KR101847641B1 - Touchpoint searching method for clutch - Google Patents

Abstract

The present invention relates to a method and apparatus for searching and learning a clutch touch point, and more particularly, to a method and apparatus for accurately learning a touch point of a dry clutch used in AMT (Automated Manual Transmission) and DCT (Double Clutch Transmission) will be.
According to an embodiment of the present invention, there is provided a method of controlling a game machine, the method comprising: (a) confirming a learning entry condition including a gear engagement; (b) a clutch position close control step of moving the clutch plate closer to the engine plate when the learning entry condition is satisfied; (c) determining whether the engine speed exceeds a predetermined first set value (B); And (d) a clutch position open control step of moving the clutch so that the clutch actuator moves away from the engine plate when the engine speed exceeds the first set value (B) in the step (c) The clutch position is detected by the touch point at the moment when the input shaft rotates reversely due to the torsional stress acting on the input shaft in the step of detecting the clutch touch point.

Description

{TOUCHPOINT SEARCHING METHOD FOR CLUTCH}

The present invention relates to a method and apparatus for searching and learning a clutch touch point, and more particularly, to a method and apparatus for accurately learning a touch point of a dry clutch used in AMT (Automated Manual Transmission) and DCT (Double Clutch Transmission) will be.

The contents described in this section merely provide background information on the embodiment of the present invention and do not constitute the prior art.

A technique for searching for a touch point in an AMT or DCT in which a clutch for power interrupting operation is operated by a clutch actuator in order to secure the correct operability of the clutch is disclosed.

The touch point is a position at which the engine plate and the clutch plate start to communicate with each other and start to transmit power. That is, when the clutch starts to contact and starts to generate frictional force, it must accurately detect and recognize the touch point, And can be accurately controlled at the time point.

FIG. 7 is a view showing the concept of the clutch touch point of the related art, specifically showing the clutch torque characteristic with respect to the stroke of the clutch actuator. FIG. Referring to FIG. 7, when the stroke is increased and the touch point is encountered, the clutch torque starts to increase. If the state of the clutch is normal, it is possible to transmit the clutch maximum torque designed to be larger than the maximum engine torque, However, due to the nature of the dry clutch, when the touch point, which is the operating start point of the clutch, is shifted due to temperature change, abrasion, or the like, the maximum engine torque can not be transmitted even at the maximum stroke.

FIG. 8 is a diagram illustrating a method of searching and setting a touch point of a conventional clutch, which is performed when the gear box is neutralized immediately after a stop or engine cranking.

According to the prior art shown in Fig. 8, after the clutch actuator is operated in the direction in which the clutch is engaged from the position where the clutch is not engaged (A), the position of the clutch actuator at the time point B Then, this position is adjusted to a new touch point (C), and then the clutch actuator is operated with a newly set touch point as a target.

When the amount of wear of the clutch due to frequent shifting of the vehicle during driving is large, the change of the position of the touch point becomes large, which makes it difficult to precisely control the clutch. Therefore, it is understood that accurately recognizing the position of the touch point is an important factor for securing the reliability of the torque-stroke curve.

Techniques such as those disclosed in Korean Patent Laid-Open Nos. 10-2015-0011482 and 10-2014-0060013 have been disclosed. However, in the conventional touch point search method, a change in the speed of the non-drive shaft is detected and searched in a gear neutral state. In this case, since the gear must be in the neutral position, a separate clutch for the touch point search is required for the AMT, and an extra clutch for the touch point search is also required for the DCT. And, for the touch point search, it is necessary to release the gear and make sure that it is accompanied by the effort to reconnect it if necessary.

Korean Patent Publication No. 10-2015-0011482 Korean Patent Publication No. 10-2014-0060013

In the present invention, a method of searching for a touch point even when a gear is not released and a gear is engaged is disclosed.

Also, according to the touch point searching and learning method of the present invention, the DCT can be applied to an AMT transmission which is driven by one clutch and is not free from gear neutral, as well as the DCT having two clutch plates.

In order to achieve the above-mentioned object, according to an embodiment of the present invention,

(a) confirming learning entry conditions including whether gears are engaged or not; (b) a clutch position close control step of moving the clutch plate closer to the engine plate when the learning entry condition is satisfied; (c) determining whether the engine speed exceeds a predetermined first set value (B); And (d) a clutch position open control step of moving the clutch so that the clutch actuator moves away from the engine plate when the engine speed exceeds the first set value (B) in the step (c) The clutch position is detected by the touch point at the moment when the input shaft rotates reversely due to the torsional stress acting on the input shaft in the step of detecting the clutch touch point.

According to one embodiment, (e) determining whether the variation amount of the input shaft speed is less than a predetermined second set value C may be further included.

And (f) if the change amount of the input shaft speed is less than a predetermined second set value C in the step (e), storing the clutch position.

Further, (g) after the step (f), it is determined whether or not the touch point according to the clutch position stored in advance and the touch point according to the newly stored clutch position are compared with each other and the predetermined third set value D is exceeded Step < / RTI >

(H) In the step (g), when the touch point according to the newly stored clutch position has a difference exceeding the third set value D as compared with the touch point according to the clutch position previously stored, (I) updating the touch point according to the new clutch position to the touch point input to the clutch control module.

In another embodiment, in the step (g), when the touch point according to the newly stored clutch position does not exceed the third set value (D) as compared with the touch point according to the previously stored clutch position, And searching for the search result.

According to an embodiment, the step (ee) may include the step of resetting the clutch search position when the variation amount of the input shaft speed is equal to or greater than a predetermined second set value C in the step (e).

According to an embodiment, (cc), when the engine speed is equal to or less than the predetermined first set value (B) in the step (c), resetting the clutch search position may be included.

According to an embodiment of the present invention, the clutch torque is converted into a torque using an angular acceleration and an axial moment of inertia when the input shaft rotates reversely, and the detected torque is compensated for.

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As described above, in the present invention, it is possible to search for a touch point even when the gear is engaged by measuring the speed of the input shaft and searching for a moment when the clutch is reversely rotated due to a torsional stress of the input shaft .

In addition, the number and types of sensors required for touch point search can be reduced compared to the related art, and costs can be reduced in solving the problems.

According to the present invention, by defining the point where the clutch rotates reversely by the torsional stress as a touch point, a more precise touch point can be set as compared with the conventional one.

Further, according to the touch point searching and learning method of the present invention, there is an advantage that the present invention can be applied to an AMT transmission that is driven by a single clutch as well as a DCT having two clutch plates and is free from gear neutralization.

1 is a diagram illustrating a concept of a touch point searching and learning method according to an embodiment of the present invention.
2 is a block diagram showing a schematic configuration of a touch point searching and learning apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a touch point search and learning method according to an embodiment of the present invention.
4 is a graph showing a simulation graph of a speed and a clutch position of an input shaft with respect to time according to an embodiment of the present invention.
5 is a graph showing an actual measurement graph of the speed of the input shaft and the clutch position with respect to time according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating a change in torque magnitude compensated according to a change in input shaft speed in relation to an update of a touch point according to an embodiment of the present invention.
7 is a graph showing the characteristics of the clutch torque with respect to the stroke of the clutch actuator.
8 is a diagram illustrating a method for searching and setting a touch point of a clutch according to a conventional technique.

The embodiments described below are provided so that those skilled in the art can easily understand the technical idea of the present invention, and thus the present invention is not limited thereto. In addition, the matters described in the attached drawings may be different from those actually implemented by the schematic drawings to easily describe the embodiments of the present invention.

The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. The word "comprise" or "having" is used herein to mean that a feature, a number, a step, an operation, an element, a component or a combination thereof is disclosed in the specification, A step, an operation, an element, a part, or a combination thereof.

It is to be understood that when an element is referred to as being connected or connected to another element, it may be directly connected or connected to the other element, but it should be understood that there may be other elements in between. The term "connection" as used herein means a direct connection or indirect connection between one member and another member, and may refer to all physical connections such as adhesion, attachment, fastening, bonding, and bonding.

Also, the expressions such as 'first, second', etc. are used only to distinguish a plurality of configurations, and do not limit the order or other features between configurations. Particularly, in one embodiment of the present invention, the expression of the first set value, the second set value, the third set value and the like is determined according to the precision required for searching and learning when the user uses the clutch touch point searching and learning apparatus and method It is freely adjustable. It is therefore to be understood that the embodiments described below do not limit the scope of the invention.

In the present invention, the expression " increase " of the clutch search position means a representation in an operation in which the clutch plate is turned on when the distance between the engine plate and the clutch plate (also simply referred to as a clutch) approaches and the clutch search position is referred to as " The expression may mean a representation in an operation in which the clutch is turned off when the distance between the engine plate and the clutch plate (also simply referred to as clutch) is increased.

In addition, terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings, and the inventor may appropriately define the concept of the term to describe its own invention in the best way. It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

The touch point searching and learning method of the present invention will be described with reference to FIGS. 1 to 3. FIG.

1 is a diagram illustrating a concept of a touch point searching and learning method according to an embodiment of the present invention.

Referring to FIG. 1, the clutch structure of the present invention generally includes a clutch actuator 100, an engine shaft 110, an engine shaft plate 120, an input shaft 210, an input shaft plate 220, a gear train 230, Differential gear 240 and wheel 300 configuration. The clutch actuator 100 of the present invention is connected to the engine shaft plate 120 and / or the input shaft plate 220 to control the interval between the clutches to turn the clutch on / off.

The key point of the present invention is to search for and learn a touch point by utilizing a fact that a torsional stress is generated in a stationary input shaft 210 when torque is applied to the clutch with a narrow gap between the clutch and the engine plate. When the clutch is released after a torsional stress is generated in the input shaft 210, the input shaft 210 (or the clutch plate 220) is tilted by an internal torsional stress acting on the input shaft 210 as soon as the clutch torque approaches about 0 Nm. In this case, the clutch at the moment of the reverse rotation is searched and defined by the touch point.

According to the present invention, the speed of the input shaft is measured, and a moment when the input shaft (the clutch plate rotates in the opposite direction) rotates reversely during the operation of the torsional stress of the input shaft is searched by the touch point. There is an advantage that it is possible to search for a touch point even in the state where the gear is engaged, compared with the prior art in which the engagement and disengagement of the gear is necessary for the search of the touch point.

2 is a block diagram showing a schematic configuration of a touch point searching and learning apparatus according to an embodiment of the present invention.

The clutch touch point searching and learning apparatus according to the present invention includes a clutch control module 10, a clutch actuator 100, a vehicle speed sensor 111 (which may be an engine rotation sensor as occasion demands), an input shaft speed sensor 211 ), And the like. Here, the input shaft speed sensor 211 may be a sensor of a mechanical type or an electromagnetic type, and specifically includes a linear encoder, a linear potentiometer, a hall sensor, and the like. And an angular acceleration sensor such as a linear gyro sensor may be used. In some cases, the torque may be measured from a strain gauge type torque sensor or an optical torque sensor, and the speed may be estimated by indirectly detecting the angular acceleration. It should be noted that the input shaft speed sensor 211 of the present invention is not limited to this type. According to the present invention, it is possible to reduce the number and types of sensors required compared to the learning apparatus disclosed in Korean Patent No. 10-1601707 of the same applicant as the applicant of the present application, while using a conventional input shaft speed sensor 211, There is an advantage to have. This will be described later in more detail.

Next, the clutch touch point searching and learning method of the present invention will be described in detail with reference to FIGS. 3 to 6. FIG.

3 is a flowchart illustrating a touch point search and learning method according to an embodiment of the present invention. 4 is a graph showing a simulation graph of a speed and a clutch position of an input shaft with respect to time according to an embodiment of the present invention. 5 is a graph showing an actual measurement graph of the speed of the input shaft and the clutch position with respect to time according to an embodiment of the present invention. FIG. 6 is a diagram illustrating a change in torque magnitude compensated according to a change in input shaft speed in relation to an update of a touch point according to an embodiment of the present invention.

Referring to FIG. 3, in the clutch touch point searching and learning method of the present invention, it is determined whether the learning entry condition of the clutch touch point is satisfied (S310). Here, the learning entry condition may be whether the vehicle is stopped or not, whether the vehicle is engaged or not. In the case of the AMT, it is basically important that the vehicle is stopped because the search for the clutch touch point can not be performed when the vehicle is in a running state, that is, when the vehicle speed exceeds zero. The stopping of the vehicle can be determined, for example, by checking whether the speed of the vehicle corresponds to zero using the vehicle speed sensor 111. In another embodiment, whether the pressure of the brake exceeds a preset value or not, Pedal sensor) value is less than a preset value, and engine torque or engine speed.

If the learning entry condition is satisfied, the clutch actuator 100 is operated to control the clutch position. Here, the clutch position is referred to as close control (S320), which means that the engine plate 120 and the clutch 220 are brought into contact with each other.

After the closing control of the clutch position (S320), it is determined whether the engine speed exceeds a predetermined first set value B (S330).

The clutch seeking position A can be understood as a point at which the clutch seek torque is applied during the clutch position close control S320. In the clutch position close control (S320), a search torque is applied to the clutch when the clutch reaches the target position. Here, the fact that the clutch has reached the target position means that the clutch has reached the clutch seeking position A, that is, it means that the search torque is applied when the clutch seeking position A is reached.

When the learning entry condition is satisfied, the position of the clutch 220 is moved by the search distance A set to approach the direction of the engine shaft 110 based on the initial clutch start position (zero, 0) along the x-axis shown in Fig. 1 , Check the engine speed of the vehicle. Here, A may have a positive value based on the initial clutch position (zero, 0) along the x-axis shown in FIG. 3, and the unit may be, for example, in units of mm.

The clutch is located at the search point and it is determined whether or not the engine speed exceeds a predetermined first set value B when the search torque is applied to the engine shaft 110. [ The reason for confirming whether the engine speed exceeds the predetermined first set value B is that the torsional stress of the input shaft does not sufficiently occur unless the engine speed is sufficiently high, This is to confirm the parameters. When the clutch 220 is positioned at the touch point, since the engine driving force is transmitted to the input shaft 210 through the clutch 220 well, the engine speed under the condition for generating the torsional stress is sufficiently detected, but when the clutch is moved excessively Rather, the engine rpm is lowered.

That is, when the engine speed exceeds the predetermined first set value B, it is determined that the clutch 220 is engaged at the ideal position with the engine plate 120 at the touch point, When the value is equal to or smaller than the value B, it can be determined that the clutch 220 is engaged at a position where the clutch 220 is excessively moved with respect to the engine plate 120 at the touch point.

On the other hand, referring to FIG. 4, the maximum value of the clutch clutch search position A may be a value obtained by adding the available displacement (b) of the clutch actuator 100 to the old touch point. The available displacement b may mean a movable distance when the clutch actuator 100 linearly moves the engine plate 110 and / or the clutch plate 220 in a direction parallel to the x axis of Fig. 3 . If the clutch is loosened due to a temperature change or a wear phenomenon, the conventional touch point can not point to the correct touch point at this time, so the clutch actuator 100 compensates the touch point. The magnitude of the usable displacement (b) compensated can be variously set according to the embodiment.

Next, when the engine speed exceeds the predetermined first set value B, the clutch position open control S340 is performed. When the engine speed is detected to be equal to or less than the predetermined first set value B, Reset search position (A) (controls? A). That is, the clutch search position is set to be smaller than the conventional one, and the clutch 220 is controlled so as to slightly engage with the engine plate 120 (S335). When the first clutch search position A is 20 mm when the engine speed is detected to be equal to or less than the predetermined first set value B, the reset clutch search position A is the correction value (-a, where a is 0.5 mm ) Is applied and finally it can be 19.5 mm.

For reference, when the clutch search point A is reset, the correction value + a means that the clutch position is moved in the direction parallel to the x-axis shown in Fig. 3, and the distance between the engine plate and the clutch plate approaches. It may mean that the clutch position moves in the direction opposite to the direction parallel to the x-axis shown in Fig. 3 and the interval between the engine plate and the clutch plate is approximated.

As described above, when the engine speed is detected to be equal to or less than the predetermined first set value B and the clutch search position A is reset, it is regarded that the learning of the touch point has failed and the clutch is completely released, And terminates. Of course, if the learning condition is satisfied even after the end of the clutch touch point search, it is possible to start the search of the new clutch touch point again at any time.

The clutch actuator 100 is provided with a means capable of calibrating the position of the clutch 220 so that the position of the clutch 220 can be read in real time.

As described above, when the engine speed exceeds the predetermined first set value B, the clutch position open control S340 is performed and the input shaft speed is sensed.

Specifically, it is determined whether or not the input shaft speed change amount is less than a predetermined second set value C (S350) when the clutch position is open controlled (S340). Here, the second set value C, which is a comparison value of the input shaft speed, may be zero. The fact that the input shaft speed variation is less than zero (or a negative number) means that the input shaft speed curve to the time axis has a downward curve, which means that the rpm of the input shaft decreases. And the fact that the input shaft speed variation is less than 0 means that the input shaft angular acceleration is less than zero. If reverse rotation due to torsional stress occurs, the rpm decreases for a certain period of time, in order to set this point to the touch point. The most important technique in the present invention is to find an optimal touch point by using the input shaft speed as one parameter.

If the input shaft speed change amount is smaller than the preset second set value C, the position of the clutch 220 is recognized as a touch point, and the recognized new clutch position is stored (S360).

Otherwise, when the input shaft speed change amount is detected to be equal to or greater than the predetermined second set value C, the search position A of the clutch 220 is reset (+ a control). When the clutch wears, the position at which the input shaft speed variation becomes the first negative value in the open control of the clutch position, that is, the clutch position, may change. In other words, the engagement of the engine plate 110 and the clutch 220 may become somewhat loose. The process of resetting the clutch search position compensates for this. For example, if the clutch position (Old Touch Point) at which the input shaft speed change amount is initially measured as a negative number is measured at 20 mm in the x-axis direction, the clutch position (New Touch Point) As shown in FIG. The present invention compensates for this change.

Further, when the input shaft speed change amount is detected to be equal to or greater than the second set value C and the clutch search position A is reset, it is regarded that the learning of the touch point has failed and the clutch is completely released, And terminates. Of course, if the learning condition is satisfied even after the end of the clutch touch point search, it is possible to start the search of the new clutch touch point again at any time.

Next, according to an embodiment of the present invention, it is possible to compare (S370) a new touch point according to a new clutch position with an existing touch point according to a previously stored clutch position have. If the difference between the new touch point and the existing touch point is greater than the preset third set value D, the clutch position is finally corrected (S380) and the touch point is updated (S390). Here, the third set value D is intended to be corrected only when the new touch point has a significant change compared to the existing touch point in consideration of mechanical and arithmetic errors.

The clutch touch point searching and learning method of the present invention will be described in detail with reference to FIG. 4 and FIG. 5. FIG. Here, the clutch position can be controlled while reading the scale displayed on the clutch actuator 100. [ When the clutch position is closed and controlled, the clutch position rapidly changes (increases), and the engine plate 120 and the clutch plate 220 start to be connected, and gradually change gradually. 4, the maximum point of the clutch position means a point when the clutch actuator 100 is no longer able to narrow the gap of the clutch, that is, when the engine plate 120 and the clutch plate 220 are completely in close contact with each other. When the clutch position is open controlled, the clutch position gradually decreases due to the friction, and then changes (shrinks) rapidly at a specific point after passing the maximum stop friction point. 5, the point at which the input shaft (or clutch plate) reversely rotates due to the torsional stress (for example, the point at which the input shaft speed change amount indicates the first negative number) is a curved line in which the clutch position is gradually decreased by friction . In the present invention, a point at which the input shaft rotates reversely due to a torsional stress is defined as a touch point, and a method and a learning method for searching the touch point are provided, so that a touch point closer to the actual touch point can be set Thereby enabling more accurate control of the clutch.

Referring to FIG. 6, the following graph shows the magnitude of the clutch position with respect to the time axis, and the graph shows the magnitude of the input shaft speed with respect to the time axis. And the left graph area (1) shows that the clutch position is smaller than that in the right graph area (2). Since the clutch position is proportional to the clutch torque, the clutch torque applied to the input shaft in the right graph area (2) becomes larger than the clutch torque applied to the input shaft in the left graph area (1). In other words, it can be said that the stress in the input axis of the right graph area (2) is larger and the reverse rotation angular velocity is larger.

In consideration of the above-described characteristic, the touch point compensation method according to an embodiment of the present invention converts clutch torque into torque using the angular acceleration and axial moment of inertia in the reverse rotation of the input shaft, and compensates for the detected touch point.

For the sake of understanding, the clutch touch point searching and learning method according to the embodiment of the present invention will be described as concrete numerical values by way of example.

First, in step S310, if the vehicle is in a stopped state, it is determined that the entry condition is satisfied.

Next, in conjunction with step S320, the clutch actuator performs close control of the position of the clutch. In the clutch position close control, the clutch seek position A is input, and the clutch is moved by A in the x-axis direction (as described above, the clutch actuator is provided with means for calibrating the clutch position, You can read.)

S330 and S340, if the engine speed exceeds the first set value of 500 rpm, the clutch actuator re-controls the clutch position. If the engine speed is below the first set value, the clutch search position A is readjusted. For example, assuming that the initial clutch search position A is 20 mm, when the engine speed is lower than the first set value, A of the clutch search position readjusted by the correction value (-a, where a is 0.5 mm) mm. < / RTI >

In association with step S350, when the input shaft speed change amount becomes smaller than the second set value of 0 (that is, becomes a negative value), the clutch position is stored. If the input shaft speed variation (input shaft angular acceleration) does not have a negative value, the clutch search position is readjusted. The clutch search position readjusted by the correction value (+ a, where a is assumed to be 0.5 mm) have.

 With respect to steps S360 to S390, if the input shaft speed change amount is negative, the clutch position is stored,

The new touch point according to the newly stored clutch position is compared with the existing touch point according to the previously stored clutch position. In the present invention, the third set value D, which serves as a reference for correcting the amount of learning, can be freely adjusted according to the precision required for the learning method of the present invention.

The above description is only illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

The embodiments disclosed in the present invention are not intended to limit the scope of the present invention and are not intended to limit the scope of the present invention.

The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: clutch control module
100: clutch actuator
110: engine shaft
120: engine plate
210: input shaft
220: clutch (or clutch plate)
230: gear train
240: Differential gear
300: Wheel

Claims (11)

(a) confirming learning entry conditions including whether gears are engaged or not;
(b) a clutch position close control step of moving the clutch plate closer to the engine plate when the learning entry condition is satisfied;
(c) determining whether the engine speed exceeds a predetermined first set value (B); And
(d) a clutch position open control step of moving the clutch in such a manner that the clutch actuator moves away from the engine plate when the engine speed exceeds the first set value (B) in the step (c)
Wherein the clutch position of the moment when the input shaft rotates reversely by the torsional stress acting on the input shaft in the step (d) is searched by the touch point.
The method according to claim 1,
(e) determining whether the change amount of the input shaft speed is less than a predetermined second set value (C).
3. The method of claim 2,
(f) storing the clutch position in the step (e) if the amount of change of the input shaft speed is less than a predetermined second set value (C).
The method of claim 3,
(g) comparing the touch point according to the stored clutch position with the touch point corresponding to the newly stored clutch position after the step (f), and determining whether the touch point is greater than a predetermined third set value D Further comprising the steps < RTI ID = 0.0 > of: < / RTI >
5. The method of claim 4,
(h) In the step (g), when the touch point according to the newly stored clutch position has a difference exceeding the third set value (D) as compared with the touch point according to the stored clutch position, the amount of learning of the clutch position Correction,
(i) updating the touch point according to the new clutch position to the touch point input to the clutch control module.
5. The method of claim 4,
If the touch point according to the newly stored clutch position does not exceed the third set value (D) in comparison with the touch point according to the stored clutch position, the touch point is rediscovered in the step (g) Clutch touchpoint navigation and learning method.
3. The method of claim 2,
(ee) resetting the clutch search position when the amount of change in the input shaft speed is equal to or greater than a predetermined second set value (C) in the step (e).
The method according to claim 1,
(cc) resetting the clutch search position when the engine speed is equal to or less than a predetermined first set value (B) in the step (c).
The method according to claim 1,
And converting the clutch torque into a clutch torque using the angular acceleration and the axial inertia moment when the input shaft rotates in the reverse direction, and compensating for the detected touch point.
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