KR960702071A - 클러치제어시스템 - Google Patents

클러치제어시스템 Download PDF

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KR960702071A
KR960702071A KR1019950704454A KR19950704454A KR960702071A KR 960702071 A KR960702071 A KR 960702071A KR 1019950704454 A KR1019950704454 A KR 1019950704454A KR 19950704454 A KR19950704454 A KR 19950704454A KR 960702071 A KR960702071 A KR 960702071A
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clutch
control system
gear
wasted
level
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KR1019950704454A
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KR100376593B1 (ko
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존 존스 찰스
던칸 케네디 이안
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알. 모랄
오토모티브 프로덕츠 퍼블릭 리미티드 캄파니
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/08—Regulating clutch take-up on starting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/066—Control of fluid pressure, e.g. using an accumulator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/068—Control by electric or electronic means, e.g. of fluid pressure using signals from a manually actuated gearshift linkage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/16—Ratio selector position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/021—Clutch engagement state
    • B60W2710/023—Clutch engagement rate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/102—Actuator
    • F16D2500/1026—Hydraulic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/304—Signal inputs from the clutch
    • F16D2500/3042—Signal inputs from the clutch from the output shaft
    • F16D2500/30426—Speed of the output shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/306—Signal inputs from the engine
    • F16D2500/3067—Speed of the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/308—Signal inputs from the transmission
    • F16D2500/30806—Engaged transmission ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/308—Signal inputs from the transmission
    • F16D2500/3081—Signal inputs from the transmission from the input shaft
    • F16D2500/30816—Speed of the input shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/314—Signal inputs from the user
    • F16D2500/3146—Signal inputs from the user input from levers
    • F16D2500/31466—Gear lever
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50224—Drive-off
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50296—Limit clutch wear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/512—Relating to the driver
    • F16D2500/5124—Driver error, i.e. preventing effects of unintended or incorrect driver inputs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/702—Look-up tables
    • F16D2500/70205—Clutch actuator
    • F16D2500/70235—Displacement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70402—Actuator parameters
    • F16D2500/7041—Position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70452—Engine parameters
    • F16D2500/70454—Engine speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/71—Actions
    • F16D2500/7101—Driver alarm
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/71—Actions
    • F16D2500/7107—Others
    • F16D2500/7109—Pulsed signal; Generating or processing pulsed signals; PWM, width modulation, frequency or amplitude modulation

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

본 발명은 운전자조작형 변속기어선택레바의 제어하에 엔진을 변속기에 연결하는 차량용 클러치의 자동제어를 위한 클러치제어시스템이다. 이 제어시스템은 차량의 출발시 초기 클러치 테이크-업, 각 기어변속에 이온 클러치 재결합, 변속기의 작동비를 변환토륵 기어선택레바의 이동시 클러치분리와 차량정지시 클러치분리를 제어한다. 또한 클러치제어시스템은 어느 지정된 비테이크-업 기어로 구동코자하거나 사전에 결정된 낭비방식으로 어떠한 기어에서 구동코자 시도할 때에 운전자에게 경고(50℃)하고 클러치에서의 에너지발생을 줄이도록 어떠한 낭비조건에서 클러치의 신속한 결합과 분리가 촉진될 수 있도록 구성된다.

Description

클러치제어시스템
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 제어시스템의 구성을 보인 개략구성도.
제2도는 본 발명의 운전자경고루우틴을 보인 흐름도.

Claims (14)

  1. 클러치제어시스템에 있어서, 운전자가 어느 지정된 비테이크-업 기어로 구동코자하거나 사진에 결정된 낭비방식으로 어떠한 기어에서 구동고자 시도할 때에 운전자가 경고(50, C)됨을 특징으로 하는 클러치제어시스템.
  2. 청구범위 1항에 있어서, 차량전진속도가 사전에 결정된 레벨이하일 때에 지정된 비테이크-업 기어가 제3기어와 모든 상위 변속기어임을 특징으로 하는 클러치제어시스템.
  3. 청구범위 1 또는 2항에 있어서, 엔진속도(Ve)가 사전에 결정된 레벨이상이고 차량전진속도가 사전에 결정된 레벨이하일 때에 제2기어 또는 그 상위 기어로 구동하고자 하는 시도가 낭비인 것으로 간주됨을 특징으로하는 클러치제어시스템
  4. 청구범위 1-3항의 어느 한 항에 있어서, 클러치(14)에서 현재 낭비된 에너지레벨이 사전에 결정된 제1레벨 이상인 것으로 평가될 때에 어떠한 기어에서 구동고자하는 시도가 낭비인 것으로 간주됨을 특징으로 하는 클러치제어시스템.
  5. 청구범의 4항에 있어서, 클러치(14)에서 현재 낭비된 에너지의 레벨이 엔진속도와 클러치구동판속도(Vdp) 사이의 차이로부터 클러치슬립속도(Ve)를 측정하는 단계, 조사테이블을 이용하여 클러치작동기(22)의 위치로부터 클러치의 순간트오크를 평가하는 단계, 슬립속도와 트오크량의 곱으로부터 클러치에서 낭비된 순간동력을 측청하는 단계, 발생된 총에너지를 평가하도록 고려하에 일정시간동안 낭비된 순간동력을 적분하는 단계와 이러한 적분값으로부터 고려하의 일정시간동안 클러치내에서 낭비된 에너지의 현재 최종적인 전제레벨에 이르도록 클러치의 자연냉각을 나타내는 에너지총량을 주기적으로 감산하는 단계에 의하여 평가됨을 특징으로 하는 클러치제어시스템.
  6. 청구범위 1-5항의 어느 한 항에 있어서, 특정 테이크-업에서 클러치에서 발생된 에너지가 사전에 결정된 제2레벨 이상인 것으로 평가될 때에 어떠한 기어로 구동고자하는 시도가 낭비인 것으로 간주됨을 특징으로하는 클러치제어시스템.
  7. 청구범위 1-6항의 어느 한 항에 있어서, 클러치결합레벨이 현재 엔진속도와 전자제어유니트(36)에 의하여 발생된 기준속도 신호의 비교로부터 유도된 엔진속도에러신호에 응답하여 제어유니트에 의하여 제어되고 상기 에러신호가 현재 클러치위치신호(Vc)와 비교하여 클러치작동신호(Vce)를 발생하며, 사전에 결정된 낭비방식으로 비테이크-업 기어 또는 기어에서 구동고자하는 시도가 이루어지는 경우에 기준신호가 사전에 결정된 레벨이상으로 증가되지 아니하거나 스로틀(16)이 개방될 때에 감소되어 보다 신속한 클러치결합기 클러치(14)에서의 에너지발생을 감소시킴을 특징으로 하는 클러치제어시스템.
  8. 청구범위 1-6항의 어느 한 항에 있어서, 클러치결합레벨이 현재 엔진속도와 전자제어유니트(36)에 의하여 발생된 기준속도신호의 비교로부터 유도된 엔진속도에러신호에 응답하여 제어유니트에 의하여 제어되고 상기 에러신호가 현재 클러치위치신호(Vc)와 비교되어 클러치작동신호(Vce)를 발생하며 사진에 결정된 낭비방식으로 비테이크-업 기어 또는 어떠한 기어에서 구동고자하는 시도가 이루어지는 경우에 기준신호가 신속히 증가되어 신속클러치분리가 이루어짐을 특징으로 하는 클러치제어시스템.
  9. 청구범위 7 또는 8항에 있어서, 클러치결합이 제2기어와 모든 상위변속기어에서 제어됨을 특징으로 하는 클러치제어시스템.
  10. 청구범위 1-9항의 어느 한 항에 있어서, 운전자가 가청 및/또는 가시경보수단(50)에 의하여 경고됨을 특징으로 하는 클러치제어시스템.
  11. 클러치결합레벨이 현재 엔진속도와 진자제어유니트(36)에 의하여 발생된 기준속도신호의 비교로부터 유도된 엔진속도에러신호에 응탑하여 제어유니트에 의하여 제어되고 상기 에러신호가 현재 클러치위치신호(Vc)와 비교되어 클러치작동신호(Vce)를 발생하는 클러치제어시스템에 있어서, 이 시스템이 기준신호와 상기 사전에 결정된 레벨이상으로 증가되지 않도록 하거나 스로틀(16)이 개방되었을 때에 기준신호가 감소되도록 하지않으므로서 비테이크-업 기어에서 또는 사진에 결정된 낭비방식으로 어떠한 기어에서 구동코자하는 시도가있는 경우에 클러치남용에 대한 제어가 이루어져 보다 신속한 클러치결합이 이루어지므로서 클러치(14)에서의 에너지발생을 감소시킴을 특징으로 하는 클러치제어시스템.
  12. 클러치결합레벨이 현재 엔진속도와 전자제어유니트(36)에 의하여 발생된 기준속도신호의 비교로부터 유도된 엔진속도에러신호에 응답하여 제어유니트에 의하여 제어되고 상기 에러신호가 현재 클러치위치신호(Vc)와 비교되어 클러치작용신호(Vce)를 발생하는 클러치제어시스템이 있어서, 이 시스템이 기준신호를 신속히 증가시켜 신속클러치분리가 이루어지도록 하므로서 사전에 결정된 낭비방식으로 비테이크-업 기어 또는 어떠한 기어에서 구동코자하는 시도가 이루어지는 경우 클러치낭비의 제어가 제공됨을 특징으로 하는 클러치제어시스템.
  13. 청구범위 11 또는 12항에 있어서, 클러치(13)에서 낭비된 에너지레벨이 사전에 결정된 레벨을 초과할때에 구동고자하는 어떠한 시도가 낭비인 것으로 정의되고, 클러치(14)에서 낭비된 클러치에너지의 레벨이 엔진속도(Ve)와 클러치구동판속도(Vdp) 사이의 차이로부터 클러치슬럽속도를 측정하는 단계, 조사테이블을 이용하여 클러치작동기(22)의 위치로부터 클러치의 순간 토오크량을 평가하는 단계, 슬럽속도와 트오크량의 곱으로부터 클러치에서 낭비된 순간동력을 측정하는 단계, 발생된 총에너지를 평가하도록 고려하에 일정시간동안 낭비된 순간동력을 적분하는 단계와 이러한 적분값으로부터 고려하의 일정시간동안 클러치내에서 낭비된 에너지의 현재 최종적인 진체레벨에 이르도록 자연냉각을 나타내는 에너지총량을 주기적으로 강산하는 단계에 의하여 평가됨을 특징으로 하는 클러치제어시스템.
  14. 본문에 상술하고 예시한 바와 같은 클러치제어시스템.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019950704454A 1994-02-12 1995-02-10 클러치제어시스템 KR100376593B1 (ko)

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WO1995022014A1 (en) 1995-08-17
US5902211A (en) 1999-05-11
GB9402729D0 (en) 1994-04-06
JPH08509284A (ja) 1996-10-01
EP0694130A1 (en) 1996-01-31
EP1018606A2 (en) 2000-07-12
GB9519909D0 (en) 1995-11-29
JP3630430B2 (ja) 2005-03-16
DE69531427T2 (de) 2004-06-24
GB2292593B (en) 1998-06-10
EP0694130B1 (en) 2003-08-06
KR100376593B1 (ko) 2003-07-18
EP1018606A3 (en) 2000-08-30
GB2292593A (en) 1996-02-28
DE69531427D1 (de) 2003-09-11

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