CN102535573A - Intelligent automatic speed change control system for loading machine and control method for intelligent automatic speed change control system - Google Patents
Intelligent automatic speed change control system for loading machine and control method for intelligent automatic speed change control system Download PDFInfo
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- CN102535573A CN102535573A CN2012100720380A CN201210072038A CN102535573A CN 102535573 A CN102535573 A CN 102535573A CN 2012100720380 A CN2012100720380 A CN 2012100720380A CN 201210072038 A CN201210072038 A CN 201210072038A CN 102535573 A CN102535573 A CN 102535573A
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Abstract
The invention discloses an intelligent automatic speed change control system for a loading machine and a control method for the intelligent automatic speed change control system. The system is characterized by comprising a working condition identification controller, a shift point computation controller, a shift execution controller and a shift execution mechanism. Shovel loading and driving working conditions can be identified by a feed-forward and feedback control method in combination with a standard power shift rule by detecting the oil pressure of a boom cylinder main chamber, the aperture of an accelerator, the speed of a finished automobile, the rotating speed of an engine and the rotating speed of a turbine of a torque converter. The system and the method have the advantages that: a shovel loading working condition and a transportation working condition can be distinguished according to the oil pressure and the oil pressure change rate of the boom cylinder main chamber, and gear shift can be distinguished according to the working conditions. The control method comprises the following steps of: under the shovel loading working condition, prejudging the reduction in gears of the finished automobile; controlling the reduction in the gears in advance; and prejudging requirements on the maximum traction force and the lowest gear. The whole control system and the control method have a simple structure and are easy to realize; and the gears are changed according to the driving working condition and the operation working condition of the loading machine, so that energy-saving and high-efficient automatic speed change control is realized.
Description
Technical field
Of the present inventionly relate to a kind of engineering machinery that is used for and carry out self-shifting control system and control method, particularly relate to a kind of loader intelligence automatic gear shifting control system and control method that is mainly used in loader.
Background technology
The Automatic Transmission Control System of Loader system that produces or use both at home and abroad at present; Adopted traditional control method of similar vehicle automatic transmission system mostly; For example choose two parametric methods of the accelerator open degree and the car load speed of a motor vehicle, choose three parametric methods of accelerator open degree, gearbox input gear rotational speed and output gear rotating speed etc.In addition,, adopt identification of driver intentions such as fuzzy algorithmic approach, neutral net, can do correction, make transforming gear more reasonable traditional shifting control method through introducing parameters such as acceleration, working barrel moment of torsion.
Yet, the loader work under bad environment, gear-change operation is frequent, and load variations is violent, and is mostly cycle operation, and its gear shift demand and automobile differ widely.Because the speed of a motor vehicle sharply descends in the loader operation process, and the process of gear shift needs to continue about 0.5 ~ 1.5 second time usually, and this has caused using its gear of general shifting control method to cause shift hysteresis immediately following the variation of operating mode.In the shovel process of assembling when the operation, because inserting stockpile, scraper bowl make the speed of a motor vehicle sharply descend, usually cause the speed of a motor vehicle to reduce near zero the time according to general shifting control method, gear is just reduced to one grade, has influenced efficiency of operation.In addition, because the process of gearshift is accompanied by power interruption, clutch sliding wear usually, general shifting control method is often from changing car load dynamic property, the economy when front and back, and ignored time, the energy loss of shift process.In the shovel process of assembling when the operation; The material of stockpile should keep 2 grades of tractive force demands that can satisfy operation during for loose material; And traditional control method is because speed of a motor vehicle decline causes car load still to fall into 1 grade of operation; Increased unnecessary gearshift procedure, made shorten the application life of clutch, operating efficiency reduces.
Summary of the invention
The object of the invention just provides and a kind ofly can adapt to the load acute variation, realizes the gear anticipation, avoids gear shift frequent, and takes into account control effect and the loader intelligence automatic gear shifting control system and the control method that realize cost.
Solution of the present invention is such:
Loader intelligence automatic gear shifting control system of the present invention mainly comprises:
The operating mode identification controller is used to detect work at present device load information and entire vehicle gear information, carries out condition calculating, the output working condition signal;
The shifting points computing controller; Be used to receive working condition signal; And according to work at present device load information, entire vehicle gear information, throttle opening information and before three times or before four times, five times operating modes car load speed information, throttle opening information and entire vehicle gear information calculations and revise the shifting points speed of a motor vehicle, export the final shifting points speed of a motor vehicle;
The gear shift implementation controller is used to the final shifting points speed of a motor vehicle that detects current car load speed information, handle gear signal and calculate, to gear shift executive component output drive signal.
System also comprises more specifically:
Described shift points computing controller comprises:
The standard shift points calculates: detect the current throttle aperture, adopt look-up table or function method to calculate the standard shifting points speed of a motor vehicle under the current throttle aperture, outputting standard shifting points GES according to preset two-parameter schedule;
The gear shift FEEDFORWARD CONTROL: acceptance criteria shifting points GES, detect the big chamber of boom cylinder oil pressure rate of change, the combined standard shifting points speed of a motor vehicle adopts method of equal proportion to calculate the feedforward shifting points speed of a motor vehicle;
Gear shift FEEDBACK CONTROL: receive feedforward shifting points GES; Detect accelerator open degree, car load speed information and entire vehicle gear information current and three times or four times before, five times operating mode shovel dress operating modes before; In conjunction with the feedforward shifting points speed of a motor vehicle; Adopt the threshold value comparison method, calculate the feedback shifting points speed of a motor vehicle.
The shift points computing controller receives working condition signal, and calls above-mentioned three module according to working condition signal, and decision outputting standard shifting points GES or feedback shifting points GES are as the final shifting points speed of a motor vehicle.
Described handle gear signal is to take from the shift control handle; Described accelerator open degree signal is to take from throttle position switch; Described equipment load signal is to take from the big cavity pressure sensor of boom cylinder; Described car load GES is to take from the final stage gear velocity sensor.
Control method step of the present invention comprises:
Extract each extraneous input signal step: extract throttle opening information, the big chamber of boom cylinder oil pressure information, car load speed information, handle gear information, entire vehicle gear information; Use filtering algorithm to extract useful signal, utilize the changing value of swing arm big chamber oil pressure unit interval to calculate the big chamber of swing arm oil pressure rate of change;
Operating mode identification step: utilize the changing value of swing arm big chamber oil pressure unit interval to calculate the big chamber of swing arm oil pressure rate of change,, adopt the threshold value comparison method to carry out operating mode and judge in conjunction with current gear;
Standard shift points calculation procedure: through testing the car load driving force-speed of a motor vehicle curve map of each gear under the identical accelerator open degree; The speed of a motor vehicle of getting adjacent two gear activation force profile intersection point places is the shifting points speed of a motor vehicle under this accelerator open degree, finally obtains accelerator open degree-shifting points vehicle speed data table or functional relation.Detect the current throttle aperture, calculate the standard shifting points speed of a motor vehicle under the current throttle aperture with look-up table or function method;
Gear shift FEEDFORWARD CONTROL step: if operating mode detects the big chamber of boom cylinder oil pressure rate of change for shovel dress operating mode, the combined standard shifting points speed of a motor vehicle adopts method of equal proportion to calculate the feedforward shifting points speed of a motor vehicle;
Gear shift FEEDBACK CONTROL step: if operating mode is shovel dress operating mode; Detect accelerator open degree, car load speed information and entire vehicle gear information current and three times or four times before, five times operating mode shovel dress operating modes before; In conjunction with the feedforward shifting points speed of a motor vehicle, adopt the threshold value comparison method, calculate the feedback shifting points speed of a motor vehicle;
Final shifting points calculation procedure: if operating mode is shovel dress operating mode, then with the feedback shifting points speed of a motor vehicle as the final shifting points speed of a motor vehicle; If operating mode is driving cycle, then with the standard shifting points speed of a motor vehicle as the final shifting points speed of a motor vehicle;
The control step is carried out in gear shift: detect the current car load speed of a motor vehicle and handle gear information; Obtain the final shifting points of aforementioned calculating gained; If current vehicle speed is higher than shift-up point or is lower than and lowers category a little, and the gear after the gearshift is in the limited range of handle gear, then to gear shift executive component output drive signal.
Control method also comprises more specifically:
Threshold value comparison method in the described operating mode identification step is: oil pressure threshold value and oil pressure rate of change threshold value are set in the system; When entire vehicle gear is in 1 grade or 2 grades and boom cylinder big chamber oil pressure and oil pressure rate of change thereof and all is higher than oil pressure threshold value and the oil pressure rate of change threshold value of setting, then be identified as shovel before the switching-over of this moment to vehicle and adorn operating mode; Otherwise be identified as the transportation operating mode.
Method of equal proportion in the described gear shift FEEDFORWARD CONTROL step is: the feedforward shifting points speed of a motor vehicle is directly proportional with the oil pressure rate of change in the big chamber of boom cylinder.If boom cylinder oil pressure rate of change raises, the shifting points that then the feedovers speed of a motor vehicle raises according to boom cylinder oil pressure rate of change on the basis of the standard shifting points speed of a motor vehicle, the shifting points that promptly the feedovers speed of a motor vehicle=standard shifting points speed of a motor vehicle * boom cylinder oil pressure rate of change * factor of proportionality.
Threshold value comparison method in the described gear shift FEEDBACK CONTROL step is: the minimum throttle value that lowers category is set, forbid lowering category vehicle speed value and the minimum vehicle speed value that lowers category in the system.If the current throttle aperture is lower than the minimum throttle value that lowers category, then 2 grades of this shovel dress operating mode are fallen 1 grade and lower category a little to be modified to and forbid the vehicle speed value that lowers category; If the current throttle aperture is higher than the minimum throttle value that lowers category; And the speed of a motor vehicle is reduced to and is minimumly lowered category that accelerator open degree is lower than the minimum throttle value that lowers category during vehicle speed value in first three time or preceding four times, the five times operating modes shovel dress operating mode, and then 2 grades of this shovel dress operating mode are fallen 1 grade lower category and a little are modified to the minimum vehicle speed value that lowers category; Other situation keep the feedforward shifting points speed of a motor vehicle of FEEDFORWARD CONTROL gained constant.
Control method in the described operating mode identification step comprises:
1, initialization output operating mode is a driving cycle;
2, read entire vehicle gear information, if entire vehicle gear is 3 grades or 4 grades, then output becomes driving cycle;
3, read the handle gear information, if the variation of handle orientations occurs, then output becomes driving cycle;
4, read the big chamber of boom cylinder oil pressure information and oil pressure rate of change information thereof, relatively the oil pressure threshold value p of boom cylinder big chamber oil pressure and pre-stored
0, the oil pressure rate of change threshold value δ p of comparison boom cylinder big chamber oil pressure rate of change and pre-stored
0, if the former all is higher than the latter, then output becomes shovel dress operating mode.
Control method in the described gear shift FEEDFORWARD CONTROL step comprises:
1, initialization output shifting points is the standard power shifting points;
2, read the big chamber of boom cylinder oil pressure rate of change information, according to calculating formula: the feedforward shifting points speed of a motor vehicle=standard shifting points speed of a motor vehicle * boom cylinder oil pressure rate of change * factor of proportionality K calculates the feedforward shifting points speed of a motor vehicle;
3, the oil pressure rate of change threshold value δ p that compares boom cylinder big chamber oil pressure rate of change and pre-stored
0,, then will export shifting points and become the feedforward shifting points if the former is higher than the latter; Otherwise keeping the output shifting points is that the standard power shifting points is constant.
Control method in the described gear shift FEEDBACK CONTROL step comprises:
1, initialization output shifting points is the result of calculation of gear shift FEEDFORWARD CONTROL module;
2, calculate 3 times in the shovel dress operating mode in the system speed of a motor vehicle and reduce to the minimum vehicle speed value V that lowers category
0BThe time accelerator open degree;
3, read the current throttle opening information, relatively the minimum throttle value α that lowers category of current throttle aperture and pre-stored
0, if the current throttle aperture is lower than the minimum throttle value that lowers category, then 2 grades of this shovel dress operating mode output are fallen 1 grade and lower category a little to be modified to and forbid lowering category vehicle speed value V
0A
4, the minimum throttle value α that lowers category that compares current throttle aperture and pre-stored
0, relatively if the current throttle aperture is higher than the minimum throttle value α that lowers category
0, and the speed of a motor vehicle is reduced to and is minimumly lowered category that accelerator open degree is lower than the minimum throttle value α that lowers category during vehicle speed value in first three time or four times before, the five times operating modes shovel dress operating mode
0, then 2 grades of this shovel dress operating mode output are fallen 1 grade lower category and a little are modified to the minimum vehicle speed value V that lowers category
0B
The control method that described gear shift is carried out in the control step comprises:
1, read the handle gear signal, calculate the entire vehicle gear scope, the I of handle, II, III, IV the position gear bands of corresponding car load respectively are 1 grade, 1 grade-2 grades, 1 grade-3 grades, 1-4 shelves;
2, read the shifting points speed of a motor vehicle of the final output of shifting points computing module, read the current car load speed of a motor vehicle.If current speed ratio is higher than the gearshift shift-up point, and upgrade the back gear within the entire vehicle gear scope, then be judged to be and upgrade; Lower category a little if current speed ratio is lower than gearshift, and lower category the back gear within the entire vehicle gear scope, then be judged to be and lower category; Keep existing gear constant under other situation.
3, press the final decision result to each gear electromagnetic valve output drive signal, carry out gearshift.
Advantage of the present invention is to adorn operating mode and transportation operating mode according to the oil pressure and the oil pressure rate of change difference shovel thereof in the big chamber of boom cylinder, and according to operating mode difference gearshift.Under the transportation operating mode, adopt the standard shifting points; Under shovel dress operating mode, the decline of anticipation entire vehicle gear is controlled lowering category ahead of time, has avoided in the shovel process of assembling because the rapid gearshift hysteresis that causes, the problem of power interruption of descending of the speed of a motor vehicle; Under shovel dress operating mode, the maximum drawbar pull demand and the lowest gear demand of anticipation shovel dress have been avoided the wrong problem that lowers category under the situation of 2 grades of power abundances.The whole control system and control method structure are simple and clear, be easy to realize, and gear change have taken into account driving cycle and the operation operating mode of loader, and the closing to reality needs have been realized energy-conservation, automatic shift control efficiently.
Description of drawings
Accompanying drawing 1 is a system construction drawing of the present invention.
The hardware connection layout of accompanying drawing 2 embodiment of the invention.
The flow chart of accompanying drawing 3 control methods of the present invention.
The car load speed of a motor vehicle, the activation force profile figure of accompanying drawing 4 each gear.
The flow chart of accompanying drawing 5 operating mode identification modules of the present invention.
The flow chart of accompanying drawing 6 FEEDFORWARD CONTROL modules of the present invention.
The flow chart of accompanying drawing 7 feedback control module of the present invention.
The shift gears flow chart of Executive Module of accompanying drawing 8 the present invention.
The specific embodiment
Below in conjunction with accompanying drawing present embodiment is elaborated:
Accompanying drawing 2 is structured flowcharts that present embodiment adopts preceding 4 backs, 3 fluid drive embodiment.
Operating mode identification controller, shift points computing controller (comprising the calculating of standard shifting points, gear shift FEEDFORWARD CONTROL, gear shift FEEDBACK CONTROL), gear shift implementation controller are realized through being programmed in the microprocessor.Throttle position switch, gearbox final stage gear velocity sensor, the big chamber of boom cylinder oil pressure sensor are exported accelerator open degree signal, car load GES and the big chamber of boom cylinder fuel injection pressure signal respectively to microprocessor; Shift control handle output handle gear signal is to microprocessor; Each gear electromagnetic valve feedback entire vehicle gear of gearshift executing agency is to microprocessor; Microprocessor is handled back each gear electromagnetic valve output drive signal to gearshift executing agency according to algorithm to signal, realizes transforming gear.
Like Fig. 3 is the flow chart of control method of the present invention, realizes in microprocessor through software programming in the present embodiment, and the control step is following:
1, each input/output port of initialization and each memory;
2, gather throttle position switch signal, gearbox final stage gear velocity sensor signal, the big chamber of boom cylinder oil pressure sensor signal, the shift control handle signal of telecommunication, the gear electromagnetic valve feedback signal of telecommunication;
3, use filtering algorithm to extract throttle opening information, the big chamber of swing arm oil pressure information, car load speed information, handle gear information, gearbox gear information, and utilize the changing value of 100ms ~ 200ms of big chamber oil pressure unit interval of swing arm to calculate the big chamber of swing arm oil pressure rate of change;
4, call the operating mode identification module,,, adopt the threshold value comparison method to carry out operating mode and judge in conjunction with current gear through boom cylinder big chamber oil pressure and oil pressure rate of change thereof;
5, call standard shifting points computing module; Through testing the car load driving force-speed of a motor vehicle curve map of each gear under the identical accelerator open degree; The speed of a motor vehicle of getting adjacent two gear activation force profile intersection point places is the shifting points speed of a motor vehicle under this accelerator open degree; A=4.9 km/h as shown in Figure 4, B=8.3 km/h, C=17.2 km/h change accelerator open degree and repeat above-mentioned test, and the shifting points speed of a motor vehicle that obtains under the different accelerator open degrees is pre-stored in the memory; Detect the current throttle aperture, adopt look-up table to obtain the standard shifting points speed of a motor vehicle under the current throttle aperture;
6, if operating mode for shovel dress operating mode, is called gear shift FEEDFORWARD CONTROL module, detect the big chamber of boom cylinder oil pressure rate of change, the combined standard shifting points speed of a motor vehicle adopts method of equal proportion to calculate the feedforward shifting points speed of a motor vehicle; Otherwise, forward step 8 to;
7, if operating mode is shovel dress operating mode; Call the gear shift feedback control module, detect current with accelerator open degree, car load speed information and the entire vehicle gear information of the operating mode of shovel dress 3 times, combine the shifting points speed of a motor vehicle that feedovers; Adopt the threshold value comparison method, calculate the feedback shifting points speed of a motor vehicle;
8, if operating mode is shovel dress operating mode, then to feed back the shifting points speed of a motor vehicle as the final shifting points speed of a motor vehicle; If operating mode is driving cycle, then with the standard shifting points speed of a motor vehicle as the final shifting points speed of a motor vehicle;
9, call the gear shift Executive Module; Detect current vehicle speed and handle gear signal; Obtain the final shifting points of aforementioned calculating gained, if current vehicle speed is higher than shift-up point or is lower than and lowers category a little, and the gear after the gearshift is in the limited range of handle gear; Then to gear shift executive component output drive signal, shift end.
Like Fig. 5 is the flow chart of operating mode identification, and control procedure is following:
1, initialization output operating mode is a driving cycle;
2, read entire vehicle gear information, if entire vehicle gear is 3 grades or 4 grades, then output becomes driving cycle;
3, read the handle gear information, if the variation of handle orientations occurs, then output becomes driving cycle;
4, read the big chamber of boom cylinder oil pressure information and oil pressure rate of change information thereof, relatively the oil pressure threshold value p of boom cylinder big chamber oil pressure and pre-stored
0=8 ~ 12, the oil pressure rate of change threshold value δ p of comparison boom cylinder big chamber oil pressure rate of change and pre-stored
0=2 ~ 3, if the former all is higher than the latter, then output becomes shovel dress operating mode; Otherwise, turn back to step 2.
Like the flow chart of Fig. 6 for the gear shift FEEDFORWARD CONTROL, control procedure is following:
1, initialization output shifting points is the standard power shifting points;
2, read the big chamber of boom cylinder oil pressure rate of change information, according to calculating formula: the feedforward shifting points speed of a motor vehicle=standard shifting points speed of a motor vehicle * boom cylinder oil pressure rate of change * factor of proportionality K=0.4 ~ 0.5 calculates the feedforward shifting points speed of a motor vehicle;
3, the oil pressure rate of change threshold value δ p that compares boom cylinder big chamber oil pressure rate of change and pre-stored
0=2 ~ 3, if the former is higher than the latter, then will exports shifting points and become the feedforward shifting points; Otherwise keeping the output shifting points is that the standard power shifting points is constant.
Like the flow chart of Fig. 7 for the gear shift FEEDBACK CONTROL, control procedure is following:
1, initialization output shifting points is the result of calculation of gear shift FEEDFORWARD CONTROL module;
2, calculate 3 times in the shovel dress operating mode in the system speed of a motor vehicle and reduce to the minimum vehicle speed value V that lowers category
0B=1 ~ 2 o'clock accelerator open degree;
3, read the current throttle opening information, relatively the minimum throttle value α that lowers category of current throttle aperture and pre-stored
0=40 ~ 60, if the current throttle aperture is lower than the minimum throttle value that lowers category, then 2 grades of this shovel dress operating mode output are fallen 1 grade and lower category a little to be modified to and forbid lowering category vehicle speed value V
0A=-1;
4, the minimum throttle value α that lowers category that compares current throttle aperture and pre-stored
0=40 ~ 60, relatively if the current throttle aperture is higher than the minimum throttle value α that lowers category
0=40 ~ 60, and 3 times in the shovel dress operating mode speed of a motor vehicle reduce to and minimumly lower category that accelerator open degree is lower than the minimum throttle value α that lowers category during vehicle speed value
0=40 ~ 60, then 2 grades of this shovel dress operating mode output are fallen 1 grade lower category and a little are modified to the minimum vehicle speed value V that lowers category
0B=1 ~ 2;
Carry out the flow chart of controlling like Fig. 8 for gear shift, control procedure is following:
1, read the handle gear signal, calculate the entire vehicle gear scope, the I of handle, II, III, IV the position gear bands of corresponding car load respectively are 1 grade, 1 grade-2 grades, 1 grade-3 grades, 1-4 shelves;
2, read the shifting points speed of a motor vehicle of the final output of shifting points computing module, read the current car load speed of a motor vehicle.If current speed ratio is higher than the gearshift shift-up point, and upgrade the back gear within the entire vehicle gear scope, then be judged to be and upgrade; Lower category a little if current speed ratio is lower than gearshift, and lower category the back gear within the entire vehicle gear scope, then be judged to be and lower category; Keep existing gear constant under other situation.
3, press the final decision result to each gear electromagnetic valve output drive signal, carry out gearshift.
According to said method; The shifting points speed of a motor vehicle that obtains under the traffic condition in the present embodiment (or two-parameter schedule of title accelerator open degree-speed of a motor vehicle) is approximate like following table; Wherein
is accelerator open degree percentage, and
is the shifting points speed of a motor vehicle:
According to said method; The shifting points speed of a motor vehicle that obtains under full throttle, the big chamber of the different boom cylinder oil pressure rate of change under the shovel dress situation in the present embodiment (or two-parameter schedule of the big chamber of title boom cylinder oil pressure rate of change-speed of a motor vehicle) is approximate like following table; Wherein
is oil unit interval oil pressure changing value, and
is the shifting points speed of a motor vehicle:
The foregoing description is used for being familiar with and using the present invention.For different vehicles, different motors and torque-converters coupling, and different transmission systems all can adopt this to invent and realize Automatic Transmission Control System of Loader, and concrete parameter can be adjusted according to actual complete machine type flexibly.
Claims (11)
1. loader intelligence automatic gear shifting control system is characterized in that mainly comprising:
The operating mode identification controller is used to detect work at present device load information and entire vehicle gear information, carries out condition calculating, the output working condition signal;
The shifting points computing controller; Be used to receive working condition signal; And according to work at present device load information, entire vehicle gear information, throttle opening information and before the several times operating mode car load speed information, throttle opening information and entire vehicle gear information calculations and revise the shifting points speed of a motor vehicle, export the final shifting points speed of a motor vehicle;
The gear shift implementation controller is used to the final shifting points speed of a motor vehicle that detects current car load speed information, handle gear signal and calculate, to gear shift executive component output drive signal.
2. loader intelligence automatic gear shifting control system according to claim 1 is characterized in that described shift points computing controller comprises:
The standard shift points calculates: detect the current throttle aperture, adopt look-up table or function method to calculate the standard shifting points speed of a motor vehicle under the current throttle aperture, outputting standard shifting points GES according to the two-parameter schedule of preset accelerator open degree-car load speed of a motor vehicle;
The gear shift FEEDFORWARD CONTROL: acceptance criteria shifting points GES, detect the big chamber of boom cylinder oil pressure rate of change, the combined standard shifting points speed of a motor vehicle adopts method of equal proportion to calculate the feedforward shifting points speed of a motor vehicle;
Gear shift FEEDBACK CONTROL: receive feedforward shifting points GES; Detect accelerator open degree, car load speed information and entire vehicle gear information current and several times shovel dress operating mode before; In conjunction with the feedforward shifting points speed of a motor vehicle, adopt the threshold value comparison method, calculate the feedback shifting points speed of a motor vehicle;
The shift points computing controller receives working condition signal, and calls above-mentioned three module according to working condition signal, and decision outputting standard shifting points GES or feedback shifting points GES are as the final shifting points speed of a motor vehicle.
3. loader intelligence automatic gear shifting control system according to claim 1 is characterized in that described handle gear signal is to take from the shift control handle; Described accelerator open degree signal is to take from throttle position switch; Described equipment load signal is to take from the big cavity pressure sensor of boom cylinder; Described car load GES is to take from the final stage gear velocity sensor.
4. control method that the said system of claim 1 is controlled is characterized in that its method step comprises:
Extract each extraneous input signal step: extract throttle opening information, the big chamber of boom cylinder oil pressure information, car load speed information, handle gear information, entire vehicle gear information; Use filtering algorithm to extract useful signal, utilize the changing value of swing arm big chamber oil pressure unit interval to calculate the big chamber of swing arm oil pressure rate of change;
Operating mode identification step: utilize the changing value of swing arm big chamber oil pressure unit interval to calculate the big chamber of swing arm oil pressure rate of change,, adopt the threshold value comparison method to carry out operating mode and judge in conjunction with current gear;
Standard shift points calculation procedure: through testing the car load driving force-speed of a motor vehicle curve map of each gear under the identical accelerator open degree; The speed of a motor vehicle of getting adjacent two gear activation force profile intersection point places is the shifting points speed of a motor vehicle under this accelerator open degree; Change the accelerator open degree retest; Finally obtain the shifting points speed of a motor vehicle under the different accelerator open degrees,, represent with the form of tables of data or functional relation as the two-parameter schedule of accelerator open degree-speed of a motor vehicle; Detect the current throttle aperture, calculate the standard shifting points speed of a motor vehicle under the current throttle aperture with look-up table or function method;
Gear shift FEEDFORWARD CONTROL step: if operating mode detects the big chamber of boom cylinder oil pressure rate of change for shovel dress operating mode, the combined standard shifting points speed of a motor vehicle adopts method of equal proportion to calculate the feedforward shifting points speed of a motor vehicle;
Gear shift FEEDBACK CONTROL step: if operating mode is shovel dress operating mode; Detect accelerator open degree, car load speed information and entire vehicle gear information current and several times shovel dress operating mode before; In conjunction with the feedforward shifting points speed of a motor vehicle, adopt the threshold value comparison method, calculate the feedback shifting points speed of a motor vehicle;
Final shifting points calculation procedure: if operating mode is shovel dress operating mode, then with the feedback shifting points speed of a motor vehicle as the final shifting points speed of a motor vehicle; If operating mode is driving cycle, then with the standard shifting points speed of a motor vehicle as the final shifting points speed of a motor vehicle;
The control step is carried out in gear shift: detect the current car load speed of a motor vehicle and handle gear information; Obtain the final shifting points of aforementioned calculating gained; If current vehicle speed is higher than shift-up point or is lower than and lowers category a little, and the gear after the gearshift is in the limited range of handle gear, then to gear shift executive component output drive signal.
5. control method according to claim 4; It is characterized in that the threshold value comparison method in the described operating mode identification step is: oil pressure threshold value and oil pressure rate of change threshold value are set in the system; When entire vehicle gear is in 1 grade or 2 grades and boom cylinder big chamber oil pressure and oil pressure rate of change thereof and all is higher than oil pressure threshold value and the oil pressure rate of change threshold value of setting, then be identified as shovel before the switching-over of this moment to vehicle and adorn operating mode; Otherwise be identified as the transportation operating mode.
6. control method according to claim 4; It is characterized in that the method for equal proportion in the described gear shift FEEDFORWARD CONTROL step is: the feedforward shifting points speed of a motor vehicle is directly proportional with the oil pressure rate of change in the big chamber of boom cylinder; If boom cylinder oil pressure rate of change raises; The shifting points that then the feedovers speed of a motor vehicle raises according to boom cylinder oil pressure rate of change on the basis of the standard shifting points speed of a motor vehicle, the shifting points that promptly the feedovers speed of a motor vehicle=standard shifting points speed of a motor vehicle * boom cylinder oil pressure rate of change * factor of proportionality.
7. control method according to claim 4; It is characterized in that the threshold value comparison method in the described gear shift FEEDBACK CONTROL step is: the minimum throttle value that lowers category is set, forbid lowering category vehicle speed value and the minimum vehicle speed value that lowers category in the system; If the current throttle aperture is lower than the minimum throttle value that lowers category, then 2 grades of this shovel dress operating mode are fallen 1 grade and lower category a little to be modified to and forbid the vehicle speed value that lowers category; If the current throttle aperture is higher than the minimum throttle value that lowers category, and the speed of a motor vehicle is reduced to and is minimumly lowered category that accelerator open degree is lower than the minimum throttle value that lowers category during vehicle speed value in the preceding several times shovel dress operating mode, and then 2 grades of this shovel dress operating mode are fallen 1 grade lower category and a little are modified to the minimum vehicle speed value that lowers category; Other situation keep the feedforward shifting points speed of a motor vehicle of FEEDFORWARD CONTROL gained constant.
8. control method according to claim 4 is characterized in that the control method in the described operating mode identification step comprises:
1), initialization output operating mode is a driving cycle;
2), read entire vehicle gear information, if entire vehicle gear is 3 grades or 4 grades, then output becomes driving cycle;
3), read the handle gear information, if the variation of handle orientations occurs, then output becomes driving cycle;
4), read the big chamber of boom cylinder oil pressure information and oil pressure rate of change information thereof, relatively the oil pressure threshold value (p of boom cylinder big chamber oil pressure and pre-stored
0), oil pressure rate of change threshold value (the δ p of comparison boom cylinder big chamber oil pressure rate of change and pre-stored
0), if the former all is higher than the latter, then output becomes shovel dress operating mode.
9. control method according to claim 4 is characterized in that the control method in the described gear shift FEEDFORWARD CONTROL step comprises:
1), initialization output shifting points is the standard power shifting points;
2), read the big chamber of boom cylinder oil pressure rate of change information, according to calculating formula: the feedforward shifting points speed of a motor vehicle=standard shifting points speed of a motor vehicle * boom cylinder oil pressure rate of change * factor of proportionality (K) calculates the feedforward shifting points speed of a motor vehicle;
3) oil pressure rate of change threshold value (the δ p that, compares boom cylinder big chamber oil pressure rate of change and pre-stored
0), if the former is higher than the latter, then will exports shifting points and become the feedforward shifting points; Otherwise keeping the output shifting points is that the standard power shifting points is constant.
10. control method according to claim 4 is characterized in that the control method in the described gear shift FEEDBACK CONTROL step comprises:
1), initialization output shifting points is the result of calculation of gear shift FEEDFORWARD CONTROL module;
2), calculate 3 times in the shovel dress operating mode in the system speed of a motor vehicle and reduce to the minimum vehicle speed value (V that lowers category
0B) time accelerator open degree;
3), read current throttle opening information, the relatively minimum throttle value (α that lowers category of current throttle aperture and pre-stored
0), if the current throttle aperture is lower than the minimum throttle value that lowers category, then 2 grades of this shovel dress operating mode output are fallen 1 grade and lower category a little to be modified to and forbid lowering category vehicle speed value (V
0A);
4) the minimum throttle value (α that lowers category that, compares current throttle aperture and pre-stored
0), relatively if the current throttle aperture is higher than the minimum throttle value (α that lowers category
0), and the speed of a motor vehicle is reduced to and is minimumly lowered category that accelerator open degree is lower than the minimum throttle value (α that lowers category during vehicle speed value in the preceding several times shovel dress operating mode
0), then 2 grades of this shovel dress operating mode output are fallen 1 grade lower category and a little are modified to the minimum vehicle speed value (V that lowers category
0B).
11. control method according to claim 4 is characterized in that the control method that described gear shift is carried out in the control step comprises:
1), read the handle gear signal, calculate the entire vehicle gear scope, the I of handle, II, III, IV the position gear bands of corresponding car load respectively are 1 grade, 1 grade-2 grades, 1 grade-3 grades, 1-4 shelves;
2), read the shifting points speed of a motor vehicle of the final output of shifting points computing module, read the current car load speed of a motor vehicle, if current speed ratio is higher than the gearshift shift-up point, and upgrade the back gear within the entire vehicle gear scope, then be judged to be and upgrade; Lower category a little if current speed ratio is lower than gearshift, and lower category the back gear within the entire vehicle gear scope, then be judged to be and lower category; Keep existing gear constant under other situation;
3), press the final decision result to each gear electromagnetic valve output drive signal, the execution gearshift.
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