WO2010050275A1 - 変速機用基準位置の学習方法及び車両 - Google Patents
変速機用基準位置の学習方法及び車両 Download PDFInfo
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- WO2010050275A1 WO2010050275A1 PCT/JP2009/062780 JP2009062780W WO2010050275A1 WO 2010050275 A1 WO2010050275 A1 WO 2010050275A1 JP 2009062780 W JP2009062780 W JP 2009062780W WO 2010050275 A1 WO2010050275 A1 WO 2010050275A1
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
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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
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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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
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/08—Range selector apparatus
- F16H2059/082—Range selector apparatus with different modes
- F16H2059/086—Adaptive mode, e.g. learning from the driver
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
- F16H61/06—Smoothing ratio shift by controlling rate of change of fluid pressure
- F16H61/061—Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means
- F16H2061/064—Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means for calibration of pressure levels for friction members, e.g. by monitoring the speed change of transmission shafts
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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
- F16H—GEARING
- F16H2342/00—Calibrating
- F16H2342/04—Calibrating engagement of friction elements
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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
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
- F16H61/06—Smoothing ratio shift by controlling rate of change of fluid pressure
- F16H61/061—Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
- F16H61/682—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings with interruption of drive
Definitions
- the present invention relates to a transmission reference position learning method for causing a control device of the transmission to learn a reference position in a transmission, and a vehicle capable of executing this learning method.
- a vehicle In the manufacture of a vehicle, it is usual to complete a vehicle by separately producing a plurality of units constituting the vehicle in a unit factory and assembling and integrating the completed units in a vehicle assembly factory.
- the automatic transmission among the units is completed by assembling and integrating an separately manufactured automatic transmission main body and an electronic control unit into a vehicle body.
- the characteristic value of the unit to be controlled is acquired in the inspection process, and this characteristic value is controlled It is practiced to secure a predetermined shift performance by inputting to the device (see US Patent Application Publication No. 2005/0267618).
- a characteristic value is acquired by electrically connecting a control plant of a unit factory and an automatic transmission body and controlling the automatic transmission body from the control plant (US See paragraph [0051] of patent application publication 2005/0267618).
- AMT Automated Manual Transmission
- each unit interlocks and performs shift operation automatically, the characteristic value of the transmission (when the units are assembled to the vehicle body and integrated) It is necessary to learn the reference position such as gear end, synchro position, clutch engagement position etc.
- AMT for example, US Patent Application Publication No. 2005/0110449, US Patent Application Publication No. 2005/0230216, and Japanese Patent Application Publication 2005-201394
- the present invention has been made in consideration of such a problem, and it is an object of the present invention to provide a transmission reference position learning method and a vehicle that can perform transmission reference position learning with a simple process. I assume.
- a learning method of a reference position for a transmission causes a control device of the transmission to learn a reference position in the transmission, and the step of learning the reference position is performed after the transmission is incorporated into a vehicle body.
- the control device starts learning the reference position. It is characterized by
- the shift command input device for example, shift lever
- learning of the reference position in the transmission is started.
- the shift command input device is disposed to be easy for the driver to operate. Therefore, the worker can learn the reference position by a simple process.
- the control equipment of a factory or a portable tester is connected to a vehicle to learn the reference position, it is possible to save time for attaching and detaching, thereby reducing the number of operation steps. Since there is no need to provide a connection on the transmission side, the degree of freedom in design is also improved.
- the shift command input device is a shift lever and the shift lever is moved along a predetermined path
- learning of the reference position may be started. Since the shift lever can be stopped at a plurality of positions, a relatively large number of paths can be set for moving the shift lever. Therefore, when learning a plurality of types of reference positions, it is possible to make each learning correspond to different routes, and as a result, it becomes easy for the operator to distinguish the learning contents.
- the learning of the reference position When the learning of the reference position is completed, the learning of the reference position may be prohibited. As a result, even if the operation of the shift command input device performed during driving is used as the predetermined input operation, there is no possibility that the reference position is rewritten during driving.
- the learning of the reference position may be prohibited by rewriting the program for learning the reference position after the end of the learning of the reference position.
- the reference position may be erroneously rewritten after the reference position is learned.
- the display on the display unit indicating the position of the shift lever is blinked, and when preparation for learning is completed, the display on the display is lit and when learning is in progress.
- the display of the display unit may be blinked, and when the learning is completed, the display of the display unit may be lit.
- the ignition switch may be required to be turned on with the shift lever in the neutral position.
- a gear end at which the gears of the transmission are completely meshed is learned while the engine is stopped, and in the learning step of the second reference position, the rotation of the engine is performed.
- the synchronization position which is a position where synchronization with the rotation of the gear starts, may be learned in a state where the engine is driven.
- the hand brake can be applied to learn the gear end in a stable state of the vehicle, and the hand brake and the foot brake can be applied to learn the synchronization position in the state of further stabilizing the vehicle. .
- the display of the display section indicating the position of the shift lever blinks, and preparation for learning is completed,
- the display on the display unit is turned on, the display on the display unit is blinked when learning is in progress, and when the learning is finished, the display on the display unit is turned on, and in the learning step of the second reference position,
- the display part which shows the position of a shift lever is used for the said notification, it can notify an operator of the progress condition comfortably.
- the operator is made to recognize the end of the learning step of the first reference position by using the segment of the display unit that is not used in the learning step of the first reference position. Is possible.
- a vehicle according to the present invention includes a program for executing any one of the above-described transmission reference position learning methods.
- 1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. It is an external view of the shift lever of the said embodiment. It is an external view of the control panel of the said embodiment. It is a flowchart of a learning process of the reference position in a transmission. It is the 1st part of the detailed flow chart of gear end learning processing. It is the 2nd part of the detailed flow chart of the above-mentioned gear end learning processing. It is the 1st part of the detailed flow chart of synchronous position learning processing. It is a second part of the detailed flowchart of the sync position learning process. It is the 3rd part of the detailed flow chart of the above-mentioned synchronized position study processing.
- FIG. 1 is a view showing a schematic configuration of a vehicle 10 according to an embodiment of the present invention.
- the transmission 12 of the vehicle 10 mainly includes a clutch 14, a clutch actuator 16, a gear mechanism 18, a gear switching actuator 20 consisting of a shift actuator 22 and a select actuator 24, a transmission control unit 26 ⁇ hereinafter referred to as "TCU 26" (TCU : Transmission Control Unit). ⁇ And.
- FIG. 1 shows the state of the vehicle 10 after assembly.
- the transmission 12 is an automatic manual transmission (AMT: Automated Manual Transmission), and performs clutch operation (disengagement and connection of the clutch 14) and gear switching automatically according to the operation of the shift lever 30 by the driver (see FIG. Manual gear switching mode). Furthermore, the transmission 12 of the present embodiment can automatically perform clutch operation and gear switching without the driver operating the shift lever 30 (automatic gear switching mode).
- AMT Automated Manual Transmission
- the driving force Fdr from the engine E is transmitted to the gear mechanism 18 via the clutch 14.
- the driving force Fdr transmitted to the gear mechanism 18 is transmitted to the drive wheel 34 via the transmission system 32.
- a clutch actuator 16 is connected to the clutch 14 via a hydraulic pipe 36.
- the clutch actuator 16 controls the clutch operation of the clutch 14 in response to a command (clutch operation signal Scl) from the TCU 26.
- the clutch 14 transmits to the TCU 26 a clutch position signal Scp indicating the position of a pressure plate (not shown) relative to a flywheel (not shown) of the engine E.
- the gear mechanism 18 has a plurality of gears (not shown) and is capable of gear switching.
- the shift arms 42 of the gear switching actuator 20 are connected to the plurality of shift forks 40 of the gear mechanism 18 according to the selected gear.
- the shift arm 42 performs a shift operation (movement in the horizontal direction in FIG. 1) by the shift actuator 22 and performs a select operation (rotation around the axis of the shift arm 42) by the select actuator 24.
- the shift actuator 22 shifts the shift arm 42 in response to a command (shift operation signal Ssft) from the TCU 26.
- the shift actuator 22 detects the movement amount (shift movement amount Asft) [mm] of the shift arm 42 in the shift direction by a position sensor (not shown) disposed inside the shift actuator 22 and indicates the shift movement amount Asft
- the movement amount signal Sasft is transmitted to the TCU 26.
- the select actuator 24 performs a select operation on the shift arm 42 in response to a command (select operation signal Ssel) from the TCU 26.
- Select actuator 24 detects the amount of movement (select movement amount Asel) [ ⁇ ] of shift arm 42 in the selection direction by means of a position sensor (not shown) disposed inside the select actuator 24, and selects this amount of selection movement Asel
- the movement amount signal Sasel is transmitted to the TCU 26.
- the TCU 26 controls the clutch actuator 16, the shift actuator 22 and the select actuator 24 (details will be described later).
- a memory 28 is connected to the TCU 26.
- the memory 28 rewritably stores a gear end learning program, a synchro position learning program, and a clutch engagement position learning program.
- the basic configuration and operation of the transmission 12 are, for example, those described in the aforementioned US Patent Application Publication No. 2005/0110449, U.S. Patent Application Publication No. 2005/0230216 and Japanese Patent Application Publication No. 2005-201394. It can be used.
- an engine speed sensor 50, an engine torque sensor 52, and a clutch torque sensor 54 are further provided.
- the engine rotation number sensor 50 detects the rotation number (engine rotation number NE) [rpm] of the engine E, and transmits an engine rotation number signal Sne indicating this engine rotation number NE to the TCU 26.
- the engine torque sensor 52 detects the torque of the engine E (engine torque TQe) [N], and transmits an engine torque signal Stqe indicating this engine torque TQe to the TCU 26.
- the clutch torque sensor 54 detects a torque (clutch torque TQc) [N] applied to the clutch 14 and transmits a clutch torque signal Stqc indicating the clutch torque TQc to the TCU 26.
- the TCU 26 includes the shift lever 30, an ignition switch 60 (hereinafter referred to as "IGSW 60"), a hand brake 62, a foot brake 64, a door 66, a control panel 68, and a speaker 70. And are electrically connected.
- the shift lever 30 transmits a shift lever signal Ssl indicating the selected gear position to the TCU 26.
- the IGSW 60 transmits to the TCU 26 an ignition signal Sig indicating whether the selected position is an off position, an accessory position, or an on position.
- the hand brake 62 transmits to the TCU 26 a hand brake signal Shd indicating whether the hand brake 62 is in operation.
- the foot brake 64 transmits to the TCU 26 a foot brake signal Sfb indicating whether the foot brake 64 is in operation.
- the door 66 sends the TCU 26 a door signal Sdo indicating whether the door 66 is open.
- the control panel 68 performs display according to the command (display command signal Srd) from the TCU 26.
- the speaker 70 outputs a sound (buzzer sound, voice, etc.) according to the command (sound output command signal Sbz) from the TCU 26.
- FIG. 2 shows the appearance of the shift lever 30 of the present embodiment.
- the shift lever 30 in FIG. 2 has the position P1 at the time of traveling, and the gear is raised by one step each time it is moved to "+” once, and the gear is changed to one step every time it is moved to "-”. Go down. Further, each time the shift lever 30 is moved to “A / M” once, the manual gear switching mode and the automatic gear switching mode are switched (the initial setting is the manual gear switching mode).
- the shift lever 30 can be fixed at the position P1, the neutral position P2 and the back gear position P3, but automatically returns to the position P1 when moved to "+", "-” or "A / M".
- FIG. 3 shows the appearance of the control panel 68 of the present embodiment.
- the control panel 68 has a speed display unit 80, an engine speed display unit 82, and a remaining fuel display unit 84.
- On the lower side of the remaining fuel display unit 84 there are disposed a gear stage display unit 86 showing the gear stage being selected and an automatic gear switching mode display unit 88 showing that the automatic gear switching mode is being selected.
- the automatic gear switching mode display unit 88 lights up when the automatic gear switching mode is selected, and turns off when the manual gear switching mode is selected.
- the gear stage display unit 86 and the automatic gear switching mode display unit 88 are also used to indicate the progress status when the TCU 26 learns the reference position in the transmission 12 (details will be described later). .
- FIG. 4 shows a flowchart of reference position learning processing that is performed in a state where each component of the transmission 12 is assembled to the vehicle body of the vehicle 10.
- step S1 the TCU 26 performs a gear end learning process for learning the gear end for each gear.
- the gear end is a position where the shift fork 40 and the shift arm 42 are completely connected, and each gear in the gear mechanism 18 is connected (the shift arm 22 and the select actuator 24 are operated under the same condition, or more) 42 shows a position where it does not move to the shift fork 40 side.
- step S2 the TCU 26 performs synchronization position learning processing to learn the synchronization position for each gear.
- the synchronization position indicates the position where the shift fork 40 and the shift arm 42 start contact.
- step S3 the TCU 26 performs a clutch engagement position learning process for learning a clutch engagement position.
- the clutch engagement position indicates a position where the clutch 14 is connected to the engine E.
- step S11 the TCU 26 determines whether the IGSW 60 is on based on the ignition signal Sig from the IGSW 60. If the IGSW 60 is not on (S11: No), step S11 is repeated.
- the TCU 26 determines whether the TCU 26 is in power hold.
- Power hold refers to keeping the TCU 26 on for a certain period of time to stop the vehicle 10 after the IGSW 60 is turned off, and power hold continues immediately after turning the IGSW 60 off. Be done. Further, although not shown in FIG. 5, measurement of time for timeout determination in the entire gear end learning process is started. Before the processing shown in FIG. 5 and FIG. 6 ends, if the time becomes equal to or more than a predetermined threshold for determining a timeout, an error is displayed, and if the IGSW 60 is turned off, the process returns to step S11.
- step S12 When the TCU 26 is in power hold in step S12 (S12: Yes), the TCU 26 presents an error display to the effect that the TCU 26 is in power hold on the control panel 68 in step S13 and turns off the IGSW 60. Prompt the worker.
- step S14 the TCU 26 determines whether the IGSW 60 is turned off based on the ignition signal Sig. If the IGSW 60 remains on (S14: No), the process returns to step S13 to continue the error display. If the IGSW 60 is turned off (S14: Yes), the process returns to step S11.
- step S15 the TCU 26 performs a hand brake based on the hand brake signal Shd from the hand brake 62 and the shift lever signal Ssl from the shift lever 30. It is determined whether 62 is on and the shift position of the shift lever 30 is the neutral position P2.
- step S15 is repeated. If the hand brake 62 is on and the shift position is in the neutral position (S15: Yes), the TCU 26 activates the gear end learning program stored in the memory 28 in step S16. At this time, the TCU 26 blinks all the segments of the gear display unit 86 to indicate that the gear end learning program is in operation.
- the TCU 26 causes all the segments of the gear stage display unit 86 to light. At this time, measurement of time T1 for timeout determination is started.
- step S18 the TCU 26 determines whether the shift lever 30 has been moved in the order of the neutral position P2, the back gear position P3 and the neutral position P2.
- step S19 the TCU 26 determines whether the time out has occurred, that is, whether the time T1 has become equal to or more than the threshold TH_t1 for determining the time out. Determine If it has not timed out (S19: No), the process returns to step S18. If time-out has occurred (S19: Yes), in step S20, the TCU 26 forcibly terminates the gear end learning process, displays an error display to that effect on the control panel 68, and urges the operator to turn off the IGSW 60.
- step S21 the TCU 26 determines whether the IGSW 60 is on. If the IGSW 60 remains on (S21: No), the process returns to step S20. When the IGSW 60 is turned off (S21: Yes), the process returns to step S11, and the gear end learning process is performed again from the beginning.
- step S18 when the shift lever 30 is moved in the order of the neutral position P2, the back gear position P3 and the neutral position P2 (S18: Yes), the TCU 26 learns the gear end for each gear in step S22. Learning of the gear end monitors the shift movement amount Asft indicated by the shift movement amount signal Sasft from the shift actuator 22 and the select movement amount Asel indicated by the select movement amount signal Sasel from the select actuator 24, and the shift movement amount Asft and select movement amount A point at which the change amount per unit time of Asel has become equal to or less than a predetermined threshold value is determined to be a gear end.
- the TCU 26 blinks all the segments of the gear stage display unit 86 and causes the speaker 70 to output a buzzer sound. Instead of flashing all segments, the target gear may be flashed.
- step S23 the TCU 26 determines whether or not gear end learning has ended normally. If the learning of the gear end has not ended yet (S23: No), the TCU 26 determines in step S24 whether or not an error has occurred in the learning of the gear end. When an error does not occur in the learning of the gear end (S24: No), the process returns to step S22, and the learning of the gear end is continued. If an error occurs in the learning of the gear end (S24: Yes), the TCU 26 causes the gear display unit 86 to display the gear in which the error has occurred in step S25. For example, when an error occurs in the first gear, “1” is displayed on the gear display unit 86.
- step S26 the TCU 26 determines whether the IGSW 60 is turned off. If the IGSW 60 remains on (S26: No), the TCU 26 returns to step S25 and continues the error display. If the IGSW 60 is turned off (S26: Yes), the process returns to step S11.
- step S27 the TCU 26 causes the gear stage display unit 86 to display that gear end learning has ended. Specifically, "N" is lighted on the gear stage display unit 86. At the same time, the TCU 26 writes the learned gear end into the memory 28. In the following step S28, the TCU 26 changes the flag Flg1 stored in the memory 28 and indicating whether or not learning of the gear end has ended from "0" (learning of the gear end is possible) to "1" (learning of the gear end is not possible). .
- the flag Flg1 is included in the gear end learning program. Therefore, the gear end learning program is partially rewritten by changing the flag Flg1.
- step S29 the TCU 26 determines whether the IGSW 60 is turned off. When the IGSW 60 remains on (S29: No), step S29 is repeated. When the IGSW 60 is turned off (S29: Yes), the gear end learning process is ended, and the process proceeds to step S2 of FIG.
- Steps S31 to S34 in FIG. 7 are substantially the same process flows as steps S11 to S14 in FIG.
- S31: Yes when the IGSW 60 is on (S31: Yes), measurement of time for timeout determination in the entire synchronization position learning process is started.
- the process shown in FIG. 7 to FIG. 9 ends, if the time becomes equal to or more than the predetermined threshold value for determining timeout, an error is displayed, and when the IGSW 60 is turned off, the process returns to step S31.
- step S35 the TCU 26 receives the hand brake signal Shd from the hand brake 62, the shift lever signal Ssl from the shift lever 30, and the foot from the foot brake 64. Based on the brake signal Sft, it is determined whether the hand brake 62 and the foot brake 64 are on and the shift position of the shift lever 30 is the neutral position P2. When the hand brake 62 or the foot brake 64 is not on or when the shift position is not the neutral position P2 (S35: No), step S35 is repeated.
- the TCU 26 activates the synchronization position learning program stored in the memory 28 in step S36. At this time, the TCU 26 blinks all the segments of the gear display unit 86 and the automatic gear switching mode display unit 88 to indicate that the synchronization position learning program is being activated.
- the TCU 26 causes all the segments of the gear display unit 86 and the automatic gear switching mode display unit 88 to light. At this time, the TCU 26 starts measuring the time T2 for determining timeout.
- steps S38 to S41 are substantially the same process flow as steps S18 to S21 in FIG. 6, and the threshold TH_t2 is used in the determination of timeout in step S39.
- the TCU 26 learns the neutral position of the shift arm 42 in step S42.
- the shift arm 42 is moved as far as possible to the minimum value in the shift direction (position farthest from the shift fork 40) and the minimum value or maximum value in the select direction (the shift arm 42 in the select direction)
- a position moved by a predetermined distance in the shift direction and the select direction from the position is defined as a neutral position.
- the TCU 26 blinks all the segments of the gear stage display unit 86 and causes the speaker 70 to output a buzzer sound.
- step S43 when learning of the neutral position is completed, the TCU 26 stops the buzzer sound, and turns on all the segments of the gear display unit 86. At this time, measurement of time T3 for timeout determination is started.
- step S44 the TCU 26 uses the output of the engine speed sensor 50 or the engine torque sensor 52 to determine whether the engine E has started (by the operator operating the IGSW 60). If the engine E has not been started (S44: No), the process proceeds to step S45.
- Step S45 and subsequent steps S46 and S47 are the same as steps S39 to S41 in FIG. 8, and the threshold TH_t3 is used in the determination of the time-out in step S45.
- step S44 When the engine E is started in step S44 (S44: Yes), the process proceeds to step S48.
- the TCU 26 starts measuring the time T4 for timeout determination.
- Step S48 and the subsequent steps S49 to S51 are the same as steps S38 to S41 in FIG. 8, and the threshold TH_t4 is used in the determination of the time-out in step S49.
- the TCU 26 in step S52 in FIG. Do learning.
- the learning of the synchronization position is, for example, moving the shift arm 42 in the shift direction and the select direction for each gear, and the shift movement amount at the time when the engine torque TQe detected by the engine torque sensor 52 shows a predetermined change (decrease).
- the position determined from the signal Sasft is determined as the synchronization position.
- the TCU 26 blinks all the segments of the gear stage display unit 86 and causes the speaker 70 to output a buzzer sound.
- step S53 the TCU 26 determines whether or not learning of the synchronization position has ended normally. If learning of the synchronization position has not ended yet (S53: No), the TCU 26 determines in step S54 whether or not an error has occurred in learning of the synchronization position. If an error has not occurred in learning of the synchronization position (S54: No), the process returns to step S52 to continue learning of the synchronization position. If an error occurs in learning of the synchronization position (S54: Yes), the TCU 26 causes the gear display unit 86 to display the gear in which the error has occurred in step S55. For example, when an error occurs at the second speed, the gear stage display unit 86 displays “2”.
- step S56 the TCU 26 determines whether the IGSW 60 is turned off. If the IGSW 60 remains on (S56: No), the TCU 26 returns to step S55 and continues the error display. If the IGSW 60 is turned off (S56: Yes), the process returns to step S31.
- step S57 the TCU 26 displays on the gear stage display unit 86 that the learning of the synchronization position has ended. Specifically, "N" is lighted on the gear stage display unit 86. At the same time, the TCU 26 writes the learned sync position in the memory 28. In the following step S58, the TCU 26 stores the flag Flg2 stored in the memory 28 and indicating whether or not learning of the synchronization position has ended from "0" (learning of the synchronization position) to "1" (learning of the synchronization position is not possible). Change to The flag Flg2 is included in the synchronization position learning program.
- step S59 the TCU 26 determines whether the IGSW 60 has been turned off. If the IGSW 60 remains on (S59: No), step S59 is repeated. When the IGSW 60 is turned off (S59: Yes), the synchronization position learning process is ended, and the process proceeds to step S3 of FIG.
- Steps S61 to S64 in FIG. 10 are the same as steps S11 to S14 in FIG.
- the IGSW 60 is on (S61: Yes)
- measurement of time for timeout determination in the entire clutch engagement position learning process is started.
- the process shown in FIGS. 10 to 12 ends, if the time exceeds a predetermined threshold for determining a timeout, an error is displayed, and if the IGSW 60 is turned off, the process returns to step S61.
- step S65 when the TCU 26 is not in power hold (S62: No), in step S65, the TCU 26 receives the hand brake signal Shd from the hand brake 62, the shift lever signal Ssl from the shift lever 30, and the foot from the foot brake 64. Based on the brake signal Sft and the door signal Sdo from the door 66, whether the hand brake 62 and the foot brake 64 are on and the shift position of the shift lever 30 is the neutral position P2 and the door 66 is open or not judge. When the hand brake 62 or the foot brake 64 is not on, or when the shift position is not the neutral position P2 or when the door 66 is closed (S65: No), step S65 is repeated.
- the TCU 26 holds the clutch stored in the memory 28 in step S66. Start a location learning program. At this time, the TCU 26 blinks all the segments of the gear stage indicator 86 to indicate that the clutch engagement position learning program is being activated. When the start of the clutch engagement position learning program ends in step S67 of FIG. 11, the TCU 26 causes all the segments of the gear stage display unit 86 to be lit. At this time, the TCU 26 starts measuring the time T5 for determining timeout.
- the subsequent steps S68 to S71 are processes substantially similar to the steps S18 to S21 of FIG. 6, and the threshold TH_t5 is used in the determination of the time-out in step S69.
- step S72 When the shift lever 30 is moved in the order of the neutral position P2, the back gear position P3 and the neutral position P2 in step S68 (S68: Yes), the TCU 26 performs refilling in step S72.
- Refill is a process of releasing the hydraulic pressure (residual pressure) by opening the piston of the hydraulic cylinder.
- the TCU 26 blinks all the segments of the gear stage indicator 86 and causes the speaker 70 to output a buzzer sound.
- step S73 when the implementation of the refilling is completed, the TCU 26 stops the buzzer sound and causes the gear stage display unit 86 to light “N”. At this time, the TCU 26 starts measuring the time T6 for timeout determination.
- step S74 the TCU 26 uses the output of the engine speed sensor 50 or the engine torque sensor 52 to determine whether the engine E has started (by the operator operating the IGSW 60). If the engine E has not been started (S74: No), the process proceeds to step S75. Step S75 and the subsequent steps S76 and S77 are the same as steps S45 to S47 in FIG. 8, and the threshold TH_t6 is used in the determination of the time-out in step S75.
- step S78 After the start of engine E, TCU 26 waits for a predetermined time until the rotation of engine E stabilizes, and all segments of gear stage display unit 86 Blinks. When the predetermined time has elapsed, the TCU 26 turns on all the segments of the gear stage display unit 86 in step S79. At this time, the TCU 26 starts measuring the time T7 for timeout determination.
- step S80 the TCU 26 determines whether the shift position of the shift lever 30 has been moved from the neutral position P2 to the position of A / M. If it is not determined that the shift position has been moved that way (S80: No), the process proceeds to step S81.
- Step S81 and the subsequent steps S82 and S83 are the same as steps S69 to S71 in FIG. 11, and the threshold TH_t7 is used in the determination of timeout in step S81.
- step S80 When the shift position of the shift lever 30 is moved from the neutral position P2 to the position of A / M in step S80 (S80: Yes), the TCU 26 learns the clutch engagement position in step S84 of FIG.
- the learning of the clutch engagement position is, for example, when the clutch torque TQc detected by the clutch torque sensor 54 indicates a predetermined change (increase), the position indicated by the clutch position signal Scp is determined as the clutch engagement position.
- the TCU 26 blinks all the segments of the gear stage display unit 86 and causes the speaker 70 to output a buzzer sound.
- step S85 the TCU 26 determines whether learning of the clutch engagement position has ended normally. If learning of the clutch engagement position has not ended yet (S85: No), in step S86, the TCU 26 determines whether an error has occurred in learning of the clutch engagement position. If an error has not occurred in learning of the clutch engagement position (S86: No), the process returns to step S84, and learning of the clutch engagement position is continued. If an error occurs in learning of the clutch engagement position (S86: Yes), the TCU 26 turns on the automatic gear switching mode display unit 88 and displays “5” on the gear display unit 86 in step S87. In the following step S88, the TCU 26 determines whether the IGSW 60 is turned off. If the IGSW 60 remains on (S88: No), the TCU 26 returns to step S87 and continues the error display. If the IGSW 60 is turned off (S88: Yes), the process returns to step S61.
- step S89 the TCU 26 displays on the gear display unit 86 that learning of the clutch engagement position has ended. Specifically, the automatic gear switching mode display unit 88 is turned on, and the gear stage display unit 86 is turned on. At the same time, the TCU 26 writes the learned clutch engagement position in the memory 28.
- step S90 the TCU 26 determines whether the shift position of the shift lever 30 has been changed from A / M to the neutral position P2. If the shift position remains A / M (S90: No), the process returns to step S89.
- step S91 the TCU 26 stores the flag Flg3 stored in the memory 28 and indicating whether learning of the clutch engagement position has ended. Change from "0" (learned of the clutch engagement position) to "1" (impossible to learn the clutch engaged position).
- the flag Flg3 is included in the clutch engagement position learning program. Therefore, the clutch engagement position learning program is partially rewritten by changing the flag Flg3.
- step S92 the TCU 26 determines whether the IGSW 60 is turned off. When the IGSW 60 remains on (S92: No), step S92 is repeated. When the IGSW 60 is turned off (S92: Yes), the clutch engagement position learning process is ended, and the process of FIG. 4 is ended.
- FIG. 13 shows a flowchart for preventing rewriting of the gear end, the synchro position and the clutch engagement position.
- step S101 the TCU 26 determines whether or not the start conditions (S11, S12, and S15 in FIG. 5) of the gear end learning process are satisfied. If the start condition is not satisfied (S101: No), the process ends. If the start condition is satisfied (S101: Yes), the process proceeds to step S102.
- step S104 the TCU 26 determines whether the start condition (S31, S32, S35 in FIG. 7) of the synchronization position learning process is satisfied.
- the start condition S31, S32, S35 in FIG. 7
- step S105 the TCU 26 notifies that the synchronization position learning process is not completed via the control panel 68 or the speaker 70. If the start condition is satisfied (S104: Yes), the process proceeds to step S106.
- step S108 the TCU 26 determines whether the conditions for starting the clutch engagement position learning process (S61, S62, and S65 in FIG. 10) are satisfied.
- the start condition is not satisfied (S108: No)
- step S109 the TCU 26 notifies that the clutch engagement position learning process is not completed via the control panel 68 or the speaker 70. If the start condition is satisfied (S108: Yes), the process proceeds to step S110.
- the shift lever 30 is arranged to be easy for the driver to operate. For this reason, the operator can perform learning of the gear end, the synchro position, and the clutch engagement position by a simple process.
- a control equipment of a factory or a portable tester is connected to the vehicle 10 to learn gear end etc., it is possible to save time for attaching and detaching, and it is possible to reduce work man-hours. Since it is not necessary to provide a connection on the transmission 12 side, the degree of freedom in design is also improved.
- the gear end learning program, the synchro position learning program, and the clutch engagement position learning program are rewritten after the end of learning, thereby prohibiting learning again. As a result, it is possible to prevent these from being erroneously rewritten after learning of the gear end, the synchro position and the clutch engagement position.
- the IGSW 60 as a transition condition to the gear end learning process, it is requested that the IGSW 60 be turned on with the hand brake 62 on and the shift lever 30 in the neutral position P2 (S11 of FIG. 5: Yes and S15: Yes) requests that the IGSW 60 be turned on with the hand brake 62 and the foot brake 64 on and the shift lever 30 in the neutral position P2 as a transition condition to the synchronization position learning processing (S31 in FIG. 7: Yes and S35: Yes).
- the transition condition of the synchronization position learning processing is the addition of the application of the foot brake 64 to the transition condition to the synchronization position learning processing, the work procedure is not unreasonable, and the process management is easy. become.
- the gear end is learned in a state in which the engine E is stopped, and in the synchronization position learning process, the synchronization position is learned in a state in which the engine E is driven.
- This enables the hand brake 62 to be effective, and the gear end can be learned in a stable state of the vehicle 10.
- the hand brake 62 and the foot brake 64 are effective, and the synchro position is further stabilized in a state where the vehicle 10 is further stabilized. I can learn.
- the display of the gear stage display unit 86 blinks, and when the preparation for learning is completed, the gear stage is displayed.
- the display of unit 86 is turned on, and when learning is in progress, the display of gear stage display unit 86 is blinked, and when the learning is completed, the display of gear stage display unit 86 is turned on.
- the automatic gear switching mode display unit 88 blinks or lights up, and in the synchronization position learning processing, the automatic gear switching mode display unit 88 blinks or lights up in addition to the gear stage display unit 86. This makes it possible to simply notify the worker of the progress of learning.
- the gear stage display unit 86 and the automatic gear switching mode display unit 88 are used for the notification, the progress status can be notified to the operator without discomfort. Furthermore, in the synchronization position learning process, the automatic gear switching mode display unit 88 blinks or lights up in addition to the gear stage display unit 86, thereby enabling the operator to recognize the end of the gear end learning process.
- learning of the gear end is prohibited after learning of the gear end is completed, and the learning of the synchro position is performed when the transition condition to the gear end learning processing is satisfied although the learning of the gear end is completed.
- learning of the synchro position is prohibited, and although the learning of the synchro position is ended, the clutch engagement position is satisfied if the transition condition to the synchro position learning processing is satisfied. (S109 in FIG. 13).
- the present invention is not limited to the embodiment described above, and it goes without saying that various configurations can be adopted based on the contents described in this specification. For example, the configuration shown below can be adopted.
- gear end the synchro position and the clutch engagement position are used as the reference positions of the transmission 12 in the above embodiment, any one or two may be used. Alternatively, it may be another reference position.
- the shift lever 30 is used as a device for manually inputting a shift command.
- the present invention is not limited to this.
- a paddle shift may be used.
- the number of paddle shift pushes can also be used as an element of the transition condition.
- the shift lever 30 is moved in the order of the neutral position P2, the back gear position P3 and the neutral position P2 as the learning start condition of the gear end in the above embodiment, the invention is not limited thereto. The same applies to learning start conditions of other reference positions.
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Abstract
Description
Claims (11)
- 変速機(12)における基準位置を前記変速機(12)の制御装置(26)に学習させる変速機用基準位置の学習方法であって、
前記変速機(12)を車体に組み込んだ後に前記基準位置の学習工程を実行し、
前記基準位置の学習工程では、変速指令を手動で入力する変速指令入力器(30)に対して作業者から所定の入力動作が行われたとき、前記制御装置(26)において、前記基準位置の学習を開始する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項1記載の変速機用基準位置の学習方法において、
前記変速指令入力器は、シフトレバー(30)であり、
前記シフトレバー(30)を所定の経路で移動させたとき、前記基準位置の学習を開始する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項1記載の変速機用基準位置の学習方法において、
前記基準位置の学習が終了したら、当該基準位置の再度の学習を禁止する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項3記載の変速機用基準位置の学習方法において、
前記基準位置の学習を行うプログラムを、前記基準位置の学習終了後に書き換えることで、前記基準位置の再度の学習を禁止する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項3記載の変速機用基準位置の学習方法において、
前記変速指令入力器は、シフトレバー(30)であり、
前記シフトレバー(30)を所定の経路で移動させたとき、前記基準位置の学習を開始し、
学習の準備中であるとき、前記シフトレバー(30)の位置を示す表示部(86)の表示を点滅させ、学習の準備が終了したとき、前記表示部(86)の表示を点灯させ、学習中であるとき、前記表示部(86)の表示を点滅させ、学習が終了したとき、前記表示部(86)の表示を点灯させる
ことを特徴とする変速機用基準位置の学習方法。 - 請求項2記載の変速機用基準位置の学習方法において、
前記基準位置の学習工程では、少なくとも第1基準位置と第2基準位置とを学習し、
前記第1基準位置の学習工程への移行条件として、ハンドブレーキ(62)がかけられ、且つ前記シフトレバー(30)がニュートラル位置にある状態でイグニションスイッチ(60)がオンにされることを要求し、
前記第1基準位置の学習工程後の前記第2基準位置の学習工程への移行条件として、前記ハンドブレーキ(62)及びフットブレーキ(64)がかけられ、且つ前記シフトレバー(30)がニュートラル位置にある状態で前記イグニションスイッチ(60)がオンにされることを要求する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項6記載の変速機用基準位置の学習方法において、
前記第1基準位置の学習工程では、前記変速機(12)のギアが完全に噛み合う位置であるギアエンドを、エンジン(E)を停止させた状態で学習し、
前記第2基準位置の学習工程では、前記エンジン(E)の回転と前記ギアの回転とが同期を開始する位置であるシンクロ位置を、前記エンジン(E)を駆動させた状態で学習する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項6記載の変速機用基準位置の学習方法において、
前記第1基準位置の学習工程及び前記第2基準位置の学習工程では、学習の準備中であるとき、前記シフトレバー(30)の位置を示す表示部(86)の表示を点滅させ、学習の準備が終了したとき、前記表示部(86)の表示を点灯させ、学習中であるとき、前記表示部(86)の表示を点滅させ、学習が終了したとき、前記表示部(86)の表示を点灯させ、
前記第2基準位置の学習工程では、前記第1基準位置の学習工程で用いられない前記表示部のセグメント(88)を用いる
ことを特徴とする変速機用基準位置の学習方法。 - 請求項2記載の変速機用基準位置の学習方法において、
前記シフトレバー(30)が、ニュートラル位置、バックギア位置、ニュートラル位置の順に移動されたとき、前記基準位置の学習を開始する
ことを特徴とする変速機用基準位置の学習方法。 - 請求項2記載の変速機用基準位置の学習方法において、
前記基準位置の学習工程では、複数の基準位置を学習し、
第1基準位置の学習が終了した後、当該第1基準位置の学習を禁止し、
当該第1基準位置の学習が終了しているにもかかわらず、当該第1基準位置の学習工程への移行条件が満たされた場合、第2基準位置の学習を行うべきことを通知する
ことを特徴とする変速機用基準位置の学習方法。 - 変速機(12)における基準位置を学習する制御装置(26)を備える車両(10)であって、
前記制御装置(26)は、前記変速機(12)が車体に組み込まれた後に、変速指令を手動で入力する変速指令入力器(30)に対して作業者から所定の入力動作が行われたとき、前記基準位置の学習を実行する
ことを特徴とする車両(10)。
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US13/126,477 US8812199B2 (en) | 2008-10-29 | 2009-07-15 | Method for learning reference position for transmission and vehicle |
GB1108115.5A GB2479661B (en) | 2008-10-29 | 2009-07-15 | Method for learning reference position for transmission and vehicle |
CN200980142867.8A CN102203467B (zh) | 2008-10-29 | 2009-07-15 | 变速器基准位置的学习方法以及车辆 |
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JP2008278769A JP5485535B2 (ja) | 2008-10-29 | 2008-10-29 | 変速機用基準位置の学習方法及び車両 |
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2009
- 2009-07-15 CN CN200980142867.8A patent/CN102203467B/zh not_active Expired - Fee Related
- 2009-07-15 US US13/126,477 patent/US8812199B2/en not_active Expired - Fee Related
- 2009-07-15 GB GB1108115.5A patent/GB2479661B/en not_active Expired - Fee Related
- 2009-07-15 WO PCT/JP2009/062780 patent/WO2010050275A1/ja active Application Filing
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JPH08508816A (ja) * | 1994-02-05 | 1996-09-17 | オートモーティヴ・プロダクツ・パブリック・リミテッド・カンパニー | クラッチ制御システム |
JPH11210875A (ja) * | 1998-01-19 | 1999-08-03 | Iseki & Co Ltd | 作業車両の変速制御装置 |
JPH11247991A (ja) * | 1998-02-27 | 1999-09-14 | Isuzu Motors Ltd | 変速機のニュートラル検出方法 |
JP2007154921A (ja) * | 2005-11-30 | 2007-06-21 | Aisin Aw Co Ltd | ピストンストロークエンド圧測定方法およびその装置、ならびにこれら測定方法および測定装置によって測定されたピストンストロークエンド圧を利用する自動変速機 |
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JP2015215078A (ja) * | 2014-05-13 | 2015-12-03 | 本田技研工業株式会社 | 変速機学習方法及び学習装置 |
Also Published As
Publication number | Publication date |
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GB201108115D0 (en) | 2011-06-29 |
US8812199B2 (en) | 2014-08-19 |
US20110208393A1 (en) | 2011-08-25 |
CN102203467A (zh) | 2011-09-28 |
GB2479661A9 (en) | 2012-02-01 |
GB2479661B (en) | 2013-06-19 |
CN102203467B (zh) | 2014-11-05 |
GB2479661A (en) | 2011-10-19 |
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