CN101204968A - 用于无级变速器机械的差速转向控制 - Google Patents

用于无级变速器机械的差速转向控制 Download PDF

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CN101204968A
CN101204968A CNA200710159733XA CN200710159733A CN101204968A CN 101204968 A CN101204968 A CN 101204968A CN A200710159733X A CNA200710159733X A CN A200710159733XA CN 200710159733 A CN200710159733 A CN 200710159733A CN 101204968 A CN101204968 A CN 101204968A
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speed
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CN101204968B (zh
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E·D·施特姆勒
L·M·考珀
H·D·达布斯
R·F·舒尔茨
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Caterpillar Inc
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    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
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    • B60K6/543—Transmission for changing ratio the transmission being a continuously variable transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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    • B60W10/103—Infinitely variable gearings of fluid type
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    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/101—Infinitely variable gearings
    • B60W10/105—Infinitely variable gearings of electric type
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
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Abstract

本发明涉及用于无级变速器机械的差速转向控制。一种用于机械的差速转向控制系统和方法包括用于使机械向左或向右转向的马达、用于使机械向前或向后移动的无级变速器以及与马达和无级变速器连接的控制单元。该控制单元确定无级变速器的速度并基于所确定的速度改变马达的速度以便获得/保持机械的期望转弯半径。

Description

用于无级变速器机械的差速转向控制
技术领域
本发明一般涉及一种转向控制系统，更具体地涉及用于具有无级变速器的机械/机器的差速转向控制。
背景技术
液力机械式转向差速系统应用在大型履带式拖拉机/牵引车或机械中，以便在拖拉机移动时一直向左、右履带提供平稳、相等和不间断的动力和转矩流。每当拖拉机向左转或向右转时向履带提供动力也很重要。液力机械式转向差速系统通常由机械输入和液压输入来提供动力。机械输入由变速器提供，液压输入从由发动机驱动的变排量泵接收。
在传统的机械例如履带式机械中，通过操作员转向控制杆或机构来执行转弯控制。然而，使用这种操作员转向控制杆或机构所存在的一个问题是难以使机械具有所期望的恒定转弯半径。例如，当试图在低的机械速度或高负载的区域内以恒定转弯半径转弯时，有时难以控制机械。
题为“用于履带式车辆的转弯速度控制系统”的美国专利5,611,405教导了一种转弯速度控制系统。该‘405专利提供了这样一种系统，当转向马达以最大速度旋转时，该系统降低车速以获得受控的转弯半径。
然而，‘405专利基于转弯来降低车速，因而当转向马达达到最大排量并且需要额外的转弯却无法实现时，变速器传动比降低。这种影响会使发动机运转费力或增加排放物。
本公开致力于解决上述的一个或多个问题。
发明内容
在一个实施例中，提供了一种用于机械的转向控制系统。该转向控制系统包括无级变速器、连接至该无级变速器的马达以及连接至该马达和无级变速器的控制单元。该控制单元响应于无级变速器的速度和发动机上的负载中至少一者的变化而改变马达的速度以保持所期望的转弯半径。
在另一个实施例中，提供了一种差速转向控制系统。该差速转向控制系统包括用于使机械向左或向右转向的马达、用于使机械向前或向后移动的无级变速器、用于提供所期望的转弯半径的指示的转向装置以及连接至所述马达、无级变速器和转向装置的控制单元。该控制单元确定无级变速器的速度和所期望的转弯半径，并且，基于所确定的速度和期望转弯半径的变化，该控制单元控制马达的速度以便获得并保持所期望的转弯半径。
在又一个实施例中，提供了一种用于控制用于具有无级变速器的机械的差速转向装置的方法。该差速转向装置包括用于使机械向左或向右转弯的马达。所述方法包括以下步骤：确定无级变速器的速度和发动机上的负载中的至少一者；确定所期望的转弯半径；以及基于所确定的速度和负载中的至少一者来改变马达的速度以便保持所期望的转弯半径。
应当理解，上述概括性说明和下面的详细说明都只是示例性和解释性的，而并非对所要求保护的本发明构成限制。
附图说明
结合在本说明书中并构成本说明书一部分的附图示出本发明的示例性实施例，并与所作说明一起用于解释本发明的原理。在附图中：
图1示出根据本发明的一个实施例的用于机械的转向差速控制系统的示意图；
图2示出根据本发明的另一实施例的用于机械的转向差速控制系统的示意图；
图3示出根据本发明的一个实施例的转向差速控制系统的示意图。
具体实施方式
现在详细参考本发明的实施例或特征。在本说明书中提到的“一个实施例”、“一实施例”或类似表述是指关于该实施例所述的具体的特征、结构或特性包括在本发明的至少一个实施例中。因此，在本说明书中的措辞“在一个实施例中”、“在一实施例中”及类似表述的出现可以但非必需地全部表示同一实施例。只要有可能，在全部附图中，相同的附图标记用于表示相同或相似的部分。
图1示出包含在机械12中的转向控制系统10，该控制系统向传动系18的左牵引装置14如车轮、轮胎或履带和右牵引装置16如车轮、轮胎或履带提供差速转向。传动系18包括发动机22和通过传动轴26与发动机22连接的无级变速器(“CVT”)24。无级变速器24可以是液力机械的、机电的或者纯电动的，包括发电机和马达。在图1的实施例中，无级变速器24示出为液力机械变速器。除非另有说明，CVT 24是指液力机械变速器。
液力机械变速器24通过轴30与转向差速器28连接以便向其提供机械输入。泵32通过液体管道38向马达34提供液压输入以便驱动转向差速器28。泵32可以是双向变排量式的并且由发动机22通过适当的驱动连接36驱动。
共同参照图1和图2，转向差速器28通过与左最终减速器44相联接的左半轴48驱动左牵引装置14。转向差速器28通过与右最终减速器52相联接的右半轴50驱动右牵引装置16。机械12可向前移动或倒退移动，也可将机械12置于空档。当左牵引装置14和右牵引装置16之间存在相对速度时，可操纵机械12移动或者向左或向右转弯。
控制单元54通过液力机械变速器24和马达34监测并控制机械12的方向和速度。控制单元54可与发动机22、液力机械变速器24、泵32和马达34以及附加的传感器56(见图3)电连接，该传感器位于左牵引装置14或右牵引装置16上，或者位于左半轴48或右半轴50上，以便确定速度、方向、误差和温度等。
图2示出实施为电力传动系的CVT 24，该电力传动系包括发电机42、电力电子装置43和电动机46。电动机46提供推进力以使机械12移动。在该具体实施例中，电动机46接收来自发电机42或电力电子装置43的动力。转向马达34也是电动的。
现在参照图3，控制单元54包括用于执行特定程序的微处理器58，该微处理器控制并监视与机械12有关的各种功能。微处理器58包括用于存储程序的存储器60—例如ROM(只读存储器)62—和RAM(随机存取存储器)63，该随机存取存储器用作工作存储区域，用于执行存储在存储器62中的程序。尽管示出的是微处理器58，但也可能和设想使用其它电子元件，例如微控制器、ASIC(特定用途集成电路)芯片或任何其它集成电路装置。
控制单元54与发动机22、转向装置64、方向选择器66、输出速度传感器68、(一个或多个)速差传感器70、泵32、马达34以及其它速度和温度型的传感器56电连接。转向装置64可以是转向盘、控制杆、踏板等。方向选择器66可以是前进-空档-倒退(“FNR”)装置等，并向控制单元54提供期望的方向信息。输出速度传感器68提供表示液力机械变速器24和速差传感器70的输出速度的信息。
工业适用性
在运行时，液力机械变速器24向被驱动元件14、16提供推进力。转向装置64向控制单元54提供表明操作者希望以期望转弯半径向左或向右转弯的信号。控制单元54控制泵32的上升行程或下降行程以升高或降低马达34的速度。或者，如果马达34是电动机46，则控制单元54可控制额外的动力源来增大马达34的速度。
马达34增大或减小左半轴48或右半轴50的转速以便在它们之间产生相对速度。在实行中，左最终减速器51或右最终减速器52增大或减小(转速)以在这两者之间产生相对速度而实施转弯动作。
在高的或低的机械速度下，通过减小液力机械变速器24的速度或增大马达34的速度或者既减小液压机械式变速器24的速度又增大马达34的速度来获得机械12的转弯半径。在较高的机械速度下，改变马达34的速度以获得受控的转弯半径。然而，在较低的机械速度下，可改变马达34和液力机械变速器24的速度以获得受控的转弯半径。如果由于外部负载使得液力机械变速器24的速度降低，则控制单元54可降低马达34的速度以便保持受控的转弯半径。
当机械12开始转弯时，控制单元54接收来自转向装置64、发动机22、泵32、马达34、液力机械变速器24和其它速度传感器的信息。液力机械变速器24包括用于控制输入/输出比率的逻辑控制器并且根据期望的发动机运行速度自动调整。结果，当负载使得发动机在低于期望的发动机运行速度下费力运行时，液力机械变速器输入/输出比率进行调整以改变输入/输出比率，从而将发动机速度增加至期望的水平。然而，当液力机械变速器改变(输入/输出)比率以保持发动机速度时，转向系统控制成(实现)较低的转向速度以保持期望的转弯半径。因此，马达34的速度降低相应量以保持期望的转弯半径。如果马达34已在最高速度下运行，则控制单元54控制无级变速器减小变速器传动比。在实行中，车辆12减速，这使得转弯半径减小。
显然，对于本领域的技术人员来说，在不脱离本发明的范围或精神的情况下，可对所公开的系统和方法作出各种修改和变型。考虑到本说明书和本文所公开的本发明的实践，本发明的其它实施例对本领域技术人员而言是显而易见的。本说明书和示例应被认为只是示例性的。

Claims (10)

1.一种用于机械的转向控制系统，包括：
无级变速器；
与所述无级变速器连接的马达；以及
与所述马达和无级变速器连接的控制单元，该控制单元构造成响应于所述无级变速器的速度和发动机上的负载中至少一者的变化而改变所述马达的速度以保持期望的转弯半径。
2.根据权利要求1所述的转向控制系统，其特征在于，还包括与所述无级变速器连接的传感器，该传感器用于感测所述无级变速器的速度并向所述控制单元提供所感测到的速度。
3.根据权利要求2所述的转向控制系统，其特征在于，还包括与所述马达连接的传感器，该传感器用于感测所述马达的速度并向所述控制单元提供所感测到的速度。
4.根据权利要求1所述的转向控制系统，其特征在于，所述无级变速器包括与发动机连接的发电机以及与所述发电机电连接的马达，其中所述马达提供推进力以使所述机械向前或向后移动。
5.根据权利要求1所述的转向控制系统，其特征在于，所述马达与所述无级变速器连接并适于改变所述无级变速器的输出以获得期望的转弯半径。
6.根据权利要求1所述的转向控制系统，其特征在于，当所述发动机上的负载超过预定量时，所述无级变速器减小变速器传动比并且所述马达的速度改变相应量。
7.一种用于控制差速转向装置的方法，该差速转向装置用于具有无级变速器的机械，所述差速转向装置包括用于使所述机械向左或向右转弯的马达，所述方法包括以下步骤：
确定所述无级变速器的速度和发动机上的负载中的至少一者；
确定期望的转弯半径；以及
基于所确定的速度和负载中的所述至少一者来改变所述马达的速度以保持所述期望的转弯半径。
8.根据权利要求7所述的方法，其特征在于，还包括确定所述马达是否以最大速度运行的步骤。
9.根据权利要求8所述的方法，其特征在于，还包括确定所述无级变速器的传动比并基于所述马达是否以所述马达的最大速度运行而改变所述无级变速器的传动比以获得期望的转弯半径的步骤。
10.根据权利要求7所述的方法，其特征在于，当所述发动机上的负载超过预定量时，所述无级变速器减小变速器传动比并且所述马达的速度改变相应量。
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