CN102635689B - Gear-shifting control method, system and the engineering machinery for the work of drawing - Google Patents
Gear-shifting control method, system and the engineering machinery for the work of drawing Download PDFInfo
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- CN102635689B CN102635689B CN201210133379.4A CN201210133379A CN102635689B CN 102635689 B CN102635689 B CN 102635689B CN 201210133379 A CN201210133379 A CN 201210133379A CN 102635689 B CN102635689 B CN 102635689B
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Abstract
The invention discloses a kind of gear-shifting control method, comprising: obtain the turbine torque under current throttle state and gear signal; When judging that described gear signal is neutral gear signal, keep current gear, otherwise turbine torque described in comparison and predetermined torque scope; When described turbine torque is in predetermined torque scope, keep current gear; When described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear; When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduce gear.In gear-shifting control method disclosed by the invention, determine the current operating mode run into according to turbine torque, and then carry out the automatic control of gear.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly, relate to a kind of gear-shifting control method, system and the engineering machinery for the work of drawing.
Background technique
For improving the adaptive capacity of engineering machinery to severe operating environment and operating mode, in Traditional project machine driven system, increasing fluid torque converter carry out hydraulic mechanical.This hydromechanical transmission has had hydraudynamic drive and mechanically operated plurality of advantages concurrently, such as starting steadily, accelerate rapid etc.; Meanwhile, by liquid transfer power, dynamic load and the vibration of transmission system can be reduced, extend the working life of transmission system, improve vehicle safety and passing ability.As long as usually coupling rationally, " stopping working " problem of motor under mechanical transmission heavy duty both can be avoided.
Practice shows, even if motor does not stop working, does not also allow to work in poor efficiency district for a long time.As worked one minute under " stall " operating mode, the working medium of hydraudynamic drive is all converted into heat energy and " overheated " due to mechanical energy.Equally, under high speed light loading, as change up work not in time, cause the loss of energy because hydraulic losses makes transmission efficiency reduce.
At present, the experiential operating mainly by driver ensures that hydraudynamic drive works in efficient district, because the operating condition of engineering machinery is complicated, work under bad environment, therefore, very high to the requirement of driver.For lowering the requirement to driver, just need electronic transmission shifting.
At present, engineering machinery automaitc shfit mainly realizes according to the automaitc shfit technology of automobile.Because engineering vehicle working condition and vehicle behavior are obviously different, the automaitc shfit technology of automobile can not be adapted to engineering machinery completely.
Therefore, how realizing Automatic Shift Control, improve the working efficiency for the engineering machinery of the work of drawing and operation quality, alleviate the labor intensity of driver, is those skilled in the art's problem demanding prompt solutions.
Summary of the invention
In view of this, the invention provides a kind of gear-shifting control method, system and the engineering machinery for the work of drawing, to realize the automaitc shfit of the engineering machinery for the work of drawing.
For achieving the above object, the existing scheme proposed is as follows:
A kind of gear-shifting control method, comprising:
Obtain the turbine torque under current throttle state and gear signal;
When judging that described gear signal is neutral gear signal, keep current gear, otherwise turbine torque described in comparison and predetermined torque scope;
When described turbine torque is in predetermined torque scope, keep current gear;
When described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear;
When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduce gear.
Preferably, also comprise:
Obtain current gearshift pattern;
If described current gearshift pattern is MANUAL CONTROL mode, then described transforming gear controls to be realized by manual operation Joystick; If described current gearshift pattern is automatic control mode, then obtain the turbine torque under current throttle state and gear signal.
Preferably, also comprise:
Obtain gear state of a control, itself and described current gearshift pattern are compared;
When meeting pre-conditioned, change described current gearshift pattern to the control mode identical with described gear state of a control, described pre-conditioned be that described gear state of a control is not identical with described current gearshift pattern.
Preferably, describedly pre-conditionedly also to comprise: postpone the gear state of a control that Preset Time obtains still not identical with described current gearshift pattern.
Preferably, also comprise after the minimal torque be less than in described predetermined torque scope when described turbine torque:
Interval Preset Time between continuous preset times and adjacent twice obtains turbine torque under current throttle state and gear signal;
When judging that the turbine torque that described continuous preset times obtains all is less than described minimal torque, and when described gear signal is not all most high tap position signal, raise gear.
Preferably, also comprise after the Maximum Torque be greater than in described predetermined torque scope when described turbine torque:
Interval Preset Time between continuous preset times and adjacent twice obtains turbine torque under current throttle state and gear signal;
When judging that the turbine torque that described continuous preset times obtains all is greater than described Maximum Torque, and when described gear signal is not all lowest gear signal, reduce gear.
Preferably, also comprise:
Obtain brake signal;
When described brake signal is non-NULL, and when judging that described gear signal is not lowest gear signal, reduce gear.
A kind of shift control, comprising:
Gear signal sensor, for gathering gear signal;
Turbine torque sensor, for gathering turbine torque;
Electronic control unit, for obtaining turbine torque under current throttle state and gear signal; When judging that described gear signal is neutral gear signal, keep current gear, otherwise turbine torque described in comparison and predetermined torque scope; When described turbine torque is in predetermined torque scope, keep current gear; When described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear; When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduce gear.
Preferably, switch the control mode selector switch of MANUAL CONTROL mode and automatic control mode, described electronic control unit is also for judging current gearshift pattern, if described current gearshift pattern is MANUAL CONTROL mode, described control mode selector switch switches to manual mode; If described current gearshift pattern is automatic control mode, described control mode selector switch switches to automatic mode.
Preferably, also comprise: brake signal acquiring unit, for obtaining brake signal;
Described electronic control unit also for judging that described brake signal is non-NULL, and when judging that described gear signal is not lowest gear signal, reduces gear.
For an engineering machinery for the work of drawing, comprise above-mentioned system.
Preferably, described engineering machinery is bulldozer, push-harrower, grader or loader.
As can be seen from above-mentioned technological scheme, in gear-shifting control method disclosed by the invention, determine the current operating mode run into according to turbine torque, and then carry out the automatic control of gear; Concrete, when described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear; When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduces gear, achieve the automaitc shfit of the engineering machinery of traction work.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The flow chart of Fig. 1 a kind of gear-shifting control method disclosed in the embodiment of the present invention;
The flow chart of Fig. 2 a kind of gear-shifting control method disclosed in another embodiment of the present invention;
The structural drawing of Fig. 3 a kind of shift control disclosed in another embodiment of the present invention;
The structural drawing of Fig. 4 a kind of shift control disclosed in another embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technological scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the invention discloses a kind of gear-shifting control method, system and the engineering machinery for the work of drawing, to realize the automaitc shfit of the engineering machinery for the work of drawing.
A kind of gear-shifting control method disclosed in the present embodiment, as shown in Figure 1, comprises step:
Turbine torque M under S101, acquisition current throttle state
twith gear signal N;
S102, judge whether described gear signal N is neutral gear signal, if so, then perform step S103, keep current gear; Otherwise, perform turbine torque M described in step S104, comparison
twith predetermined torque scope (M
t1, M
t2);
S105, as described turbine torque M
tbe in predetermined torque scope (M
t1, M
t2), i.e. M
t1≤ M
t≤ M
t2, then perform step S103, keep current gear;
S106, as described turbine torque M
tbe less than described predetermined torque scope (M
t1, M
t2) in minimal torque M
t1, i.e. M
t< M
t1, perform step S107, judge that whether described gear signal N is most high tap position signal;
If not, then perform step S108, raise gear;
S109, as described turbine torque M
tbe greater than described predetermined torque scope (M
t1, M
t2) in Maximum Torque M
t2, i.e. M
t> M
t2, perform step S110, judge whether described gear signal N is lowest gear signal;
If not, then perform step S111, reduce gear.
In gear-shifting control method disclosed in the present embodiment, the current operating mode run into is determined according to turbine torque, and then carry out the automatic control of gear, achieve the automatic control of transforming gear, both the working efficiency that vehicle drive system is higher and functional reliability had been ensure that, in turn ensure that fuel economy and the driving comfort of vehicle, significantly improve the comprehensive usability of engineering machinery.
Another embodiment of the present invention also discloses a kind of gear-shifting control method, comprises step:
S201, acquisition current gearshift pattern;
S202, judge whether current gearshift pattern is automatic control mode according to described current gearshift pattern information, when judging not to be automatic control mode, illustrate that described current gearshift pattern is MANUAL CONTROL mode, then perform step S203, control transforming gear by manual operation Joystick.
When being judged as automatic control mode, perform the turbine torque M under step S204, acquisition current throttle state
twith gear signal N;
S205, when judging whether described gear signal N is neutral gear signal, if so, then perform step S206, keep current gear; Otherwise, perform turbine torque M described in step S207, comparison
twith predetermined torque scope (M
t1, M
t2);
S208, as described turbine torque M
tbe in predetermined torque scope (M
t1, M
t2), i.e. M
t1≤ M
t≤ M
t2, then perform step S206, keep current gear;
S209, as described turbine torque M
tbe less than described predetermined torque scope (M
t1, M
t2) in minimal torque M
t1, i.e. M
t< M
t1, perform step S210, judge that whether described gear signal is most high tap position signal;
If not, then perform step S211, raise gear;
S212, as described turbine torque M
tbe greater than described predetermined torque scope (M
t1, M
t2) in Maximum Torque M
t2, i.e. M
t> M
t2, perform step S213, judge whether described gear signal is lowest gear signal;
If not, then perform step S214, reduce gear.
In the above-described embodiments, while acquisition current gearshift pattern, gear state of a control can also be obtained, according to described current gearshift pattern information determination current gearshift pattern, gear state of a control described in comparison and current gearshift pattern, when meeting pre-conditioned, change described current gearshift pattern to the shift mode identical with described gear state of a control, now pre-conditioned is that described gear state of a control is not identical with described current gearshift.
In order to make Shift gear moment more accurate, above-mentioned pre-conditionedly can also to comprise: postpone the gear state of a control that Preset Time obtains still not identical with described current gearshift pattern, concrete, be taken as arbitrary time constant between 0.5s to 1s retard time, also can require to be set as other times according to difference.
In above-mentioned two embodiments of the method, in order to determine Shift gear moment comparatively accurately, when judging described turbine torque M
tbe less than described minimal torque M
t1after also comprise:
Interval Preset Time between continuous preset times and adjacent twice obtains turbine torque under current throttle state and gear signal;
When judging that the turbine torque that described continuous preset times obtains all is less than described minimal torque, and when described gear signal is not all most high tap position signal, raise gear.
Concrete, obtain the interval time of turbine torque and gear signal scope can but be not defined as 0.3-0.5s, the number of times of acquisition can but be not defined as 3-5.
Further, as described turbine torque M
tbe greater than described minimal torque M
t1after also comprise:
Interval Preset Time between continuous preset times and adjacent twice obtains turbine torque under current throttle state and gear signal;
When judging that the turbine torque that described continuous preset times obtains all is greater than described Maximum Torque, and when described gear signal is not all lowest gear signal, reduce gear.
Concrete, obtain the interval time of turbine torque and gear signal scope can but be not defined as 0.5-1.0s, the number of times of acquisition can but be not defined as 3-5.
In above-mentioned two embodiments, described predetermined torque scope (M
t1, M
t2) can be one, and can but do not limit and select the turbine torque of maximum throttle state as predetermined torque scope (M
t1, M
t2); Certainly, described predetermined torque scope (M
t1, M
t2) can also be multiple, and from different throttle one_to_one corresponding, now, also need while obtaining described turbine torque and gear signal obtain throttle signal.
Because the predetermined torque scope under each throttle is not identical, when throttle is higher, the Maximum Torque in predetermined torque scope and minimal torque are all higher, and when throttle is lower, the Maximum Torque in predetermined torque scope and minimal torque are all lower.Therefore, in order to accurately control Shift gear moment, the signal of throttle is necessary, and, throttle signal also with the predetermined torque scope one_to_one corresponding under this throttle.
In order to more improve gear control method disclosed in above-mentioned two embodiments of the present invention, making it not only control transforming gear under operation, transforming gear can also be controlled in braking state; Therefore, disclosed in above-mentioned two embodiments, gear-shifting control method can also comprise:
Obtain brake signal;
When described brake signal is non-NULL, and when judging that described gear signal is not lowest gear signal, reduce gear.
Concrete, when the brake signal obtained is non-NULL, illustrate that the brake petal of now engineering machinery is operated, the speed of engineering machinery slows down, and needs gear to reduce.Judge whether gear signal is lowest gear, if not, then reduce gear.
Engineering machinery is when drawing gear work, and getting working efficiency η according to operating mode shift point is the turbine torque M η-70-75% that the different accelerator open degree in 70-75% place is corresponding.Certainly, other torque value can be chosen according to concrete operating mode shift point.
Corresponding different throttle sizes, turbine torque is different; But for certain accelerator open degree value, η to be turbine torque value size corresponding to 70-75% place be 2 fixing values, an i.e. larger value Mmax (η-70-75%) and less value Mmin (η-70-75%), larger value is shift-up point, and less value is downshift point.
When engineering machinery is when travelling transport gear and retreat shelves traveling, being taken at working efficiency η according to the shift point of operating mode vehicle is the turbine torque M η-75-80% that 75-80% is corresponding.Certainly, other torque value can be chosen according to concrete operating mode shift point.
The same, η to be turbine torque value size corresponding to 75-80% place be 2 fixing values, an i.e. larger value Mmax (η-75-80%) and less value Mmin (η-75-80%), larger value is shift-up point, and less value is downshift point.
A kind of shift control disclosed in another embodiment of the present invention, as shown in Figure 3, comprising:
Gear signal sensor 101, for gathering gear signal;
Turbine torque sensor 102, for gathering turbine torque;
Electronic control unit 103, for obtaining turbine torque under current throttle state and gear signal; When judging that described gear signal is neutral gear signal, keep current gear, otherwise turbine torque described in comparison and predetermined torque scope; When described turbine torque is in predetermined torque scope, keep current gear; When described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear; When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduce gear.
In shift control disclosed in the present embodiment, electronic control unit 103 comprises:
Memory module, stores torque range;
Acquisition module, for obtaining turbine torque and gear signal;
First judge module, for judging whether described gear signal is neutral gear signal;
Control signal generation module, for when described first judge module judges that described gear signal is neutral gear signal, generates the signal keeping current gear;
Second judge module, during for judging described gear signal not as neutral gear signal when described first judge module, turbine torque described in comparison and predetermined torque scope;
3rd judge module, for judging the whether most high tap position signal of described gear signal or lowest gear signal;
Described control signal generation module also for, when described second judge module judges that turbine torque is less than the minimal torque in described predetermined torque scope, and described 3rd judge module is when judging that described gear signal is not most high tap position signal, generates and raise gear signal; When described second judge module judges that turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when described 3rd judge module judges that described gear signal is not lowest gear signal, generate and reduce gear signal.
Now, the torque range that described memory module stores is one, and can but do not limit and select the turbine torque of maximum throttle state as predetermined torque scope.
When torque range is multiple, and during with throttle signal one_to_one corresponding, shift control disclosed in above-described embodiment, as shown in Figure 4, except comprising: except gear signal sensor 201, turbine torque sensor 202 and electronic control unit 203, also comprise: throttle signal sensor 204, for gathering throttle signal.
Further, the memory module in described electronic control unit stores the corresponding relation of torque range and throttle signal; Acquisition module is except needs acquisition turbine torque, gear signal and throttle signal.Also needing the throttle signal according to obtaining, obtaining the torque range corresponding with the throttle signal of described acquisition from torque range with the corresponding relation of throttle signal.
The throttle signal that throttle signal sensor gathers, the turbine torque that turbine torque sensor gathers, the gear signal that gear signal sensor gathers, all inputs to electronic control unit by the communication interface of electronic control unit; The acquisition module of electronic control unit obtains throttle signal, turbine torque and gear signal, and determines the torque range under current throttle state, described gear signal is transferred to described first judge module and the 3rd judge module; Described turbine torque is transferred to the second judge module, and described first judge module judges whether described gear signal is neutral gear signal; When for neutral gear signal, described control signal generation module generates the signal keeping current gear; When not being neutral gear signal, turbine torque and predetermined torque scope described in the second judge module comparison; When described second judge module judges that turbine torque is less than the minimal torque in described predetermined torque scope, and when described 3rd judge module judges that described gear signal is not most high tap position signal, described electronic control unit generates and raises gear signal; When described second judge module judges that turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when described 3rd judge module judges that described gear signal is not lowest gear signal, described electronic control unit generates and reduces gear signal.
Equally as shown in Figure 4, shift control disclosed in the present embodiment can also comprise: the control mode selector switch 205 switching MANUAL CONTROL mode and automatic control mode, electronic control unit 203 is also for judging current gearshift pattern, if described current gearshift pattern is MANUAL CONTROL mode, control mode selector switch 205 switches to manual mode; If described current gearshift pattern is automatic control mode, control mode selector switch 205 switches to automatic mode.
In order to realize controlling transforming gear in braking state, equally as shown in Figure 4, disclosed in the present embodiment, shift control also comprises: brake signal acquiring unit 206, for obtaining brake signal;
Electronic control unit 203 also for judging that described brake signal is non-NULL, and when judging that described gear signal is not lowest gear signal, reduces gear.
Another embodiment of the present invention also discloses a kind of engineering machinery for the work of drawing, and this project machinery comprises the open shift control of above-described embodiment.
No longer detailed discussion is carried out to shift control herein, refer to content disclosed in above-described embodiment.
Concrete, engineering machinery disclosed in the present embodiment is specifically as follows bulldozer, push-harrower, grader or loader, certainly, can also be other engineering machinery for the work of drawing.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (12)
1. a gear-shifting control method, is characterized in that, comprising:
Obtain the turbine torque under current throttle state and gear signal;
When judging that described gear signal is neutral gear signal, keep current gear, otherwise turbine torque described in comparison and predetermined torque scope;
When described turbine torque is in predetermined torque scope, keep current gear;
When described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear;
When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduce gear.
2. method according to claim 1, is characterized in that, also comprises:
Obtain current gearshift pattern;
If described current gearshift pattern is MANUAL CONTROL mode, then described current gearshift pattern is realized by manual operation Joystick; If described current gearshift pattern is automatic control mode, then obtain the turbine torque under current throttle state and gear signal.
3. method according to claim 2, is characterized in that, also comprises:
Obtain gear state of a control, itself and described current gearshift pattern are compared;
When meeting pre-conditioned, change described current gearshift pattern to the shift mode identical with described gear state of a control, described pre-conditioned be that described gear state of a control is not identical with described current gearshift pattern.
4. method according to claim 3, is characterized in that, describedly pre-conditionedly also to comprise: postpone the gear state of a control that Preset Time obtains still not identical with described current gearshift pattern.
5. according to the method in claim 1-4 described in any one, it is characterized in that, when also comprising after the minimal torque that described turbine torque is less than in described predetermined torque scope:
Between continuous preset times and adjacent twice, interval Preset Time obtains turbine torque under current throttle state and gear signal;
When judging that the turbine torque that described continuous preset times obtains all is less than described minimal torque, and when described gear signal is not all most high tap position signal, raise gear.
6. according to the method in claim 1-4 described in any one, it is characterized in that, when also comprising after the Maximum Torque that described turbine torque is greater than in described predetermined torque scope:
Between continuous preset times and adjacent twice, interval Preset Time obtains turbine torque under current throttle state and gear signal;
When judging that the turbine torque that described continuous preset times obtains all is greater than described Maximum Torque, and when described gear signal is not all lowest gear signal, reduce gear.
7. according to the method in claim 1-4 described in any one, it is characterized in that, also comprise:
Obtain brake signal;
When described brake signal is non-NULL, and when judging that described gear signal is not lowest gear signal, reduce gear.
8. a shift control, is characterized in that, comprising:
Gear signal sensor, for gathering gear signal;
Turbine torque sensor, for gathering turbine torque;
Electronic control unit, for obtaining turbine torque under current throttle state and gear signal; When judging that described gear signal is neutral gear signal, keep current gear, otherwise turbine torque described in comparison and predetermined torque scope; When described turbine torque is in predetermined torque scope, keep current gear; When described turbine torque is less than the minimal torque in described predetermined torque scope, and when judging that described gear signal is not most high tap position signal, raise gear; When described turbine torque is greater than the Maximum Torque in described predetermined torque scope, and when judging that described gear signal is not lowest gear signal, reduce gear.
9. system according to claim 8, it is characterized in that, also comprise: the control mode selector switch switching MANUAL CONTROL mode and automatic control mode, described electronic control unit is also for judging current gearshift pattern, if described current gearshift pattern is MANUAL CONTROL mode, described control mode selector switch switches to manual mode; If described current gearshift pattern is automatic control mode, described control mode selector switch switches to automatic mode.
10. system according to claim 9, is characterized in that, also comprises: brake signal acquiring unit, for obtaining brake signal; Described electronic control unit also for judging that described brake signal is non-NULL, and when judging that described gear signal is not lowest gear signal, reduces gear.
11. 1 kinds, for the engineering machinery of the work of drawing, is characterized in that, comprise the system as described in claim 8-10 any one.
12. engineering machinery according to claim 11, is characterized in that, described engineering machinery is bulldozer, push-harrower, grader or loader.
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|---|---|---|---|
| CN201210133379.4A CN102635689B (en) | 2012-04-28 | 2012-04-28 | Gear-shifting control method, system and the engineering machinery for the work of drawing |
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|---|---|---|---|
| CN201210133379.4A CN102635689B (en) | 2012-04-28 | 2012-04-28 | Gear-shifting control method, system and the engineering machinery for the work of drawing |
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|---|---|
| CN102635689A (en) | 2012-08-15 |
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