CN114572217B - Adjustable self-adaptive load reversing control device and control method for tractor - Google Patents
Adjustable self-adaptive load reversing control device and control method for tractor Download PDFInfo
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- CN114572217B CN114572217B CN202210324857.3A CN202210324857A CN114572217B CN 114572217 B CN114572217 B CN 114572217B CN 202210324857 A CN202210324857 A CN 202210324857A CN 114572217 B CN114572217 B CN 114572217B
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000008569 process Effects 0.000 claims abstract description 33
- 230000035945 sensitivity Effects 0.000 claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 61
- 239000003921 oil Substances 0.000 claims description 58
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000003745 diagnosis Methods 0.000 claims description 21
- 230000008859 change Effects 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 16
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 230000007935 neutral effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 9
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- 230000003993 interaction Effects 0.000 claims description 3
- 238000004092 self-diagnosis Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 5
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- 230000008878 coupling Effects 0.000 description 4
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/15—Agricultural vehicles
- B60W2300/152—Tractors
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention relates to an adjustable self-adaptive load reversing control device and a control method of a tractor, wherein the device comprises a load reversing control device and a control module of the device; the method comprises the steps of judging the operation intention of a driver through information acquired by a signal acquisition module, dividing the operation of the driver into a starting mode and a reversing mode, automatically calculating the current load, combining an optimal clutch with a required torque curve under the current speed, effectively improving the problem of large starting and reversing impact of a tractor under different loads and different working conditions, adjusting the starting and reversing speeds of the tractor suitable for the tractor through a reversing sensitivity adjusting knob, enabling the starting and reversing control of the tractor to be more adaptive, and effectively reducing the mechanical impact on the tractor in the starting and reversing processes of the tractor; the driving comfort of the tractor is improved, and a platform is provided for further intelligent development of the tractor.
Description
Technical Field
The invention belongs to the field of tractor control, and particularly relates to an adjustable self-adaptive load reversing control device and method for a tractor.
Background
The traditional mechanical reversing tractor needs to step on a clutch pedal no matter starting or reversing, then a forward gear or a backward gear is hung, meanwhile, the clutch pedal is released at a proper speed to finish starting or reversing, the speed of releasing the clutch directly influences a series of problems of whether the tractor can normally start or not, whether an engine can flameout due to overlarge load, whether starting impact is large or not and the like, therefore, the traditional mechanical reversing tractor is driven, and a driver is required to have abundant driving experience and operation skills. In addition, the starting and reversing processes of the traditional mechanical reversing tractor are relatively complicated to operate, and meanwhile, the operation efficiency is reduced due to long starting and reversing time.
With the progress of the age, users are more convenient, comfortable, intelligent, simple and high-working-efficiency tractors for driving. At present, some tractors are combined with microelectronic technology, intelligent control of the tractors is realized, a series of power shifting, power reversing and stepless speed change tractors are developed, the appearance of the tractors greatly liberates both hands of operators, driving difficulty of the tractors is reduced, driving comfort and operation efficiency are improved, and the tractors are welcomed by users, and in addition, a platform is provided for further intelligent control of the tractors such as unmanned development and the like. At present, the domestic market mainly uses a mechanical gear shifting reversing tractor, so that the intelligent gear shifting reversing technology is a trend of tractor development.
Disclosure of Invention
In view of the above, the invention aims to provide an adjustable self-adaptive load reversing control device and a control method for a tractor, which solve the problems of poor starting and reversing comfort of the on-load tractor, large impact of a tractor gearbox during starting and reversing, complicated reversing operation, non-adjustable starting and reversing speeds and low reversing efficiency.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
An adjustable self-adaptive load reversing control device of a tractor comprises a load reversing control device and a control module of the device, wherein the load reversing control device comprises a hydraulic source, a forward and backward wet clutch and a hydraulic control module; the hydraulic source is a constant pressure source obtained by driving the hydraulic pump by the engine, the hydraulic oil is transmitted to the hydraulic control module through the hydraulic oil way, and the hydraulic control module controls the on and off of a loop of the hydraulic oil way, so as to control the combination and separation of the forward clutch and the backward clutch;
the control module of the load reversing control device comprises a reversing controller, a speed sensor, an operating handle, a reversing sensitivity knob and a proportional electromagnetic valve for controlling the hydraulic control module;
The reversing controller integrates a signal acquisition module, a vehicle state calculation module, an adaptive control torque calculation module, a driving and communication module, a fault diagnosis module and a safety protection module; the signal acquisition module acquires the operation action of a driver through an operation handle and a reversing sensitivity knob which are connected with the reversing controller, and simultaneously acquires a speed signal of a vehicle transmission system and an input torque signal of an engine; the vehicle state calculation module judges the operation intention of a driver according to the signals acquired by the signal acquisition module, and calculates the vehicle state and the vehicle working condition; the self-adaptive control torque calculation module calculates torque required by controlling the starting or reversing of the load of the vehicle in real time according to the operation intention of the driver, the vehicle state and the working condition judged by the vehicle state calculation module; the driving and communication module controls the opening of the proportional electromagnetic valve in a closed-loop control mode according to the calculated torque, and further controls the forward wet clutch and the backward wet clutch through the proportional electromagnetic valve, and meanwhile, bus information interaction is carried out; the fault diagnosis module diagnoses the fault information of the vehicle and sends the fault information to the safety protection module and the driving and communication module.
Further, the driven end and the transmission system output end of the forward and backward wet clutch are respectively provided with a rotation speed sensor, the clutch combination process and the combined rotation speed are collected in real time, clutch combination and separation information is provided for a control module of the load reversing control device in real time, and meanwhile, vehicle speed information of a vehicle is provided; and the reversing sensitivity knob is rotated to different positions to control the vehicle to select different load starting and load reversing speeds.
Further, the vehicle state calculation module judges the operation intention of the driver through the information acquired by the signal acquisition module, divides the operation of the driver into a starting mode and a reversing mode, calculates the real-time speed difference of the clutch and the real-time speed of the vehicle according to the rotating speed signal, calculates the torque converted to the nominally complete combination transmission of the forward clutch and the backward clutch according to the torque signal of the engine, and provides data support for the self-adaptive control torque calculation module.
Further, the self-adaptive control torque calculation module receives information of the signal acquisition module, and carries out different algorithm construction on a starting mode and a reversing mode according to the driver operation mode divided by the vehicle state calculation module, so as to calculate torque curves required by different clutch combination and separation.
Further, the starting mode of the self-adaptive control torque calculation module divides the combination process of the clutch into a quick oil filling stage, a combination proceeding stage and a combination finishing stage; the end of the quick oil filling stage is determined according to the residual oil filling time, and the end of the combining stage is determined according to the speed difference change of the combining clutch;
The self-adaptive control torque calculation module is used for calculating the reversing mode of the self-adaptive control torque calculation module, and the reversing mode comprises a clutch opening stage and a clutch closing stage; the clutch opening phase comprises a pre-opening phase, an opening proceeding phase and a full opening phase, and the clutch closing phase comprises a pre-combining phase, a combining proceeding phase and a full combining phase;
The opening and carrying out stage and the combining and carrying out stage are controlled by a self-adaptive closed-loop control mode; the torque demands during the control of the opening clutch and the closing clutch are crossed by a control algorithm.
Further, the safety protection module performs certain protection on the safety of the vehicle and the personal safety according to the information calculated by the vehicle state calculation module and the fault information transmitted by the fault diagnosis module;
when the vehicle speed is greater than 12km/h, in order to protect personal safety and vehicle safety, load reversing is forbidden, if reversing operation is performed, the forward clutch and the backward clutch are disconnected;
When the engine is started, if the steering rod is at the forward or backward position, the safety protection module can consider the state of the steering rod as invalid, so that the accidental starting of the vehicle is avoided;
When the fault diagnosis module detects the slipping fault of the clutch, the safety protection module can forcedly cut off the forward clutch and the backward clutch, so that the further damage of the clutch is avoided;
The safety protection module counts the reversing time and the starting time, if the reversing time and the starting time are overtime, the clutch is prevented from being burnt out due to long-time sliding friction, and the forward clutch and the backward clutch are cut off for protection;
when the actual direction of the vehicle is detected to be inconsistent with the direction of the driving requirement, the safety protection module can start protection measures.
Further, the fault diagnosis module carries out self-diagnosis on the vehicle state and hardware fault which are expected to be inconsistent through the information of the vehicle state calculation module, sends the diagnosis result to a bus in a broadcast mode, displays the diagnosis result on an instrument, and simultaneously transmits the fault information to the safety protection module.
An adjustable self-adaptive load reversing control method for a tractor comprises the following steps:
1) The driver powers on the vehicle, starts the engine, hangs up the gear, and releases the parking brake;
2) The operating rod is arranged at a forward position or a backward position from a neutral gear position, the self-adaptive load reversing control device enters a starting mode, and the vehicle starts steadily;
3) In the running process of the vehicle, if the speed of the vehicle is not more than 12km/h, a driver directly places a steering rod at a backward position from an forward position, the self-adaptive load reversing control device enters a reversing mode, the vehicle is stably changed from the forward direction to the backward direction, and the load reversing is automatically completed;
4) In the running process of the vehicle, if the speed of the vehicle is not more than 12km/h, a driver directly places a steering rod at a forward position from a backward position, and the self-adaptive load reversing control device enters a reversing mode, so that the vehicle is stably changed from the backward direction to the forward direction, and load reversing is automatically completed;
5) The driver can realize the adjustment of starting and reversing speeds by arranging the reversing sensitivity knob at different positions;
6) In the running process of the vehicle, a driver places the steering rod at a neutral position, then the forward or backward clutch is disconnected, the vehicle enters a neutral sliding mode, and the vehicle can be stopped by stepping on a brake or can be automatically stopped by means of inertia.
Further, the step 2 specifically includes the following steps:
21 If the steering rod is positioned at the forward direction position, the required torque of the backward clutch is zero, the backward clutch is disconnected, the forward clutch enters a quick oil filling stage, the required torque of the clutch is constant, and when the residual oil filling time of the clutch is zero, the clutch indicates that the quick oil filling stage is finished;
then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, calculating the clutch required torque in real time, gradually combining the clutch, gradually increasing the transmission torque, and stably starting the vehicle according to a certain acceleration, wherein after the clutch speed difference is smaller than a certain value, the stage control is ended;
The required torque of the clutch becomes maximum, and the clutch enters a clutch combination completion stage to complete starting;
22 If the steering rod is positioned at the backward direction position, the required torque of the forward clutch is zero, the forward clutch is disconnected, the backward clutch enters a quick oil filling stage, the required torque of the clutch is constant, and when the residual oil filling time of the clutch is zero, the completion of the quick oil filling stage is indicated;
then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, calculating the clutch required torque in real time, gradually combining the clutch, gradually increasing the transmission torque, and stably starting the vehicle according to a certain acceleration, wherein after the clutch speed difference is smaller than a certain value, the stage control is ended;
The required torque of the clutch becomes maximum, and the clutch enters a clutch combination completion stage to complete starting;
23 The safety protection module starts timing from entering the start mode.
Further, the step 3 specifically includes the following steps:
31 After entering the reversing mode, the self-adaptive control torque calculation module determines a clutch to be opened and a clutch to be closed through the signal acquisition module and the vehicle state module, and simultaneously obtains the speed difference, the vehicle speed and the remaining oil filling time of the clutch and torque information transmitted by the forward clutch and the backward clutch according to the torque conversion of the engine;
32 Opening the clutch to enter a pre-opening stage, reducing the required torque from the maximum torque to the converted torque, and closing the clutch to enter a pre-combining stage to quickly charge oil, wherein the required torque is the oil charging torque;
33 When the residual oil filling time of the closed clutch is zero, the oil filling is finished, the clutch torque is reduced to the torque which just overcomes the clutch spring force, the pre-combination stage of the closed clutch is finished, the combination stage is entered, after the required torque of the opened clutch is reduced to the converted torque, the pre-opening stage is finished, and the opening proceeding stage is entered;
34 The self-adaptive control torque calculation module calculates the required torque for opening the clutch in a self-adaptive closed-loop control mode according to a given vehicle speed change curve, so that the vehicle speed is ensured to be reduced according to a certain acceleration, and the impact is avoided;
35 When the end condition of the opening clutch opening progress stage is met, the opening clutch opening progress stage is ended, the opening clutch enters the full opening stage, the required torque is reduced to zero within a certain time, the closed clutch calculates the real-time control torque according to a given clutch speed difference change curve, the clutch is gradually combined, the transmission torque is gradually increased, the vehicle is reversely accelerated according to a certain acceleration, when the clutch speed difference is smaller than a certain value, the control is ended in the stage, the required torque of the clutch becomes maximum, the clutch enters the clutch combining completion stage, and the reversing is completed.
The beneficial effects of the invention are as follows:
According to the adjustable self-adaptive load reversing control device and the control method, the current load can be automatically calculated through the controller, and the optimal clutch combination required torque curve under the current speed can effectively solve the problems of large starting and reversing impact of the tractor under different loads and different working conditions, and effectively reduce the mechanical impact on the tractor in the starting and reversing processes of the tractor; the automatic starting and reversing can be realized by directly arranging the steering rod at different positions without operating the clutch pedal by a driver, so that the operation actions of starting and reversing of the tractor are simplified, and the starting and reversing operation of the tractor is more concise.
According to the adjustable self-adaptive load reversing control device and the control method, a driver can adjust the starting and reversing speeds of the tractor through the reversing sensitivity adjusting knob according to the operation habit of the driver, so that the starting and reversing control of the tractor is more adaptive, the reversing time in the working process of the tractor is shortened compared with that of the traditional mechanical tractor, the working efficiency of the tractor is improved, and material resources and financial resources are saved; the controller can diagnose or prompt some faults of the tractor, so that the difficulty of later maintenance is reduced.
According to the adjustable self-adaptive load reversing control device and the control method, the safety protection module in control can be used for effectively processing misoperation of a driver and faults of the tractor, and a certain protection is generated for the body of the tractor.
The adjustable self-adaptive load reversing control device and the control method provided by the invention have the advantages that the driving threshold of the tractor is reduced by adding the intelligent control technology, the driving comfort of the tractor is improved, and a platform is provided for further intelligent development of the tractor.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an overall architecture of an adjustable adaptive load commutation control apparatus and method of the present invention;
FIG. 2 is a schematic diagram of a load reversing control device according to the present invention;
FIG. 3 is a flow chart of the operation mode calculation of the vehicle state calculation module of the present invention;
FIG. 4 is a flow chart of load start control according to an embodiment of the present invention;
FIG. 5 is a flow chart of load commutation control in an embodiment of the invention;
FIG. 6 is a flow chart of the reversing sensitivity knob adjustment of the present invention;
fig. 7 is a flowchart illustrating the operation of the load commutation control device of the present invention.
Detailed Description
Specific examples are given below to further clarify, complete and detailed description of the technical scheme of the invention. The present embodiment is a preferred embodiment based on the technical solution of the present invention, but the scope of the present invention is not limited to the following embodiments.
The specific embodiment is as follows:
Fig. 1 is a schematic diagram of the overall architecture of the adjustable adaptive load commutation control device and control method according to the present invention.
An adjustable self-adaptive load reversing control device of a tractor comprises a load reversing control device and a control module of the device; the load reversing control device comprises a hydraulic source, a forward wet clutch and a backward wet clutch, and a hydraulic control module;
The hydraulic source is a constant pressure source obtained by driving the hydraulic pump by the engine, the hydraulic control module controls a loop of the hydraulic oil way, the forward clutch and the backward clutch are combined and separated through the on and off of the hydraulic loop, and the torque transmitted by the clutch in the combining and separating process can be controlled;
The hydraulic source generates constant system pressure, hydraulic oil is transmitted to the hydraulic control module through a hydraulic oil way, the control module of the load reversing control device controls the hydraulic control module through an electromagnetic valve, the flow direction and the flow quantity of the hydraulic oil way are further controlled, and the forward and backward wet clutches realize oil filling and oil discharging through the hydraulic passage of the hydraulic control module, so that combination and separation are realized, and the forward and backward of a vehicle are controlled;
The control module of the load reversing control device comprises a reversing controller, a speed sensor, an operating handle, a reversing sensitivity knob and a proportional electromagnetic valve for controlling the hydraulic control module;
the reversing controller integrates a signal acquisition module, a vehicle state calculation module, a self-adaptive control torque calculation module, a driving and communication module, a fault diagnosis module and a safety protection module; the signal acquisition module acquires the operation action of a driver through an operation handle and a reversing sensitivity knob which are connected with the controller, and simultaneously acquires a speed signal of a vehicle transmission system and an input torque signal of an engine; the vehicle state calculation module judges the operation intention of a driver according to the signals acquired by the signal acquisition module, and calculates the vehicle state and the vehicle working condition; the self-adaptive control torque calculation module calculates torque required for controlling the starting or reversing of the load of the vehicle in real time according to the operation intention of the driver, the vehicle state and the working condition, which are judged by the vehicle state calculation module; the driving and communication module controls the opening of the proportional electromagnetic valve in a closed-loop control mode according to the calculated torque, and further controls the forward and backward wet clutches through the proportional electromagnetic valve to finish the stable load starting and load reversing actions of the vehicle under various working conditions, and meanwhile, bus information interaction is carried out; the fault diagnosis module diagnoses the fault information of the vehicle and sends the fault information to the safety protection module and the driving and communication module, and the safety protection module performs certain protection control on the vehicle and personal safety.
The current load can be automatically calculated through the controller, and the optimal clutch under the current speed is combined with a required torque curve, so that the problem of large starting and reversing impact of the tractor under different loads and different working conditions is effectively solved, and the mechanical impact on the tractor in the starting and reversing processes of the tractor is effectively reduced; the automatic starting and reversing can be realized by directly arranging the steering rod at different positions without operating the clutch pedal by a driver, so that the operation actions of starting and reversing of the tractor are simplified, and the starting and reversing operation of the tractor is more concise.
Further, as shown in fig. 2, the load reversing control device of the present invention is schematically structured. The hydraulic source is a constant pressure source obtained by driving a hydraulic pump by an engine, and the conduction and closing of a hydraulic passage controlled by a hydraulic control module and the flow of the hydraulic passage are determined by the conduction condition of an electromagnetic proportional valve of a forward clutch and a backward clutch;
The forward clutch hydraulic passage is communicated with the forward clutch hydraulic cylinder, if the forward clutch proportional electromagnetic valve is electrified, the forward clutch cylinder charges oil, the forward clutch is combined, the power input is transmitted to the reversing output shaft through the forward clutch, the tractor runs forwards, the backward clutch hydraulic passage is communicated with the backward clutch cylinder, if the backward clutch proportional electromagnetic valve is electrified, the backward clutch hydraulic cylinder charges oil, the backward clutch is combined, the power input is transmitted to the reversing output shaft through the backward clutch, the rotation direction of the output shaft is opposite to that of the forward clutch, and the tractor runs backwards.
Furthermore, the driven end and the transmission system output end of the forward and backward wet clutch are additionally provided with the rotating speed sensors, so that the clutch combination process and the combined rotating speed can be acquired in real time, clutch combination and separation information can be provided for a control module of the load reversing control device in real time, and meanwhile, the speed information of the vehicle is provided.
As shown in FIG. 3, the vehicle state calculation module of the present invention operates a mode calculation flowchart.
Further, the vehicle state calculation module judges the operation intention of a driver through the information acquired by the signal acquisition module, divides the operation of the driver into a starting mode and a reversing mode, calculates the real-time speed difference of the clutch and the real-time speed of the vehicle according to the rotating speed signal, calculates the torque converted to the nominal complete combination transmission of the forward clutch end and the backward clutch end according to the torque signal of the engine, and provides data support for the self-adaptive control torque calculation module;
When the engine is started, if the driver changes the steering lever from the neutral position to the forward or reverse position, the driver performs a start operation, and at this time, it is determined that the vehicle operation mode is the start mode, and if the driver directly sets the steering lever from the forward direction to the reverse direction or from the reverse direction to the forward direction, the driver performs a reverse operation, and at this time, it is determined that the vehicle operation mode is the reverse mode.
Further, the self-adaptive control torque calculation module receives information of the signal acquisition module, and carries out different algorithm construction on the two modes according to the driver operation modes divided by the vehicle state calculation module, so as to calculate torque curves required by different clutch combination and separation.
Further, fig. 4 is a flowchart of the load start control of the present invention. The starting mode of the self-adaptive control torque calculation module divides the combination process of the clutch into a quick oil filling stage, a combination proceeding stage and a combination finishing stage; the end of the quick oil filling stage is determined according to the residual oil filling time, and the end of the combining stage is determined according to the speed difference change of the combining clutch, so that the clutch can be controlled more finely; the self-adaptive control torque calculation module acquires information such as the state of a steering rod, the speed difference of a clutch, the residual oil charge time of the clutch and the like through the signal acquisition module and the vehicle state module.
If the steering rod is positioned at the forward direction position, the required torque of the backward clutch is zero, the backward clutch is disconnected, the forward clutch enters a quick oil filling stage, the required torque of the clutch is constant, when the residual oil filling time of the clutch is zero, the quick oil filling stage is finished, the idle stroke of the clutch is mainly eliminated, and the torque is not transmitted;
then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, and calculating the clutch required torque in real time, wherein the process is a dynamic adjustment process, the clutch is gradually combined, the transmission torque is gradually increased, the vehicle starts steadily according to a certain acceleration, and when the clutch speed difference is smaller than a certain value, the control is ended in the stage;
The clutch torque demand becomes maximum, and the clutch engagement completion phase is entered, and the starting is completed.
If the steering rod is positioned at the backward direction position, the required torque of the forward clutch is zero, the forward clutch is disconnected, the backward clutch enters a quick oil filling stage, the required torque of the clutch is constant, when the residual oil filling time of the clutch is zero, the end of the quick oil filling stage is indicated, the idle stroke of the clutch is mainly eliminated, and the torque is not transmitted in the process;
then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, and calculating the clutch required torque in real time, wherein the process is a dynamic adjustment process, the clutch is gradually combined, the transmission torque is gradually increased, the vehicle starts steadily according to a certain acceleration, and when the clutch speed difference is smaller than a certain value, the control is ended in the stage;
The clutch torque demand becomes maximum, and the clutch engagement completion phase is entered, and the starting is completed.
Further, in the whole process, if the starting time exceeds a certain value, starting overtime, entering a safety protection module, and protecting the clutch from being damaged due to a long-time slip form.
Further, as shown in fig. 5, a load reversing control flow chart of the present invention is shown. After the self-adaptive control torque calculation module enters the reversing mode, the self-adaptive control torque calculation module determines a clutch to be opened and a clutch to be closed through the signal acquisition module and the vehicle state module, and meanwhile obtains information such as speed difference, vehicle speed, remaining oil charge time of the clutch, torque transmitted by the forward clutch and the backward clutch according to torque conversion of the engine and the like.
The process includes a clutch opening phase and a clutch closing phase; the clutch opening phase comprises a pre-opening phase, an opening proceeding phase and a full opening phase, and the clutch closing phase comprises a pre-combining phase, a combining proceeding phase and a full combining phase;
Opening the clutch to enter a pre-opening stage, reducing the required torque from the maximum torque to the converted torque, and closing the clutch to enter a pre-combining stage to quickly charge oil, wherein the required torque is the oil charging torque; the method comprises the steps of when the residual oil filling time of a closed clutch is zero, filling oil, reducing the required clutch torque to a torque just overcoming the spring force of the clutch, only eliminating the idle stroke of the clutch in the process, not transmitting torque, ending the pre-coupling phase of the closed clutch, entering the coupling phase, after the required torque of the opened clutch is reduced to the converted torque, ending the pre-opening phase, entering the opening progress phase, calculating the required torque of the opened clutch by adopting an adaptive closed-loop control mode according to a given vehicle speed change curve, ensuring that the vehicle speed is reduced according to a certain acceleration, avoiding impact, ending the opening progress phase of the opened clutch after the ending condition of the opening progress phase is met, starting the clutch to enter the full-opening phase, reducing the required torque to zero in a certain time, calculating the real-time control torque by adopting an adaptive closed-loop control mode according to a given clutch speed difference change curve, gradually coupling the clutch, gradually increasing the transmission torque, reversely accelerating the vehicle according to a certain acceleration, ending the control of the phase when the speed difference of the clutch is smaller than a certain value, completing the coupling of the clutch is finished, and completing the clutch reversing when the required torque of the clutch enters the clutch to the maximum value.
Further, in the whole process, if the reversing time exceeds a certain value, starting overtime, entering a safety protection module, and protecting the clutch from being damaged due to a long-time slip form.
Further, as shown in fig. 6, a flow chart of the reversing sensitivity knob adjustment of the present invention is shown. The reversing sensitivity knob is used for enabling a driver to adjust the starting and reversing speeds of the tractor suitable for the driver through the reversing sensitivity adjusting knob by rotating the reversing sensitivity knob to different positions, so that different load starting and load reversing speeds of the vehicle are realized, and different driving habits of different drivers are met; the starting and reversing control of the tractor is more adaptive, compared with the traditional mechanical tractor, the reversing time in the working process of the tractor is shortened, the working efficiency of the tractor is further improved, and material resources and financial resources are saved;
Further, the safety protection module performs certain protection on the safety of the vehicle and the personal safety according to the information calculated by the vehicle state calculation module and the fault information transmitted by the fault diagnosis module; when the vehicle speed is greater than 12km/h, in order to protect personal safety and vehicle safety, load reversing is forbidden, if reversing operation is performed, the forward clutch and the backward clutch are disconnected; when the engine is started, if the steering rod is at the forward or backward position, the safety protection module can consider the state of the steering rod as invalid, so that the accidental starting of the vehicle is avoided; when the fault diagnosis module detects the slipping fault of the clutch, the safety protection module can forcedly cut off the forward clutch and the backward clutch, so that the further damage of the clutch is avoided; in addition, the safety protection module also counts the reversing time and the starting time, if overtime, the clutch is prevented from being burnt out due to long-time sliding friction, and the forward clutch and the backward clutch are cut off for protection; when the actual direction of the vehicle is detected to be inconsistent with the driving requirement direction, the safety protection module can start corresponding protection measures.
The safety protection module in control can be used for effectively treating misoperation of a driver and faults of the tractor, and protecting the tractor and a person to a certain extent.
Further, the fault diagnosis module carries out self-diagnosis on the vehicle state, hardware fault and the like which are expected to be inconsistent through the vehicle state calculation module information, sends diagnosis results to the bus in a broadcasting mode, displays the diagnosis results on the instrument, prompts a driver to carry out vehicle maintenance or service, reduces the difficulty of fault point inquiry during vehicle maintenance, shortens the maintenance time, improves the maintenance efficiency, and simultaneously transmits the fault information to the safety protection module.
As shown in fig. 7, which is a flowchart illustrating the operation of the load reversing control device of the present invention, an adjustable adaptive load reversing control method for a tractor comprises the following steps:
1) The driver powers on the vehicle, starts the engine, hangs up the gear, and releases the parking brake;
2) The operating lever is arranged at a forward position or a backward position from a neutral position, and the vehicle starts stably;
If the steering rod is positioned at the forward direction position, the required torque of the backward clutch is zero, the backward clutch is disconnected, the forward clutch enters a quick oil filling stage, the required torque of the clutch is constant, and when the residual oil filling time of the clutch is zero, the clutch indicates that the quick oil filling stage is finished;
Then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, calculating the clutch required torque in real time, gradually combining the clutch, gradually increasing the transmission torque, and stably starting the vehicle according to a certain acceleration, wherein after the clutch speed difference is smaller than a certain value, the stage control is ended; the required torque of the clutch becomes maximum, and the clutch enters a clutch combination completion stage to complete starting;
If the steering rod is positioned at the backward direction position, the required torque of the forward clutch is zero, the forward clutch is disconnected, the backward clutch enters a quick oil filling stage, the required torque of the clutch is constant, and when the residual oil filling time of the clutch is zero, the clutch indicates that the quick oil filling stage is finished;
Then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, calculating the clutch required torque in real time, gradually combining the clutch, gradually increasing the transmission torque, and stably starting the vehicle according to a certain acceleration, wherein after the clutch speed difference is smaller than a certain value, the stage control is ended; the required torque of the clutch becomes maximum, and the clutch enters a clutch combination completion stage to complete starting;
3) In the running process of the vehicle, no matter what the load condition is, and no matter what the working condition is, as long as the vehicle speed is not more than 12km/h, a driver directly places a steering rod at a backward position from an forward position, a self-adaptive load reversing control device enters a reversing mode, the vehicle is stably changed from a forward direction to a backward direction, and load reversing is automatically completed;
After the self-adaptive control torque calculation module enters a reversing mode, determining a clutch to be opened and a clutch to be closed through a signal acquisition module and a vehicle state module, and simultaneously acquiring the speed difference, the speed, the remaining oil filling time of the clutch and torque information transmitted by a forward clutch and a backward clutch according to torque conversion of an engine; opening the clutch to enter a pre-opening stage, reducing the required torque from the maximum torque to the converted torque, and closing the clutch to enter a pre-combining stage to quickly charge oil, wherein the required torque is the oil charging torque; when the residual oil filling time of the closed clutch is zero, the oil filling is finished, the clutch torque is reduced to a torque which just overcomes the spring force of the clutch, the pre-combination stage of the closed clutch is finished, the combination stage is entered, after the required torque of the opened clutch is reduced to the converted torque, the pre-opening stage is finished, and the opening proceeding stage is entered; the self-adaptive control torque calculation module calculates the required torque for opening the clutch in a self-adaptive closed-loop control mode according to a given vehicle speed change curve, so that the vehicle speed is ensured to be reduced according to a certain acceleration, and the impact is avoided; when the end condition of the opening clutch opening progress stage is met, the opening clutch opening progress stage is ended, the opening clutch enters a full opening stage, the required torque is reduced to zero within a certain time, the closed clutch calculates real-time control torque according to a given clutch speed difference change curve, the clutch is gradually combined, the transmission torque is gradually increased, the vehicle is reversely accelerated according to a certain acceleration, when the clutch speed difference is smaller than a certain value, the control in the stage is ended, the required torque of the clutch becomes maximum, the clutch enters a clutch combining completion stage, and the reversing is completed;
4) In the running process of the vehicle, no matter what the load condition is, and no matter what the working condition is, as long as the vehicle speed is not more than 12km/h, a driver directly places a steering rod at a forward position from a backward position, and the self-adaptive load reversing control device enters a reversing mode, so that the vehicle is stably changed from the backward direction to the forward direction, and the load reversing is automatically completed;
5) The driver can realize the adjustment of starting and reversing speeds by arranging the reversing sensitivity knob at different positions;
6) In the running process of the vehicle, a driver places the steering rod at a neutral position, then the forward or backward clutch is disconnected, the vehicle enters a neutral sliding mode, and the vehicle can be stopped by stepping on a brake or can be automatically stopped by means of inertia and the like.
In summary, according to the adjustable self-adaptive load reversing control device and the control method for the tractor, the current load can be automatically calculated through the controller, the optimal clutch combination required torque curve under the current speed is effectively improved, the problem that starting and reversing impact of the tractor is large under different loads and different working conditions is effectively solved, mechanical impact on the tractor in the starting and reversing processes of the tractor is effectively reduced, and a platform is provided for further intelligent development of the tractor.
The foregoing has outlined and described the features, principles, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are merely illustrative of the principles of the present invention, and that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an adjustable self-adaptation load switching-over controlling means of tractor, includes load switching-over controlling means and the device's control module, its characterized in that:
The load reversing control device comprises a hydraulic source, a forward and backward wet clutch and a hydraulic control module; the hydraulic source is a constant pressure source obtained by driving the hydraulic pump by the engine, the hydraulic oil is transmitted to the hydraulic control module through the hydraulic oil way, and the hydraulic control module controls the on and off of a loop of the hydraulic oil way, so as to control the combination and separation of the forward clutch and the backward clutch;
the control module of the load reversing control device comprises a reversing controller, a speed sensor, an operating handle, a reversing sensitivity knob and a proportional electromagnetic valve for controlling the hydraulic control module;
The reversing controller integrates a signal acquisition module, a vehicle state calculation module, an adaptive control torque calculation module, a driving and communication module, a fault diagnosis module and a safety protection module; the signal acquisition module acquires the operation action of a driver through an operation handle and a reversing sensitivity knob which are connected with the reversing controller, and simultaneously acquires a speed signal of a vehicle transmission system and an input torque signal of an engine; the vehicle state calculation module judges the operation intention of a driver according to the signals acquired by the signal acquisition module, and calculates the vehicle state and the vehicle working condition; the self-adaptive control torque calculation module calculates torque required by controlling the starting or reversing of the load of the vehicle in real time according to the operation intention of the driver, the vehicle state and the working condition judged by the vehicle state calculation module; the driving and communication module controls the opening of the proportional electromagnetic valve in a closed-loop control mode according to the calculated torque, and further controls the forward wet clutch and the backward wet clutch through the proportional electromagnetic valve, and meanwhile, bus information interaction is carried out; the fault diagnosis module diagnoses the fault information of the vehicle and sends the fault information to the safety protection module and the driving and communication module;
The driven end and the transmission system output end of the forward and backward wet clutch are respectively provided with a rotation speed sensor, the clutch combination process and the combined rotation speed are acquired in real time, clutch combination and separation information is provided for a control module of the load reversing control device in real time, and meanwhile, vehicle speed information of a vehicle is provided; the reversing sensitivity knob is rotated to different positions to control the vehicle to select different load starting and load reversing speeds;
The vehicle state calculation module judges the operation intention of a driver through the information acquired by the signal acquisition module, divides the operation of the driver into a starting mode and a reversing mode, calculates the real-time speed difference of the clutch and the real-time speed of the vehicle according to the rotating speed signal, calculates the torque converted to the nominal complete combination transmission of the forward clutch and the backward clutch according to the torque signal of the engine, and provides data support for the self-adaptive control torque calculation module;
the self-adaptive control torque calculation module receives information of the signal acquisition module, and carries out different algorithm construction on a starting mode and a reversing mode according to the driver operation mode divided by the vehicle state calculation module so as to calculate torque curves required by different clutch combination and separation;
The starting mode of the self-adaptive control torque calculation module divides the combination process of the clutch into a quick oil filling stage, a combination proceeding stage and a combination finishing stage; the end of the quick oil filling stage is determined according to the residual oil filling time, and the end of the combining stage is determined according to the speed difference change of the combining clutch;
The self-adaptive control torque calculation module is used for calculating the reversing mode of the self-adaptive control torque calculation module, and the reversing mode comprises a clutch opening stage and a clutch closing stage; the clutch opening phase comprises a pre-opening phase, an opening proceeding phase and a full opening phase, and the clutch closing phase comprises a pre-combining phase, a combining proceeding phase and a full combining phase;
the opening and carrying out stage and the combining and carrying out stage are controlled by a self-adaptive closed-loop control mode; the torque required in the control process of the opening clutch and the closing clutch is crossed through a control algorithm;
The safety protection module is used for protecting the safety and personal safety of the vehicle to a certain extent according to the information calculated by the vehicle state calculation module and the fault information transmitted by the fault diagnosis module;
when the vehicle speed is greater than 12km/h, in order to protect personal safety and vehicle safety, load reversing is forbidden, if reversing operation is performed, the forward clutch and the backward clutch are disconnected;
When the engine is started, if the steering rod is at the forward or backward position, the safety protection module can consider the state of the steering rod as invalid, so that the accidental starting of the vehicle is avoided;
When the fault diagnosis module detects the slipping fault of the clutch, the safety protection module can forcedly cut off the forward clutch and the backward clutch, so that the further damage of the clutch is avoided;
The safety protection module counts the reversing time and the starting time, if the reversing time and the starting time are overtime, the clutch is prevented from being burnt out due to long-time sliding friction, and the forward clutch and the backward clutch are cut off for protection;
when the actual direction of the vehicle is detected to be inconsistent with the direction of the driving requirement, the safety protection module can start protection measures.
2. An adjustable adaptive load reversing control device for a tractor as defined by claim 1, wherein: the fault diagnosis module carries out self-diagnosis on the expected non-conforming vehicle state and hardware fault through the information of the vehicle state calculation module, sends the diagnosis result to the bus in a broadcast mode, displays the diagnosis result on the instrument, and simultaneously transmits the fault information to the safety protection module.
3. The control method of the adjustable adaptive load reversing control device for the tractor as claimed in claim 1, wherein: the method comprises the following steps:
1) The driver powers on the vehicle, starts the engine, hangs up the gear, and releases the parking brake;
2) The operating rod is arranged at a forward position or a backward position from a neutral gear position, the self-adaptive load reversing control device enters a starting mode, and the vehicle starts steadily;
3) In the running process of the vehicle, if the speed of the vehicle is not more than 12km/h, a driver directly places a steering rod at a backward position from an forward position, the self-adaptive load reversing control device enters a reversing mode, the vehicle is stably changed from the forward direction to the backward direction, and the load reversing is automatically completed;
4) In the running process of the vehicle, if the speed of the vehicle is not more than 12km/h, a driver directly places a steering rod at a forward position from a backward position, and the self-adaptive load reversing control device enters a reversing mode, so that the vehicle is stably changed from the backward direction to the forward direction, and load reversing is automatically completed;
5) The driver can realize the adjustment of starting and reversing speeds by arranging the reversing sensitivity knob at different positions;
6) In the running process of the vehicle, a driver places the steering rod at a neutral position, then the forward or backward clutch is disconnected, the vehicle enters a neutral sliding mode, and the vehicle can be stopped by stepping on a brake or can be automatically stopped by means of inertia.
4. A control method of an adjustable adaptive load commutating control device for a tractor as claimed in claim 3, characterized by: the step 2) specifically comprises the following steps:
21 If the steering rod is positioned at the forward direction position, the required torque of the backward clutch is zero, the backward clutch is disconnected, the forward clutch enters a quick oil filling stage, the required torque of the clutch is constant, and when the residual oil filling time of the clutch is zero, the clutch indicates that the quick oil filling stage is finished;
then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, calculating the clutch required torque in real time, gradually combining the clutch, gradually increasing the transmission torque, and stably starting the vehicle according to a certain acceleration, wherein after the clutch speed difference is smaller than a certain value, the stage control is ended;
The required torque of the clutch becomes maximum, and the clutch enters a clutch combination completion stage to complete starting;
22 If the steering rod is positioned at the backward direction position, the required torque of the forward clutch is zero, the forward clutch is disconnected, the backward clutch enters a quick oil filling stage, the required torque of the clutch is constant, and when the residual oil filling time of the clutch is zero, the completion of the quick oil filling stage is indicated;
then, entering a clutch combination proceeding stage, carrying out self-adaptive closed-loop control on the clutch by a self-adaptive control torque calculation module according to a given clutch speed difference change curve, calculating the clutch required torque in real time, gradually combining the clutch, gradually increasing the transmission torque, and stably starting the vehicle according to a certain acceleration, wherein after the clutch speed difference is smaller than a certain value, the stage control is ended;
The required torque of the clutch becomes maximum, and the clutch enters a clutch combination completion stage to complete starting;
the safety protection module starts timing from entering the start mode.
5. A control method of an adjustable adaptive load commutating control device for a tractor as claimed in claim 3, characterized by: the step 3) specifically comprises the following steps:
31 After entering the reversing mode, the self-adaptive control torque calculation module determines a clutch to be opened and a clutch to be closed through the signal acquisition module and the vehicle state module, and simultaneously obtains the speed difference, the vehicle speed and the remaining oil filling time of the clutch and torque information transmitted by the forward clutch and the backward clutch according to the torque conversion of the engine;
32 Opening the clutch to enter a pre-opening stage, reducing the required torque from the maximum torque to the converted torque, and closing the clutch to enter a pre-combining stage to quickly charge oil, wherein the required torque is the oil charging torque;
33 When the residual oil filling time of the closed clutch is zero, the oil filling is finished, the clutch torque is reduced to the torque which just overcomes the clutch spring force, the pre-combination stage of the closed clutch is finished, the combination stage is entered, after the required torque of the opened clutch is reduced to the converted torque, the pre-opening stage is finished, and the opening proceeding stage is entered;
34 The self-adaptive control torque calculation module calculates the required torque for opening the clutch in a self-adaptive closed-loop control mode according to a given vehicle speed change curve, so that the vehicle speed is ensured to be reduced according to a certain acceleration, and the impact is avoided;
35 When the end condition of the opening clutch opening progress stage is met, the opening clutch opening progress stage is ended, the opening clutch enters the full opening stage, the required torque is reduced to zero within a certain time, the closed clutch calculates the real-time control torque according to a given clutch speed difference change curve, the clutch is gradually combined, the transmission torque is gradually increased, the vehicle is reversely accelerated according to a certain acceleration, when the clutch speed difference is smaller than a certain value, the control is ended in the stage, the required torque of the clutch becomes maximum, the clutch enters the clutch combining completion stage, and the reversing is completed.
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| CN113048161A (en) * | 2021-03-08 | 2021-06-29 | 重庆青山工业有限责任公司 | Regulation control method for oil filling process of wet DCT (double clutch transmission) clutch |
| CN113074248A (en) * | 2020-01-06 | 2021-07-06 | 广州汽车集团股份有限公司 | Automatic transmission downshift control method and computer-readable storage medium |
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| CN113074248A (en) * | 2020-01-06 | 2021-07-06 | 广州汽车集团股份有限公司 | Automatic transmission downshift control method and computer-readable storage medium |
| CN113048161A (en) * | 2021-03-08 | 2021-06-29 | 重庆青山工业有限责任公司 | Regulation control method for oil filling process of wet DCT (double clutch transmission) clutch |
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