a power unit that performs a shift control by issuing a gear shift instruction signal pulse, a means for detecting the gear stage used by the tractor-side transmission and a power source based on the detection result. A transmission for a multiple-connection vehicle equipped with a dolly with a power unit, characterized in that it has means for selecting a gear stage that corresponds in advance to the used gear stage on the tractor side as a use gear stage of the dolly side transmission with a device. Control device.