CN109185444B - Operation control method for novel variable-speed transmission system of crawler paddy field tractor - Google Patents

Operation control method for novel variable-speed transmission system of crawler paddy field tractor Download PDF

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CN109185444B
CN109185444B CN201811259895.5A CN201811259895A CN109185444B CN 109185444 B CN109185444 B CN 109185444B CN 201811259895 A CN201811259895 A CN 201811259895A CN 109185444 B CN109185444 B CN 109185444B
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tractor
speed
resistance
working condition
working
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CN109185444A (en
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夏光
高军
石鹏
张洋
杨猛
赵名卓
许立平
孙保群
汪韶杰
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Hefei University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/48—Inputs being a function of acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Fluid Gearings (AREA)

Abstract

The invention discloses an operation control method for a variable-speed transmission system of a novel crawler paddy field tractor, which is characterized in that parameters of an engine, a hydraulic module and an operation unit are adjusted according to the operation resistance variation trend of the tractor during operation, so that the tractor can continuously operate through automatic speed change of the transmission system after the operation resistance fluctuates, and the speed of the tractor is maintained in a corresponding high-efficiency operation speed interval, thereby improving the productivity of the tractor.

Description

Operation control method for novel variable-speed transmission system of crawler paddy field tractor
Technical Field
The invention relates to the field of vehicle speed change control research and design, in particular to an operation control method for a speed change transmission system of a novel crawler paddy field tractor.
Background
The tractor is an important tool in agricultural production, and the operation environment is severe, and the external load fluctuates frequently. The traditional stepped mechanical transmission cannot automatically adjust the rotating speed and the torque to adapt to the change of the working resistance, and the tractor needs frequent stopping and gear shifting, so that the working efficiency and the fuel economy of the tractor are influenced. Fig. 1 and 2 show a mechanical structure of a variable transmission system of a novel crawler paddy field tractor, which consists of a power input shaft, a front end module, a middle section constant ratio step variable speed module and a stepless differential steering module. The front end module can realize mutual switching among the HST, HMT and MT working modes by controlling the engagement and the disengagement of the clutch.
Compared with a stepped gear transmission system, the hydraulic-mechanical double-flow variable-speed transmission technology has the advantages of continuously adjustable speed, good operating performance, high fuel economy and operating efficiency of the whole machine and the like, can adapt to the change of working resistance under the condition of no-parking gear shifting, enables the tractor to continuously operate, and is the mainstream development direction of the variable-speed transmission system of the tractor.
However, how to realize continuous operation control on the variable speed transmission system of the novel crawler paddy field tractor is a technical problem which is urgently needed to be solved at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an operation control method for a variable-speed transmission system of a novel crawler paddy field tractor, so that the tractor can continuously operate through automatic speed change of the transmission system, and the speed of the tractor is maintained in a corresponding high-efficiency operation speed interval, thereby improving the productivity of the tractor.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention discloses an operation control method for a variable speed transmission system of a novel crawler paddy field tractor, which is characterized by comprising the following steps of:
step 1, judging the operation resistance state of a tractor during operation, wherein the operation resistance state comprises an operation resistance reducing working condition, an operation resistance increasing working condition and an operation resistance constant working condition;
step 2, according to different operation resistance states, corresponding tractor variable speed transmission control is carried out, and the method comprises the following steps:
when the tractor is in the working condition of reducing the working resistance, the tractor is controlled in a speed reduction mode;
when the tractor is in the working condition of increasing the working resistance, the speed-up mode of the tractor is controlled;
when the tractor is in the working condition with constant working resistance, the variable speed transmission control is not carried out on the tractor.
The job control method according to the present invention is also characterized in that,
the working resistance state in the step 1 is judged according to the following method:
step 1.1, collecting the speed of the tractor through a speed sensor, and calculating the acceleration a of the tractor in the ith time periodi；
Step 1.2, according to the acceleration a of the tractor in the ith time periodiCalculating the average acceleration a under the current working condition,
Figure BDA0001843658340000021
k represents the number of time periods taken for calculating the average acceleration;
step 1.3, if the average acceleration a is larger than zero, judging that the tractor is in a working condition of reducing the working resistance;
step 1.4, if the average acceleration a is smaller than zero, judging that the tractor is in an operation resistance increasing working condition;
and 1.5, if the average acceleration a is equal to zero, judging that the tractor is in a working resistance constant working condition.
The deceleration mode control in the step 2 is performed according to the following method:
step 2A.1, obtaining the current speed of the tractor, and judging whether the current speed exceeds the maximum speed V recommended by the current operation working conditionmaxIf the result exceeds the preset value, executing the step 2A.2, otherwise, not operating;
step 2A.2, preferentially adjusting the engine and reducing the output torque of the engine;
step 2A.3, judging whether the regulated engine is in an inefficient area, if so, regulating the opening of a throttle valve to enable the engine to return to the efficient area, and simultaneously reducing the speed ratio of a hydraulic module to reduce the current vehicle speed, and then executing step 2 A.4; otherwise, directly executing the step 2 A.4;
step 2A.4, obtaining the current speed of the tractor again, and judging whether the current speed exceeds the highest speed VmaxIf the gear ratio exceeds the preset value, the mechanical gear is lifted, and after the mechanical transmission ratio is reduced, the step 2A.5 is executed; otherwise, not operating;
step 2A.5, obtaining the current speed of the tractor again, and judging whether the current speed exceeds the highest speed VmaxIf the soil quantity exceeds the preset range, the tilling depth or the breadth of the working machine is adjusted to increase the working resistance; otherwise, no control is performed.
The speed increasing mode control in the step 2 is carried out according to the following method:
step 2B.1, obtaining the current speed of the tractor, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the result is lower than the preset value, executing the step 2B.2, otherwise, not operating;
step 2B.2, inquiring an engine characteristic curve, judging whether the backup power of the engine can overcome the resistance, if so, adjusting the opening of a throttle valve to increase the power output of the engine, otherwise, executing the step 2 B.3;
step 2B.3, increasing the speed ratio of the hydraulic module;
step 2B.4, obtaining the current speed of the tractor again, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the gear ratio is lower than the preset value, reducing the mechanical gear and increasing the mechanical transmission ratio, otherwise, not operating;
step 2B.5, obtaining the current speed of the tractor again, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the working resistance is lower than the preset value, the tilling depth or the breadth of the working machine is adjusted to reduce the working resistance, otherwise, the operation is not carried out.
Compared with the prior art, the invention has the beneficial effects that:
1. the tractor continuously operates by setting different control methods for different operating resistance states and automatically changing the speed of the transmission system after the operating resistance of the tractor fluctuates, and the speed of the tractor is maintained in a corresponding high-efficiency operating speed interval, so that the productivity of the tractor is improved.
2. The tractor can accurately, quickly and reliably identify the operating resistance state of the tractor by acquiring the speed and the average acceleration of the tractor.
3. The invention adjusts the parameters of the engine, the hydraulic module and the operation unit according to the operation resistance variation trend when the tractor operates, so that the tractor can adjust the parameters of the engine, the hydraulic module and the operation unit according to the sequence of adjusting the parameters of the engine, the hydraulic module and the operation unit after the operation resistance fluctuates, thereby fully utilizing the power of the engine, prolonging the service life of a hydraulic system and reducing the influence on the operation quality caused by the adjustment of machines and tools.
Drawings
FIG. 1 is a front end module of the variable transmission system of the novel crawler paddy field tractor according to the present invention;
fig. 2 shows a middle fixed ratio step-variable transmission module and a stepless differential steering module of the variable transmission system of the novel crawler paddy field tractor.
Detailed Description
In the embodiment, the operation control method for the speed-changing transmission system of the novel crawler paddy field tractor can adjust the parameters of the engine, the hydraulic module and the operation unit according to the operation resistance variation trend of the tractor during operation, so that the tractor continuously operates after the operation resistance fluctuates through automatic speed changing of the transmission system, the speed of the tractor is maintained in a corresponding high-efficiency operation speed interval, and the productivity of the tractor is improved. The invention is described in further detail below with reference to fig. 1 and 2:
in specific implementation, the operation control method for the variable speed transmission system of the novel crawler paddy field tractor is carried out according to the following steps:
step 1, determining an operation resistance state of a tractor during operation, wherein the operation resistance state comprises an operation resistance reducing working condition, an operation resistance increasing working condition and an operation resistance constant working condition;
step 1.1, collecting the speed of the tractor through a speed sensor, and calculating the acceleration a of the tractor in the ith time periodi；
Step 1.2, according to the acceleration a of the tractor in the ith time periodiCalculating the average acceleration a under the current working condition,
Figure BDA0001843658340000031
k represents the number of time periods taken for calculating the average acceleration; the value of k is determined according to the control precision of the system, and in engineering, k is generally 10;
step 1.3, if the average acceleration a is larger than zero, determining that the tractor is in the working condition of reducing the working resistance;
step 1.4, if the average acceleration a is smaller than zero, determining that the tractor is in an operation resistance increasing working condition;
step 1.5, if the average acceleration a is equal to zero, determining that the tractor is in a working condition with constant working resistance;
step 2, according to different operation resistance states, corresponding tractor variable speed transmission control is carried out, and the method comprises the following steps: deceleration mode control, acceleration mode control, and no speed change transmission control. When the tractor is in the working condition of reducing the working resistance, executing the step 2.1; when the tractor is in the working condition of increasing the working resistance, executing the step 2.2; when the tractor is in the working condition with constant working resistance, the tractor is not subjected to variable-speed transmission control;
step 2.1, the deceleration mode control is carried out according to the following method:
step 2A.1, obtaining the current speed of the tractor, and judging whether the current speed exceeds the maximum speed V recommended by the current operation working conditionmaxIf the result exceeds the preset value, executing the step 2A.2, otherwise, not operating;
step 2A.2, inquiring a characteristic curve of the engine, and reducing the output torque of the engine by adjusting the opening of a throttle valve;
step 2A.3, judging whether the adjusted engine is in an inefficient region or not by inquiring a characteristic curve of the engine according to the current rotating speed of the engine and the opening degree of a throttle valve, if so, adjusting the opening degree of the throttle valve to enable the engine to return to the inefficient region, and simultaneously increasing the displacement of the bidirectional-adjustment variable-displacement axial plunger pump in the figure 1, so that the speed ratio of a hydraulic module is reduced and the current vehicle speed is reduced;
step 2A.4, obtaining the current speed of the tractor again, and judging whether the current speed exceeds the highest speedSpeed VmaxIf the gear ratio exceeds the preset gear ratio, adjusting the position of the synchronizer in the figure 2 to enable the mechanical gear to be increased from a low gear to a high gear, so as to reduce the mechanical transmission ratio; otherwise, not operating;
step 2A.5, obtaining the current speed of the tractor again, and judging whether the current speed exceeds the highest speed VmaxIf the soil quantity exceeds the preset range, the tillage depth or the breadth of the operation machine tool is increased to increase the operation resistance; otherwise, no control is performed.
Step 2.2, the speed-up mode control is carried out according to the following method:
step 2B.1, obtaining the current speed of the tractor, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the result is lower than the preset value, executing the step 2B.2, otherwise, not operating;
step 2B.2, inquiring an engine characteristic curve, judging whether the backup power of the engine can overcome the resistance, if so, adjusting the opening of a throttle valve to increase the power output of the engine, otherwise, executing the step 2 B.3;
step 2B.3, reducing the displacement of the bidirectional-adjustment variable-displacement axial plunger pump in the figure 1, so as to increase the speed ratio of the hydraulic module HMT;
step 2B.4, obtaining the current speed of the tractor again, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the gear ratio is lower than the gear ratio, the position of the synchronizer in the figure 2 is adjusted, the mechanical gear is reduced from a high gear to a low gear, the mechanical transmission ratio is increased, and otherwise, the operation is not carried out;
step 2B.5, obtaining the current speed of the tractor again, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the ratio is less than the above range, the tilling depth of the work implement is reduced or the width of the work implement is reduced to reduce the work resistance, otherwise, the work is not performed.
Example (b): fig. 1 and 2 are schematic diagrams of a transmission device, which comprises a front end module, a middle section fixed ratio step variable speed module and a stepless differential steering module. The front end module is provided with a power input shaft, a split shaft, an HMT clutch, an HST clutch, a bidirectional regulating variable displacement pump, a throttle valve, a bidirectional quantitative motor, a confluence planetary gear train and a main transmission gear; the middle section constant ratio step-variable speed module and the stepless differential steering module are provided with a I-III gear synchronizer, a II-IV gear synchronizer, a left transfer gear, a right transfer gear, a left transmission gear, a right transmission gear, a left planetary differential mechanism, a right planetary differential mechanism, a steering HST module and a steering transmission mechanism.
Assuming that a tractor equipped with the transmission is performing tillage operation, the mechanical gear is gear II. When the tractor meets an uphill road section, the operation resistance of the tractor can be increased. And when the calculated average acceleration a is less than 0 and the current speed of the tractor acquired by the speed sensor is lower than the minimum speed recommended by the tillage operation, the control system enters a speed-increasing control mode. The control system firstly inquires a characteristic curve of the engine and judges whether the backup power of the engine can overcome the resistance; if the resistance can be overcome, the control system adjusts the opening degree of the throttle valve to increase the power output of the engine; if not, the control system reduces the displacement of the bidirectional regulating variable displacement axial plunger pump in the figure 1, so that the speed ratio of the hydraulic module is increased, and the vehicle speed is improved. After the control is finished, whether the current vehicle speed is lower than the minimum vehicle speed recommended by the farmland operation is detected again, if the current vehicle speed is still lower than the minimum vehicle speed recommended by the farmland operation, the positions of the I-III gear synchronizers in the figure 2 are located at the I gear, and the mechanical gear is reduced to the I gear from the II gear, so that the mechanical transmission ratio is increased, and the traction torque of the tractor is increased. After the control is finished, whether the current vehicle speed is lower than the minimum vehicle speed recommended by the tillage operation is detected again, and if the current vehicle speed is still lower than the minimum vehicle speed recommended by the tillage operation, the height of the plough share is increased, the tillage depth of the operation machine is reduced, and therefore the operation resistance is reduced.

Claims (1)

1. An operation control method for a variable speed transmission system of a novel crawler paddy field tractor is characterized by comprising the following steps:
step 1, judging the operation resistance state of a tractor during operation, wherein the operation resistance state comprises an operation resistance reducing working condition, an operation resistance increasing working condition and an operation resistance constant working condition;
step 1.1, through the speed sensor to collectCollecting the speed of the tractor and calculating the acceleration a of the tractor in the ith time periodi；
Step 1.2, according to the acceleration a of the tractor in the ith time periodiCalculating the average acceleration a under the current working condition,
Figure FDA0002301887630000011
k represents the number of time periods taken for calculating the average acceleration;
step 1.3, if the average acceleration a is larger than zero, judging that the tractor is in a working condition of reducing the working resistance;
step 1.4, if the average acceleration a is smaller than zero, judging that the tractor is in an operation resistance increasing working condition;
step 1.5, if the average acceleration a is equal to zero, judging that the tractor is in a working condition with constant working resistance;
step 2, according to different operation resistance states, corresponding tractor variable speed transmission control is carried out, and the method comprises the following steps:
when the tractor is in the working condition of reducing the working resistance, the tractor is controlled in a speed reduction mode;
step 2A.1, obtaining the current speed of the tractor, and judging whether the current speed exceeds the maximum speed V recommended by the current operation working conditionmaxIf the result exceeds the preset value, executing the step 2A.2, otherwise, not operating;
step 2A.2, preferentially adjusting the engine and reducing the output torque of the engine;
step 2A.3, judging whether the regulated engine is in an inefficient area, if so, regulating the opening of a throttle valve to enable the engine to return to the efficient area, and simultaneously reducing the speed ratio of a hydraulic module to reduce the current vehicle speed, and then executing step 2 A.4; otherwise, directly executing the step 2 A.4;
step 2A.4, obtaining the current speed of the tractor again, and judging whether the current speed exceeds the highest speed VmaxIf the gear ratio exceeds the preset value, the mechanical gear is lifted, and after the mechanical transmission ratio is reduced, the step 2A.5 is executed; otherwise, not operating;
step 2A.5, reacquiring theThe current speed of the tractor is judged, and whether the current speed exceeds the maximum speed V or not is judgedmaxIf the soil quantity exceeds the preset range, the tilling depth or the breadth of the working machine is adjusted to increase the working resistance; otherwise, not controlling;
when the tractor is in the working condition of increasing the working resistance, the speed-up mode of the tractor is controlled;
step 2B.1, obtaining the current speed of the tractor, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the result is lower than the preset value, executing the step 2B.2, otherwise, not operating;
step 2B.2, inquiring an engine characteristic curve, judging whether the backup power of the engine can overcome the resistance, if so, adjusting the opening of a throttle valve to increase the power output of the engine, otherwise, executing the step 2 B.3;
step 2B.3, increasing the speed ratio of the hydraulic module;
step 2B.4, obtaining the current speed of the tractor again, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the gear ratio is lower than the preset value, reducing the mechanical gear and increasing the mechanical transmission ratio, otherwise, not operating;
step 2B.5, obtaining the current speed of the tractor again, and judging whether the current speed is lower than the minimum speed V recommended by the operation working conditionminIf the working resistance is lower than the preset value, the tilling depth or the breadth of the working machine is adjusted to reduce the working resistance, otherwise, the operation is not carried out;
when the tractor is in the working condition with constant working resistance, the variable speed transmission control is not carried out on the tractor.
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