KR970061606A - 자동클러치 제어기 및 그 제어방법 - Google Patents

자동클러치 제어기 및 그 제어방법 Download PDF

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Publication number
KR970061606A
KR970061606A KR1019970003132A KR19970003132A KR970061606A KR 970061606 A KR970061606 A KR 970061606A KR 1019970003132 A KR1019970003132 A KR 1019970003132A KR 19970003132 A KR19970003132 A KR 19970003132A KR 970061606 A KR970061606 A KR 970061606A
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South Korea
Prior art keywords
signal
clutch
slip
engine speed
throttle
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KR1019970003132A
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English (en)
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KR100347552B1 (ko
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멜빈 슬릭커 제임스
와 찬 컥
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레슬리 제이 카스퍼
이턴 코오포레이숀
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Publication of KR970061606A publication Critical patent/KR970061606A/ko
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Publication of KR100347552B1 publication Critical patent/KR100347552B1/ko

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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
    • F16D48/066—Control of fluid pressure, e.g. using an accumulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P7/00—Securing or covering of load on vehicles
    • B60P7/06—Securing of load
    • B60P7/08—Securing to the vehicle floor or sides
    • B60P7/0807—Attachment points
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/0011—Proportional Integral Differential [PID] controller
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0012—Feedforward or open loop systems
    • 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
    • B60W2710/025—Clutch slip, i.e. difference between input and output speeds
    • 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
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    • F16D2500/10406—Clutch position
    • F16D2500/10412—Transmission line of a vehicle
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    • F16D2500/10—System to be controlled
    • F16D2500/11—Application
    • F16D2500/1107—Vehicles
    • F16D2500/1115—Racing
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/3026—Stroke
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/3041—Signal inputs from the clutch from the input shaft
    • F16D2500/30415—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
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    • F16D2500/3042—Signal inputs from the clutch from the output shaft
    • F16D2500/30426—Speed of the output shaft
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    • 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
    • F16D2500/3081—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
    • F16D2500/308—Signal inputs from the transmission
    • F16D2500/3082—Signal inputs from the transmission from the output shaft
    • F16D2500/30825—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
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/314—Signal inputs from the user
    • F16D2500/31406—Signal inputs from the user input from pedals
    • F16D2500/31426—Brake pedal 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
    • F16D2500/30—Signal inputs
    • F16D2500/314—Signal inputs from the user
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    • F16D2500/3144—Accelerator pedal position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/50293—Reduction of vibrations
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    • 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
    • F16D2500/70252—Clutch torque
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    • 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
    • F16D2500/70464—Transmission parameters
    • F16D2500/70466—Input shaft
    • F16D2500/70472—Input shaft speed
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
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    • F16D2500/70668—Signal filtering
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    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/46—Signals to a clutch outside the gearbox

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Control Of Fluid Gearings (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

클러치 맞물림에 대해 발진 응답은 감소시키는 차량용 자동클러치 제어기(6 0), 자EHD클러치 제어기(60)는 드로틀 위치센서(28), 엔진속도센서(13) 및 변속기압력속도센서(31)로부터 입력을 수신하고 맞물림 이탈로부터 완전한 맞물림까지 클러치 작동기(27)를 제어하는 클러치작동 신호를 발생시킨다. 클러치 맞물림 신호는 측정된 변속기 입력속도로 하여금 상기 발진응답의 대략적인 역 모델을 이용하는 엔진속도를 점근적으로 근접하도록 하는 방법으로 마찰클러치(20)를 적어도 부분적으로 맞물리게 한다. 자동클러치 제어기(60)는 미끄럼 기준 신호를 드로틀 위치 및 엔진 속도의 함수로서 발생시키고 그것을 실제 미끄럼에 비교한다. 제어기(60)는 미끄럼 및 미끄럼 기준의 차이에 응답하는 PID 조정기(68)과, 결과적인 PID 신호에서 동작하는 프리필터(70)와, 시스템 폐쇄 루프 민감도를 차량파라미터 변수로 감소시켜서 개별적인 차량 또는 차량 모델에 대한 상세한 특수성의 요구를 감소시키도록 구성된 보상기(74)를 포함한다.

Description

자동클러치 제어기 및 그 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명을 실행하는 엔진 및 클러치 제어기에 의한 클러치를 통해 구동된 변속기의 개략도이다.
제2도는 클러치 위치의 함수로서의 클러치 토르크 곡선이다.
제3도는 입력 및 출력을 도시하는 클러치 제어논리블럭 다이어그램이다.
제4도는 제3도의 클러치 제어논리용 버블(buble)논리 다이어그램이다.
제5도는 본 발명에 따라 블록 다이어그램으로 도시된 자동클러치 제어기의 함수 예시도이다.
제6도는 본 발명에 따라제 제5도에 의해 사용된 미끄럼 기준 함수를 예시하는 그래프이다.

Claims (15)

  1. 드로틀(12)에 의해 제어된 엔진(10)과, 상기 엔진(20)에 연결된 입력샤프트 (25)및 변속기(30) 입력에 연결된 출력샤프트(35)를 갖는 마찰클러치(20)와, 드로틀 신호를 발생하는 드로틀 위치센서(13)와, 상기 엔진(10)에 연결되어 엔진속도신호를 발생하는 엔진속도센서(13)와, 마찰클러치(20)의 출력샤프트(35)에 연결되어 마찰클러치(20)의 출력샤프트(35)의 회전속도에 대응하는 변속기 입력속도 신호를 발생하는 변속기 입력속도센서(31)와, 마찰클러치(20)에 연결되어 클러치 맞물림신호(28)에 따라 맞물림 이탈로부터 완전히 맞물림까지 마찰클러치(20)의 맞물림을 제어하는 클러치 작동기(27)를 포함하는 동력열의 자동클러치 제어기(60)에 있어서; 상기 제어기는; 드로틀 신호에 응답해서 드로틀 및 엔진속도의 함수인 미끄럼 기준신호를 발생하는 미끄럼 기준발생기(62)와; 입력속도 엔진속도 및 미끄럼 기준 신호로부터 미끄럼 에러신호를 발생하는 회로와; 미끄럼 에러신호에 응답하여 미끄럼 에러를 조정하는 PID(proportional-integral-differential)조정기(68)와; 상기 조정된 미끄럼 에러에 응답하여 미끄럼 에러신호를 최소화하도록 클러치 맞물림 심호(28)를 발생하는 제어회로를 구비함으로써, 상기 미끄럼이 미끄럼 기준신호에 따라 제어되는 것을 특징으로 하는 자동클러치 제어기.
  2. 제1항에 있어서, 미끄럼 기준발생기(62)는 엔진속도의 퍼센티지인 미끄럼 기준신호를 발생하고, 그 퍼센티지는 드로틀을 증가시킴으로써 감소하는 것을 특징으로 하는 자동클러치 제어기.
  3. 제1항에 있어서, 미끄럼 기준발생기(62)는 0% 드로틀에서 100% 엔진속도인 미끄럼 기준신호를 발생하고 결정된 드로틀 세팅에서 0% 엔진속도로 점차로 감소하는 것을 특징으로 하는 자동클러치 제어기.
  4. 제1항에 있어서, 미끄럼 에러신호를 발생하는 회로는 엔진속도신호 및 입력속도신호의 차이로부터 미끄럼 신호를 결정하는 제1대수 덧셈기(64)와, 미끄럼 기준 및 미끄럼신호의 차이로부터 미끄럼 에러신호를 결정하는 제2대수 덧셈기(66)를 구비하는 것을 특징으로 하는 자동클러치 제어기.
  5. 제1항에 있어서, 상기 제어회로는 제3오더(order) 노치(notch)(76)를 갖는 보상기(74)를 포함하는 것을 특징으로 하는 자동클러치 제어기.
  6. 제1항에 있어서, 제어기는, 드로틀을 실제로 닫았을 때 자동제어를 디져블 (disable)하는 자동오프 모드와; 드로틀을 초소세팅 이상으로 했을 때 클러치를 접촉점(81)으로 제어하는 접촉점 제어모드와; 접촉점(81)이 드로틀 및 엔진속도 신호에 따라 클러치 미끄러짐을 제어하기 위해 자동제어회로를 작동하기 위해 얻어질 때 엔터(enter)된 미끄럼 모드와; 상방향이동을 발생할 때 엔터된 로크업 모드를 규정하는 모드 논리회로를 포함하는 것을 특징으로 하는 자동클러치 제어기.
  7. 제1항에 있어서, 제어회로는; 상기 조정된 미끄럼 에러에 응답하여 보상된 신호를 발생하는 보상기(74)와; 피드포워드(feed forward)회로와; 클러치 맞물림 신호를 발생하기 위해 상기 보상된 신호 및 상기 피드포워드 출력을 덧셈하는 수단을 포함하는 것을 특징으로 하는 자동클러치 제어기.
  8. 제7항에 있어서, 피드포워드 회로는; 엔진속도에 응답하여 리드(leed)신호를 발생하는 미분보상기(78)와; 상기 리드 신호에 응답하여 집적기 신호를 발생하는 집적기(80)를 포함함으로써, 상기 리드 신호 및 상기 집적기 신호가 피드포워드 신호를 구비하는 것을 특징으로 하는 자동클러치 제어기.
  9. 드로틀(12)에 의해 제어되는 엔진(10)에 의해 마찰클러치(20)를 통해 구동된 입력 샤프트를 포함하는 기어 변속기를 갖고, 마찰클러치(20)를 작동하는 클러치 작동제어기(60)를 갖는 차량의 자동클러치 제어방법에서 마찰클러치(20)는 작동동안 토로크 변속기에서 초기에 접촉한 후 점차로 증가하는 맞물림 부분을 갖고, 클러치 작동제어기(60)는 미끄럼모드 및 로크업모드를 포함하는 자동모드를 갖는 자동클러치 제어방법에 있어서; 엔진속도, 변속기 입력속도, 및 드로틀 위치를 측정하고 대응하는 신호를 발생하는 단계와; 미끄럼 기준신호를 엔진속도 및 드로틀 신호의 함수로서 발생하는 단계와; 엔진속도 및 입력속도를 비교해서 미끄럼 값을 결정하는 단계와; 미끄럼 기준 및 미끄럼 값을 비교해서 미끄럼 에러를 결정하는 단계와; 미끄럼 에러를 최소화하기 위해 클러치 작동을 제어하는 단계를 구비하는 것을 특징으로 하는 자동클러치 제어방법.
  10. 제9항에 있어서, 미끄럼 기준신호는 제로 드로틀 위치에서 엔진속도를 구비하고 큰 드로틀 값에서 엔진 속도의 퍼센티지를 점차로 감소시켜 중간 드로틀 값에서 제로 퍼센티지를 얻는 것을 특징으로 하는 자동클러치 제어방법.
  11. 제9항에 있어서, 미끄럼 기준신호는 제로 드로틀 위치에서 엔진속도를 구비하고 큰 드로틀 값에서 엔진 속도의 퍼센티지를 점차로 감소시켜 중간 드로틀 값에서 제로 퍼센티지를 얻고, 미끄럼 기준이 젤로일 때, 상기 엔진속도에 따라 클러치 작동을 제어하는 것을 특징으로 하는 자동클러치 제어방법.
  12. 제9항에 있어서, 상기 클러치작동(60)을 제어하는 단계가, 미끄럼 에러신호의 비례 및 집적 조정에 의해 미끄럼 에러를 변경하는 단계와, 입력속도신호 및 미끄럼 에러신호의 차이를 변경해서 미끄럼 에러신호를 최소화하기 위해 클러치 맞물림 신호를 발생하는 단계를 구비하는 것을 특징으로 하는 자동클러치 제어방법.
  13. 제9항에 있어서, 상기 클러치작동(60)을 제어하는 단계가 미끄럼 에러신호의 비례 및 집적조정에 의해 미끄럼 에러를 변경하는 단계와; 보상된 신호를 발생하기 위해 입력속도신호 및 미끄럼 에러신호의 차이를 제3오더(order) 필터링하는 단계와; 미분신호를 발생하기 위해 엔진속도를 미분화하는 단계와; 집적된 신호를 발생하기 위해 미분신호를 집적하는 단계와; 클러치 작동신호를 발생하기 위해 보상된 신호미분신호 및 집적신호를 덧셈하는 단계를 구비하는 것을 특징으로 하는 자동클러치 제어방법.
  14. 제9항에 있어서, 클러치작동(60)을 제어하는 단계가; 미끄럼 에러신호의 비례 및 직접 조정에 의해 미끄러 에러를 변경하는 단계와; 기대된 진동주파수 범위에 위치된 노치(notch) 주파수를 갖는 제3오더 노치 필터에 의해 상기 덧셈된 신호를 필터링하는 단계를 구비하는 것을 특징으로 하는 자동 클러치 제어방법.
  15. 제9항에 있어서, 접촉점(81)을 얻은 후 미끄럼 모드를 엔터하는 단계와; 기어를 상방향이동시켰을 때 미끄럼 모드를 나가게 하고 로크업 모드를 엔터하는 단계를 포함함으로써; 미끄럼 에러를 최소화하기 위해 클러치작동(60)을 제어하는 단계가 미끄럼 모드일 때만이 발생하는 것을 특징으로 하는 자동클러치 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019970003132A 1996-02-02 1997-01-31 자동클러치의스로틀제어방법및장치 KR100347552B1 (ko)

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US5630773A (en) 1997-05-20
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