Transmission system for work machines

Abstract

To provide a transmission system of a working machine capable of accurately measuring a load torque.SOLUTION: A transmission system 90 includes: a speed changer 80d; a first magnetic sensor 72 which detects a rotation speed and a rotation phase of an input shaft 61; a second magnetic sensor 74 which detects a rotation speed and a rotation phase of an output shaft 63; and a controller 70 which acquires a load torque applied to the speed changer 80d. When a clutch shifts from an open state to an engaged state, the controller 70 acquires a phase difference between a rotation phase of the input shaft 61 and a rotation phase of the output shaft 63 with a reference where no slippage of a clutch occurs. The controller 70 acquires a load torque applied to the speed changer 80d on the basis of the acquired phase difference.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to transmission systems for work machines. [Background technology]

[0002] Conventionally, there are widely known work machines (wheel loaders, bulldozers, motor graders, dump trucks, etc.) equipped with a transmission disposed between a power source and a traveling body. The transmission changes the rotational speed and rotational direction of the power from the power source and transmits it to the traveling body.

[0003] If any part inside the transmission is damaged, it will cause a breakdown, so the transmission needs to be overhauled before the parts are damaged. The timing at which the parts will be damaged can be estimated from the load torque applied to the transmission.

[0004] Patent Document 1 discloses a method for calculating the load torque applied to a transmission based on the engine speed and the primary torque coefficient and torque ratio of the transmission. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-169508 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in order to more accurately determine whether or not a transmission needs to be overhauled, it is desirable to be able to measure the load torque acting on the transmission with high accuracy.

[0007] An object of the present disclosure is to provide a transmission system for a work machine that is capable of measuring the load torque applied to the transmission with high accuracy. [Means for solving the problem]

[0008] A transmission system for a work machine according to one aspect of the present disclosure includes a transmission, a first composite sensor, a second composite sensor, and a controller. The transmission has a clutch switchable between an engaged state and a disengaged state, a first shaft disposed on the input side of the clutch, and a second shaft disposed on the output side of the clutch. The first composite sensor detects the rotation speed and rotation phase of the first shaft. The second composite sensor detects the rotation speed and rotation phase of the second shaft. The controller acquires a load torque applied to the transmission. When the clutch switches from the disengaged state to the engaged state, the controller determines a phase difference between the rotation phase of the first shaft detected by the first composite sensor and the rotation phase of the second shaft detected by the second composite sensor, based on the point when the clutch no longer slips. The controller acquires the load torque based on the determined phase difference. Effect of the Invention

[0009] According to the technique disclosed herein, it is possible to provide a transmission system for a work machine that is capable of measuring the load torque applied to the transmission with high accuracy. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing a configuration of a work machine according to an embodiment. FIG. [Diagram 2] 2 is a cross-sectional view showing the configuration of a first magnetic ring and a first magnetic sensor according to the embodiment. FIG. [Diagram 3] 4 is a map that illustrates a relationship between a phase difference and a load torque. [Figure 4] FIG. 4 is a flow chart for explaining how to obtain a load torque. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a transmission system according to an embodiment of the present disclosure will be described with reference to the drawings. In the drawings, the same components or corresponding components are denoted by the same reference numerals, and some configurations are omitted or simplified for the sake of convenience of explanation.

[0012] (Work machine 100) 1 is a schematic diagram showing the configuration of a work machine 100 according to an embodiment. Examples of the work machine 100 include, but are not limited to, a wheel loader, a bulldozer, a motor grader, and a dump truck.

[0013] The work machine 100 includes an engine 80a, a torque converter 80b, a lock-up clutch 80c, a transmission 80d, a bevel gear 80e, a differential 80fa, a final gear 80fb, a brake 80g, and tires 80h. The engine 80a is an example of a drive source. The tires 80h are an example of a traveling body.

[0014] The engine 80a generates power. The power generated by the engine 80a is transmitted to the transmission 80d via a torque converter 80b or a lock-up clutch 80c. The transmission 80d changes the rotation speed and direction of the power and transmits it to the bevel gear 80e. The power transmitted to the bevel gear 80e drives and rotates the tire 80h via a differential 80fa and a final gear 80fb. A brake 80g is disposed between the final gear 80fb and the tire 80h.

[0015] The transmission 80d is, for example, a planetary gear transmission. The transmission 80d has first to fifth planetary gear mechanisms 10-50, a plurality of clutches 1-7, an input shaft 61, an intermediate shaft 62, an output shaft 63, and first to fourth carriers 64-67. The input shaft 61 is an example of a first shaft. The output shaft 63 is an example of a second shaft. The intermediate shaft 62 is an example of a third shaft.

[0016] The first to fifth planetary gear mechanisms 10 to 50 are arranged in this order from the input side to the output side.

[0017] The input shaft 61, the intermediate shaft 62, and the output shaft 63 are arranged coaxially with each other. The input shaft 61, the intermediate shaft 62, and the output shaft 63 each extend along a predetermined rotation axis direction.

[0018] Power from the engine 80a is input to the input shaft 61. The power, the rotation speed and rotation direction of which are adjusted by the transmission 80d, is output from the output shaft 63.

[0019] The first planetary gear mechanism 10 has a first sun gear 11, a plurality of first planetary gears 12, a first ring gear 13, and a first carrier 64.

[0020] An input shaft 61 is inserted through first sun gear 11. First sun gear 11 and input shaft 61 are capable of relative rotation. First sun gear 11 is connected to clutch 7 so that the rotation of first sun gear 11 is braked. Clutch 7 is, for example, a brake.

[0021] Each of the first planetary gears 12 meshes with the first sun gear 11. Each of the first planetary gears 12 revolves around the first sun gear 11. Each of the first planetary gears 12 rotates on its own axis while being supported by the first carrier 64.

[0022] The first ring gear 13 meshes with each of the first planetary gears 12. The first ring gear 13 is fixed to the intermediate shaft 62 and rotates integrally with the intermediate shaft 62. The first ring gear 13 and the intermediate shaft 62 may be formed by a single member.

[0023] The first carrier 64 is fixed to the input shaft 61 and rotates integrally with the input shaft 61. The first carrier 64 and the input shaft 61 may be configured as a single member.

[0024] The clutch 5 is disposed between the input shaft 61 and the intermediate shaft 62. The clutch 5 can be switched between an engaged state (ON state) and a released state (OFF state). When the clutch 5 is in the engaged state, the clutch 5 is in a transmission state in which the power of the engine 80a is transmitted from the input shaft 61 to the intermediate shaft 62. When the clutch 5 is in the released state, the clutch 5 is in a cut-off state in which the transmission of power from the input shaft 61 to the intermediate shaft 62 is cut off.

[0025] The second planetary gear mechanism 20 has a second sun gear 21, a plurality of second planetary gears 22, a second ring gear 23, and a second carrier 65.

[0026] Second sun gear 21 is fixed to intermediate shaft 62 and rotates integrally with intermediate shaft 62. Second sun gear 21 and intermediate shaft 62 may be configured as a single member.

[0027] Each second planetary gear 22 meshes with the second sun gear 21. Each second planetary gear 22 revolves around the second sun gear 21. Each second planetary gear 22 rotates on its own axis while being supported by the second carrier 65.

[0028] The clutch 6 is disposed between the second carrier 65 and the intermediate shaft 62 via the member 24. The member 24 is fixed to the intermediate shaft 62 and rotates integrally with the intermediate shaft 62. The clutch 6 can be switched between an engaged state (ON state) and a released state (OFF state). When the clutch 6 is in an engaged state with the member 24, the clutch 6 is in a transmitting state in which it transmits power from the intermediate shaft 62 to the second carrier 65. When the clutch 6 is in a disengaged state from the member 24, the clutch 6 is in a disconnecting state in which it disconnects the transmission of power from the intermediate shaft 62 to the second carrier 65.

[0029] The second ring gear 23 meshes with each of the second planetary gears 22. The second ring gear 23 is connected to the clutch 1 so that its rotation is braked. The clutch 1 is, for example, a brake.

[0030] The third planetary gear mechanism 30 includes a third sun gear 31 , a plurality of third planetary gears 32 , a third ring gear 33 , and a third carrier 66 .

[0031] Third sun gear 31 is fixed to intermediate shaft 62 and rotates integrally with intermediate shaft 62. Third sun gear 31 and intermediate shaft 62 may be configured as a single member.

[0032] Each of the third planetary gears 32 meshes with the third sun gear 31. Each of the third planetary gears 32 revolves around the third sun gear 31. Each of the third planetary gears 32 rotates on its own axis while being supported by the third carrier 66.

[0033] The third ring gear 33 meshes with each of the third planetary gears 32. The third ring gear 33 is connected to the clutch 2 so that its rotation is braked. The clutch 2 is, for example, a brake. The third ring gear 33 is fixed to the second carrier 65 and rotates integrally with the second carrier 65. The third ring gear 33 and the second carrier 65 may be formed of a single member.

[0034] The third carrier 66 is fixed to the output shaft 63 and rotates integrally with the output shaft 63. The third carrier 66 and the output shaft 63 may be configured as a single member.

[0035] The fourth planetary gear mechanism 40 has a fourth sun gear 41 , a plurality of fourth planetary gears 42 , and a fourth ring gear 43 .

[0036] Fourth sun gear 41 is fixed to intermediate shaft 62 and rotates integrally with intermediate shaft 62. Fourth sun gear 41 and intermediate shaft 62 may be configured as a single member.

[0037] Each of the fourth planetary gears 42 meshes with the fourth sun gear 41. Each of the fourth planetary gears 42 revolves around the fourth sun gear 41. Each of the fourth planetary gears 42 rotates on its own axis while being supported by the third carrier 66.

[0038] The fourth ring gear 43 meshes with each of the fourth planetary gears 42. The fourth ring gear 43 is connected to the clutch 3 so that the rotation of the fourth ring gear 43 is braked. The clutch 3 is, for example, a brake.

[0039] The fifth planetary gear mechanism 50 includes a fifth sun gear 51 , a plurality of fifth planetary gears 52 , a fifth ring gear 53 , and a fourth carrier 67 .

[0040] Fifth sun gear 51 is fixed to fourth ring gear 43 and rotates integrally with fourth ring gear 43. Fifth sun gear 51 and fourth ring gear 43 may be configured as a single member.

[0041] Each of the fifth planetary gears 52 meshes with the fifth sun gear 51. Each of the fifth planetary gears 52 revolves around the fifth sun gear 51. Each of the fifth planetary gears 52 rotates on its own axis while being supported by the third carrier 66.

[0042] The fifth ring gear 53 meshes with each of the fifth planetary gears 52. The fifth ring gear 53 is connected to the clutch 4 so that the rotation of the fifth ring gear 53 is braked. The clutch 4 is, for example, a brake.

[0043] The fourth carrier 67 is fixed to the output shaft 63 and rotates integrally with the output shaft 63. The fourth carrier 67 and the output shaft 63 may be configured as a single member.

[0044] Each of the clutches 1 to 7 is, for example, a hydraulic clutch mechanism and can be made up of a plurality of disks. Each of the clutches 1 to 7 is switched between an engaged state and a released state in response to a command signal from a controller 70, which will be described later.

[0045] In the transmission 80d configured as above, high and low speeds (H, L), speed stages (1ST, 2ND, 3RD, 4TH), and forward and reverse (F, R) are switched by combining the engagement and disengagement of the clutches 1 to 7. Accordingly, the ratio of the rotation speed of the intermediate shaft 62 to the rotation speed of the input shaft 61 (hereinafter referred to as the "first rotation speed ratio") and the ratio of the rotation speed of the output shaft 63 to the rotation speed of the intermediate shaft 62 (hereinafter referred to as the "second rotation speed ratio") are changed.

[0046] (Shifting system 90) The work machine 100 includes a transmission system 90 as shown in FIG.

[0047] The transmission system 90 includes the above-mentioned transmission 80d, a first magnetic ring 71, a first magnetic sensor 72, a second magnetic ring 73, a second magnetic sensor 74, a rotation speed sensor 75, and a controller .

[0048] Fig. 2 is a cross-sectional view showing the configuration of the first magnetic ring 71 and the first magnetic sensor 72. In Fig. 2, a cross section perpendicular to the rotation axis direction of the input shaft 61 is shown.

[0049] The first magnetic ring 71 is fixed to the input shaft 61 of the transmission 80d, and rotates integrally with the input shaft 61.

[0050] The first magnetic ring 71 has a main scale magnet 301 and a vernier scale magnet 302. The main scale magnet 301 is formed in an annular shape. The main scale magnet 301 surrounds the input shaft 61 in the circumferential direction. The main scale magnet 301 is made of a plurality of magnetic pole pairs (one pair of N pole and one pair of S pole) arranged in the circumferential direction. The vernier scale magnet 302 is formed in an annular shape. The vernier scale magnet 302 surrounds the main scale magnet 301 in the circumferential direction. The vernier scale magnet 302 is made of a plurality of magnetic pole pairs arranged concentrically with the main scale magnet 301. When the number of magnetic pole pairs of the main scale magnet 301 is N, the vernier principle (European Patent Application Publication No. 2006-282172) is realized by setting the number of magnetic pole pairs of the vernier scale magnet 302 to N-1 or N+1.

[0051] The first magnetic sensor 72 faces the first magnetic ring 71. The first magnetic sensor 72 detects the number of rotations per unit time (hereinafter, abbreviated as "number of rotations") and the rotation phase (rotation angle) of the input shaft 61. The first magnetic sensor 72 is an example of a first composite sensor that compositely detects both the number of rotations and the rotation phase of the input shaft 61.

[0052] The first magnetic sensor 72 includes a first magnetic sensor 303 and a second magnetic sensor 304. The first magnetic sensor 303 detects the magnetic flux density of the main scale magnet 301. The second magnetic sensor 304 detects the magnetic flux density of the vernier scale magnet 302.

[0053] When the main magnet 301 rotates integrally with the input shaft 61, the magnetic field of the main magnet 301 is detected by the first magnetic sensor 303 as a first magnetic signal whose magnetic flux density changes sinusoidally in response to the rotational displacement of the input shaft 61. On the other hand, when the main magnet 301 rotates integrally with the input shaft 61, the magnetic field of the minor magnet 302 is detected by the second magnetic sensor 304 as a second magnetic signal whose magnetic flux density changes sinusoidally with a shorter period than the first magnetic signal in response to the rotational displacement of the input shaft 61. The first magnetic sensor 303 converts the first magnetic signal into an electric signal and outputs it to the controller 70. The second magnetic sensor 304 converts the second magnetic signal into an electric signal and outputs it to the controller 70. The deviation between these electric signals changes depending on the rotational position of the input shaft 61. From this deviation, both the rotation speed and the rotation phase (rotation angle) of the input shaft 61 can be detected with high accuracy based on the Vernier principle.

[0054] The second magnetic ring 73 is fixed to the output shaft 63 of the transmission 80d, and rotates integrally with the output shaft 63. The configuration of the second magnetic ring 73 is the same as the first magnetic ring 71 shown in FIG.

[0055] The second magnetic sensor 74 faces the second magnetic ring 73. The configuration of the second magnetic sensor 74 is the same as that of the first magnetic sensor 72 shown in Fig. 2. The second magnetic sensor 74 detects the rotation speed and rotation phase of the output shaft 63. The second magnetic sensor 74 is an example of a second composite sensor that compositely detects both the rotation speed and the rotation phase of the output shaft 63.

[0056] The rotation speed sensor 75 is disposed inside the transmission 80d. The rotation speed sensor 75 detects the rotation speed of the intermediate shaft 62. In this embodiment, the rotation speed sensor 75 detects the rotation speed of the member 24. As a method for detecting the rotation speed by the rotation speed sensor 75, for example, a method in which a gear is formed on the outer edge of the member 24 and the rotation speed sensor 75 detects the number of teeth passing per unit time can be mentioned. As the rotation speed sensor 75, a magnetic or optical sensor can be used, but is not limited thereto.

[0057] The controller 70 switches the transmission 80d by outputting command signals to each of the clutches 1 to 7. In this embodiment, the controller 70 switches between high speed (H) and low speed (L), between speed stages (1ST, 2ND, 3RD, 4TH), and between forward and reverse (R).

[0058] The controller 70 obtains the rotation speed and rotation phase of the input shaft 61 from the first magnetic sensor 72. The controller 70 obtains the rotation speed and rotation phase of the output shaft 63 from the second magnetic sensor 74. The controller 70 obtains the rotation speed of the intermediate shaft 62 from the rotation speed sensor 75.

[0059] When at least one of the clutches 1 to 7 is switched from a released state to an engaged state, the controller 70 detects the timing when the slippage of the at least one clutch has disappeared. The absence of the slippage of the clutch means that the clutch is completely engaged. At this time, the input shaft 61 and the output shaft 63 are connected via the clutch, but no torque is transmitted from the input shaft 61 to the output shaft 63. In this embodiment, the timing when the slippage of the clutch has disappeared is the same as the timing when the rotation speed of the input shaft 61, the multiplication value of the rotation speed of the input shaft 61 and the first rotation speed ratio (hereinafter referred to as the "first multiplication value"), and the multiplication value of the rotation speed of the intermediate shaft 62 and the second rotation speed ratio (hereinafter referred to as the "second multiplication value") match. Therefore, the controller 70 can detect that the slippage of the clutch has disappeared by matching the rotation speed of the input shaft 61, the first multiplication value, and the second multiplication value.

[0060] The controller 70 initializes the rotational phases of the input shaft 61 and the output shaft 63 at the timing when the clutch slippage disappears. Initializing the rotational phases means setting the rotational phases to zero. Therefore, the rotational phases of the input shaft 61 and the output shaft 63 at the time when the clutch slippage disappears are equal to each other.

[0061] After initializing the rotational phase, the controller 70 obtains a phase difference between the rotational phase of the input shaft 61 and the rotational phase of the output shaft 63. This phase difference is caused by the load torque applied to the transmission 80d. The load torque applied to the transmission 80d refers to the torque passing through the transmission 80d from the input shaft 61 connected via a clutch to the output shaft 63. The larger the load torque, the larger the rotational phase of the output shaft 63 becomes relative to the rotational phase of the input shaft 61, and the larger the phase difference becomes.

[0062] The controller 70 obtains the load torque applied to the transmission 80d based on the determined phase difference. For example, the controller 70 can determine the load torque from the phase difference using a map showing the relationship between the phase difference and the load torque as shown in FIG. 3. The controller 70 may determine the load torque by substituting the determined phase difference into an equation showing the relationship between the phase difference and the load torque. The controller 70 may determine the load torque from the phase difference using a table showing the relationship between the phase difference and the load torque. Furthermore, the controller 70 may convert the phase difference into another parameter (e.g., a torsion angle) before determining the load torque.

[0063] The relationship between the phase difference and the load torque can be understood by measuring the relationship between the load torque applied between the input shaft 61 and the output shaft 63 and the phase difference between the input shaft 61 and the output shaft 63 in a preliminary bench test. Since the relationship between the phase difference and the load torque differs for each speed stage, it is preferable to perform a bench test for each combination of the multiple clutches 1 to 7.

[0064] Furthermore, the controller 70 may obtain the load torque in real time, or may obtain the load torque only at desired timing.

[0065] As described above, when the clutch switches from the released state to the engaged state, the controller 70 determines the phase difference between the rotational phase of the input shaft 61 and the rotational phase of the output shaft 63, based on the point at which the clutch no longer slips. The controller 70 obtains the load torque applied to the transmission 80d based on the determined phase difference.

[0066] In this way, according to the transmission system 90 of the present disclosure, by utilizing the torsion in the transmission 80d that occurs when torque is transmitted from the input shaft 61 to the output shaft 63, the load torque can be obtained simply and accurately.

[0067] Furthermore, the above-mentioned transmission system 90 can be constructed by retrofitting the first magnetic ring 71, the first magnetic sensor 72, the second magnetic ring 73, the second magnetic sensor 74 and the rotation speed sensor 75 to an existing transmission 80d, which is particularly useful in cases where a torque sensor cannot be retrofitted inside the transmission 80d.

[0068] (How to calculate the load torque) FIG. 4 is a flow chart for explaining how to obtain the load torque.

[0069] In step S1, the controller 70 outputs an engagement command to at least one of the plurality of clutches 1-7.

[0070] In step S2, the controller 70 judges whether or not the clutch slippage has disappeared. If the rotation speed of the input shaft 61, the first multiplication value (the multiplication value of the rotation speed of the input shaft 61 and the first rotation speed ratio), and the second multiplication value (the multiplication value of the rotation speed of the intermediate shaft 62 and the second rotation speed ratio) match, the controller 70 judges that the clutch slippage has disappeared, and if they do not match, it judges that the clutch slippage has not disappeared. If the clutch slippage has not disappeared, the process of step S2 is repeated. If the clutch slippage has disappeared, the process proceeds to step S3.

[0071] In step S3, the controller 70 initializes the rotational phases of the input shaft 61 and the output shaft 63, respectively.

[0072] In step S 4 , the controller 70 obtains the phase difference between the rotational phase of the input shaft 61 and the rotational phase of the output shaft 63 .

[0073] In step S5, the controller 70 obtains the load torque applied to the transmission 80d based on the phase difference.

[0074] (Modification of the embodiment) The present invention is not limited to the above-described embodiments, and various modifications and alterations are possible without departing from the scope of the present invention.

[0075] (Variation 1) In the above embodiment, the transmission 80d using a planetary gear mechanism was used as an example, but the transmission system according to the present disclosure is not limited to those using a planetary gear mechanism and can be applied to a transmission having a clutch.

[0076] (Variation 2) In the above embodiment, the shifting system according to the present disclosure is applied to a transmission 80d having three shafts (input shaft 61, output shaft 63, and intermediate shaft 62) and seven clutches 1 to 7, but the present disclosure is not limited to this. For example, the shifting system according to the present disclosure can also be applied to a transmission having one clutch, a first shaft arranged on the input side of the clutch, and a second shaft arranged on the output side of the clutch. In this case, the absence of clutch slip means that the rotation speed of the first shaft coincides with the product of the rotation speed ratio of the second shaft to the first shaft and the rotation speed of the first shaft.

[0077] (Variation 3) In the above embodiment, the configurations of the first magnetic ring 71 and the first magnetic sensor 72 have been described with reference to FIG. 2, but the present invention is not limited to this and may be any configuration capable of detecting the rotation phase of the input shaft 61.

[0078] (Variation 4) In the above embodiment, the transmission system 90 is equipped with a first magnetic sensor 72 that detects both the rotation speed and rotation phase of the input shaft 61, and a second magnetic sensor 74 that detects both the rotation speed and rotation phase of the output shaft 63, but is not limited to this.

[0079] Instead of the first magnetic sensor 72, the transmission system 90 may be provided with a first rotation speed sensor that detects the rotation speed of the input shaft 61 and a first phase sensor that detects the rotation phase of the input shaft 61 separately.

[0080] Similarly, instead of the second magnetic sensor 74, the transmission system 90 may be provided with a second rotation speed sensor that detects the rotation speed of the output shaft 63 and a second phase sensor that detects the rotation phase of the output shaft 63 separately.

[0081] The first and second rotation speed sensors may have a configuration similar to that of the rotation speed sensor 75 according to the above embodiment. The first and second phase sensors may have a configuration similar to that of the first magnetic sensor 72 according to the above embodiment.

[0082] (Variation 5) In the above embodiment, the input shaft 61, the intermediate shaft 62 and the output shaft 63 are arranged coaxially, but at least one of the input shaft 61, the intermediate shaft 62 and the output shaft 63 may be arranged on an axis different from the others. [Explanation of symbols]

[0083] 1~7 Clutch 61 Input shaft 62 Intermediate shaft 63 Output shaft 70 Controller 71 First Magnetic Ring 72 First magnetic sensor 73 Second Magnetic Ring 74 Second magnetic sensor 75 RPM Sensor 80d transmission 90 Speed ​​Shifting System 100 Work Machines

Claims

1. a transmission including a clutch that can be switched between an engaged state and a released state, a first shaft disposed on an input side of the clutch, a second shaft disposed on an output side of the clutch, and a third shaft disposed between the first shaft and the clutch or between the clutch and the second shaft; a first composite sensor that detects a rotation speed and a rotation phase of the first shaft; a second composite sensor that detects the number of rotations and the rotation phase of the second shaft; A rotation speed sensor for detecting a rotation speed of the third shaft; A controller for acquiring a load torque applied to the transmission; Equipped with the controller determines that slippage of the clutch has ceased when a rotation speed of the first shaft, a multiplied value of the rotation speed of the first shaft and a rotation speed ratio of the third shaft to the first shaft, and a multiplied value of the rotation speed of the third shaft and a rotation speed ratio of the second shaft to the third shaft are all equal to each other; the controller determines a phase difference between a rotational phase of the first shaft detected by the first composite sensor and a rotational phase of the second shaft detected by the second composite sensor, based on a point when slippage of the clutch is eliminated, when the clutch is switched from a released state to an engaged state. Gear shifting system.

2. a transmission including a clutch that can be switched between an engaged state and a released state, a first shaft disposed on an input side of the clutch, a second shaft disposed on an output side of the clutch, and a third shaft disposed between the first shaft and the clutch or between the clutch and the second shaft; A first rotation speed sensor that detects the rotation speed of the first shaft; a first phase sensor that detects a rotational phase of the first shaft; A second rotation speed sensor that detects the rotation speed of the second shaft; a second phase sensor that detects a rotational phase of the second shaft; a third rotation speed sensor that detects the rotation speed of the third shaft; A controller for acquiring a load torque applied to the transmission; Equipped with the controller determines that slippage of the clutch has ceased when a rotation speed of the first shaft, a multiplied value of the rotation speed of the first shaft and a rotation speed ratio of the third shaft to the first shaft, and a multiplied value of the rotation speed of the third shaft and a rotation speed ratio of the second shaft to the third shaft are all equal to each other; the controller, when the clutch is switched from a released state to an engaged state, calculates a phase difference between a rotational phase of the first shaft detected by the first phase sensor and a rotational phase of the second shaft detected by the second phase sensor, based on a point when slippage of the clutch is eliminated; The controller obtains the load torque based on the determined phase difference. Gear shifting system.

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