Method of and apparatus for speed change control

• US 5,588,515 A
• Filed: 03/10/1995
• Issued: 12/31/1996
• Est. Priority Date: 09/10/1992
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Komatsu Seisakusho
• Original Assignee: Kabushiki Kaisha Komatsu Seisakusho
• Inventors: Asai, Yoshikazu, Toyama, Makoto
• Primary Examiner(s): Lorence, Richard M.
• Application Number:
  US08/397,206
• Time in Patent Office: 662 Days
• Field of Search: 192/4 C, 192/109 F
• US Class Current: 192/222
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/115 with planetary gears
• CPC Class Codes: B60W 2050/0057 Frequency analysis, spectral techniques or transforms
• CPC Class Codes: B60W 2300/17 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: B60W 2510/104 Output speed
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 30/18045 Rocking, i.e. fast change between forward and reverse
• CPC Class Codes: F16H 2059/088 Fast forward-reverse-sequence mode
• CPC Class Codes: F16H 2061/0081 Fuzzy logic
• CPC Class Codes: F16H 61/0246 characterised by initiating reverse gearshift
• CPC Class Codes: F16H 61/04 Smoothing ratio shift
• CPC Class Codes: F16H 61/66 specially adapted for continuously variable gearings control of exclusively fluid gearing F16H61/38

Abstract

The thermal load on a transmission clutch, which is generated when a shift between forward and reverse is made, can be reduced and a shock from a speed change can be eliminated. To these ends, as soon as a speed change signal is received (step 150), an all clutch control system (ACC) is actuated to set a target acceleration in terms of the amount of control (steps 152, 154). Then, it is determined whether the speed change involves a shift between forward and reverse (FR speed change) (step 156). If the speed change is found to be the FR speed change, then it is further determined whether the vehicle speed V is larger than a reference value V_O (step 158); if the vehicle speed is larger than the reference value, then the oil pressure for operating a steering brake is read from preestablished map data (step 160), and the steering brake is operated by the oil pressure which has been read (steps 162, 164). After that, the ACC control program goes back to step 156. If the speed change is found to be a non-FR speed change or a FR speed change wherein V≦V_O, then the hydraulic gradient of a load clutch of the transmission is determined by a fuzzy reasoning (step 168), then clutch oil pressure P_C based on the hydraulic gradient is determined to control the engaging force of the load clutch (steps 172, 174).

Claims

1. A speed change control method for engaging and disengaging a plurality of clutches of a transmission of a vehicle to change a gear ratio of the transmission so as to change a rotational speed of an output shaft of the transmission and for effecting a shift between forward travel and reverse travel of said vehicle, said method comprising the steps of:

storing braking data representing braking forces which are predetermined for particular rotational speeds of said output shaft;

storing deceleration/acceleration data representing a target deceleration/acceleration curve wherein a torque of said output shaft changes smoothly with time;

providing a signal directing a shify between forward travel and reverse travel of said vehicle;

detecting the rotational speed of said output shaft when said signal is provided;

selecting from the thus stored braking data a braking force in accordance with the thus detected rotational speed of said output shaft;

applying, in response to a providing of said signal directing a shift between forward travel and reverse travel, the thus selected braking force to said output shaft to effect a braking torque on said output shaft;

engaging a predetermined clutch among said plurality of clutches in response to a providing of said signal directing a shift between forward travel and reverse travel;

increasing the thus applied braking force until a speed of said vehicle is reduced to a predetermined value, and

then gradually decreasing the thus applied braking force to zero while gradually increasing an engagement of said predetermined clutch so as to cause a deceleration/acceleration of the vehicle given through said output shaft to smoothly change along said target deceleration/acceleration curve to thereby decrease shock to the vehicle upon a completion of the engagement of said predetermined clutch.

2. A method in accordance with claim 1, wherein the step of applying the thus selected braking force to said output shaft comprises starting the application of the thus selected braking force before the step of engaging said predetermined clutch is begun, and then reducing said thus applied braking force as said predetermined clutch is being engaged.

3. A method in accordance with claim 1, wherein each braking force represented by the thus stored braking data is a function of a particular rotational speed of the output shaft such that the thus represented braking forces increase in accordance with increases in the particular rotational speeds of the output shaft.

4. A method in accordance with claim 1, wherein the step of applying said thus selected braking force to said output shaft is stopped when the rotational speed of the output shaft reduces below a preset reference value.

5. A method in accordance with claim 4, wherein the step of engaging a predetermined clutch comprises changing an engaging force of said predetermined clutch by changing a clutch oil pressure, for operating said predetermined clutch, according to a fuzzy reasoning based on a pre-established membership function and a fuzzy rule showing a relationship between an amount of change in the acceleration of said vehicle observed during a preset time interval and an amount of change which had been determined previously.

6. A method in accordance with claim 5, wherein said clutch oil pressure is changed by controlling the amount of change in said clutch oil pressure in a predetermined time.

7. A method in accordance with claim 1, wherein the step of engaging a predetermined clutch comprises changing an engaging force of said predetermined clutch by changing a clutch oil pressure, for operating said predetermined clutch, according to a fuzzy reasoning based on a pre-established membership function and a fuzzy rule showing a relationship between an amount of change in the acceleration of said vehicle observed during a preset time interval and an amount of change which had been determined previously.

8. A method in accordance with claim 7, wherein said clutch oil pressure is changed by controlling the amount of change in said clutch oil pressure in a predetermined time.

9. A method in accordance with claim 7, wherein said amount of change in the acceleration of said vehicle observed during a preset time interval is determined by detecting an amount of change in an output shaft torque of said output shaft.

10. A speed change control apparatus comprising:

a transmission equipped with a plurality of speed change gears, a clutch for selecting a combination of the gears to be meshed with each other, and an output shaft;

a clutch driving section for operating the clutch of the transmission;

a steering brake for applying a braking force to the output shaft of said transmission;

a brake driving section for operating the steering brake;

a revolution sensor for detecting the rotational speed of the output shaft of said transmission; and

a speed change controller for storing braking data representing braking forces which are predetermined for particular rotational speeds of said output shaft, for storing deceleration/acceleration data representing a target deceleration/acceleration curve wherein a torque of said output shaft changes smoothly with time, for determining a vehicle deceleration/acceleration from said output shaft of said transmission in accordance with an output signal received from said revolution sensor, for selecting from the thus stored braking data a braking force in accordance with the thus detected rotational speed of the output shaft, and for causing said vehicle deceleration/acceleration to smoothly change along said target deceleration/acceleration curve by issuing a control signal to said clutch driving section and said brake driving section when a shift between forward and reverse in the vehicle is made.

11. Apparatus in accordance with claim 10, wherein said control signal to said clutch driving section and said brake driving section causes said brake driving section to operate said steering brake to apply a braking force to said output shaft before said clutch driving section operates the clutch of the transmission such that said clutch is engaged.

12. Apparatus in accordance with claim 11, wherein said control signal to said clutch driving section and said brake driving section causes said brake driving section to reduce said braking force as said clutch is being engaged.

13. Apparatus in accordance with claim 10, wherein said speed change controller controls the magnitude of the braking force applied to said output shaft as a function of the rotational speed of the output shaft.

14. Apparatus in accordance with claim 10, wherein said speed change controller stops the application of said braking force to said output shaft when the rotational speed of the output shaft reduces below a preset reference value.

15. Apparatus in accordance with claim 10, wherein said speed change controller starts the application of the braking force before said clutch begins to engage, and then reduces said braking force after said clutch is engaged, and wherein the braking force applied to said output shaft is increased in accordance with the rotational speed of the output shaft.

16. Apparatus in accordance with claim 15, wherein the speed change controller stops the application of said braking force to said output shaft when the rotational speed of the output shaft reduces below a preset reference value.