CN103587521B - Bulldozer brake control system and method - Google Patents
Bulldozer brake control system and method Download PDFInfo
- Publication number
- CN103587521B CN103587521B CN201310608287.1A CN201310608287A CN103587521B CN 103587521 B CN103587521 B CN 103587521B CN 201310608287 A CN201310608287 A CN 201310608287A CN 103587521 B CN103587521 B CN 103587521B
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- China
- Prior art keywords
- state
- dozer
- bull
- whole machine
- brake
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/02—Clutches
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
Abstract
The invention discloses a bulldozer brake control system and method. The control system comprises a brake sensor and a whole machine controller, wherein when stepped down, a brake pedal is converted to be in an intermediate state from an initial state and then converted to be in a brake state, when the brake pedal is converted to be in the intermediate state from the initial state, the brake sensor forms a first sensing signal, and when the brake pedal is converted to be in the intermediate state from the brake state, the brake sensor forms a second sensing signal. The whole machine controller is connected with the brake sensor in a mode that a whole machine can be in communication with the brake sensor. The bulldozer brake control system can be prevented from impacting on drive parts in the braking process and can solve the problem that the manipulation comfort is poor when the brake pedal is converted to be in a starting state from the brake state.
Description
Technical field
The present invention relates to engineering truck technical field, more particularly, to a kind of bull-dozer braking control system and control method.
Background technology
Bull-dozer belongs to earth and rock works engineering machinery, can the various complicated earth moving of complete independently, at present water conservancy,
Are used widely in traffic, building, mine Deng Ge field.Bulldozer operating process belongs to cycle operation, and general haul distance only has 40
To 100 meters, each cycle operation running gear needs to complete to advance, the action such as brakes, retreats, braking, because bull-dozer belongs to
Low speed is high to turn round Work machine, when bull-dozer is in damped condition, even if electromotor is in little throttle low speed state, output torque
Still very big.
In prior art, the brakes of bull-dozer adopts friction disk clutch formula brake or the braking of wet braking belt
Device is braked, and its ultimate principle is that brake is turned using the friction plate being fixed on body or brake band with drive disk assembly
In dynamic antithesis piece or braking, drive disk assembly is fixed by the frictional force between hub, realizes the brake request to bull-dozer.
However, although bull-dozer drive disk assembly is due to by braking clutch friction plate or braking in above-mentioned braking procedure
The frictional force of band and be in on-position, but due to not cutting down the output torque of electromotor, so, under damped condition, place
All drive disk assemblies before the brake of bull-dozer still to next stage parts transmitting torque, are in stress.
So, by brakes, braking and car load inertia force are affected suddenly, can cause certain braking to bull-dozer transmission parts
Impact, reduces driving member service life, on the other hand, shift control is not carried out in on-position with the situation of any operation
Under, when loosening the brake, brake coupling disengages, and drive system can rise suddenly under the drive of engine output torque
Dynamic, reduce handling comfort.
Therefore, how to avoid the impact that bull-dozer causes to drive disk assembly in braking, and when brake coupling disengages
The poor problem of handling comfort, becomes those skilled in the art's important technological problems to be solved.
Content of the invention
The invention provides a kind of bull-dozer braking control system, it is it can be avoided that in braking, cause to drive disk assembly
Impact, and the poor problem of handling comfort during starting state is converted to by on-position.Present invention also offers it is a kind of
Bull-dozer brake control method, equally, using this control method it can be avoided that braking when, the impact that drive disk assembly is caused,
And the poor problem of handling comfort during starting state is converted to by on-position.
A kind of bull-dozer braking control system that the present invention provides, including：
Braking sensor, is changed into intermediateness by original state when brake pedal is operated and is changed into on-position again,
When brake pedal is changed into described intermediateness by described original state, described braking sensor forms the first induced signal,
When brake pedal is changed into described intermediateness by described on-position, described braking sensor forms the second induced signal；
Whole machine controller, is communicably connected with described braking sensor, when receiving described first induced signal,
Described whole machine controller judges that bull-dozer is in drive shift state or reverse drive gear state, if being in drive shift state, described whole
Machine controller controls forward gear clutch to separate；If being in reverse drive gear state, described whole machine controller control described reverse drive gear from
Clutch separates；When described whole machine controller receives described second induced signal, described whole machine controller controls detached
Forward gear clutch or reverse drive gear clutch closure.
Preferably, described forward gear clutch and reverse drive gear clutch are oil clutch, described whole machine controller control
The hydraulic valve of oil clutch processed.
Preferably, described whole machine controller includes selector lever induction apparatuss, and described selector lever induction apparatuss pass through to sense shelves
The position judgment bull-dozer of position handle is in drive shift state or reverse drive gear state.
The bull-dozer brake control method that the present invention provides, including step：
The state of detection braking pedal,
If brake pedal is changed into intermediateness by original state, judge that bull-dozer is in drive shift state and still retreats
Shelves state, if being in drive shift state, controls forward gear clutch to separate；If being in reverse drive gear state, control described reverse drive gear
Clutch separation；
If brake pedal is changed into intermediateness by on-position, control in previous step by detached drive shift clutch
Device or reverse drive gear clutch closure.
The soil-shifting brake system being provided by the present invention, when bulldozer operator needs braking, brake pedal, system
Dynamic pedal is changed into intermediateness from original state and is changed into on-position again, when brake pedal is changed into intermediateness from original state
When, braking sensor is triggered, and forms the first induced signal, and after whole machine controller receives the first induced signal, detection is bulldozed
Machine is in drive shift state or reverse drive gear state, if being in drive shift state, whole machine controller controls forward gear clutch to divide
From；If being in reverse drive gear state, whole machine controller controls described reverse drive gear clutch separation.So, when bull-dozer is in braking,
The transmission of its forward gear clutch or reverse drive gear clutch is cut off, it is to avoid the impact to drive disk assembly.Work as bulldozer operator
When brake pedal is stepped on to on-position by intermediateness, bull-dozer is in complete on-position by the effect of brake component.
When bull-dozer needs to be converted to starting state by on-position, bulldozer operator is loosened the brake, and brake pedal is by braking
State Transferring is reconverted into original state for intermediateness, when brake pedal is converted to intermediateness by on-position, upper
One step is closed by detached forward gear clutch or reverse drive gear clutch, and rear brake pedal is recovered to initial by intermediateness
State, bull-dozer can slowly start, and so avoids when lifting brake pedal, bull-dozer starts suddenly, and leads to manipulate comfortable
Property difference problem.
Present invention also offers a kind of bull-dozer brake control method, including step：
The state of detection braking pedal,
If brake pedal is changed into intermediateness by original state, judge that bull-dozer is in drive shift state and still retreats
Shelves state, if being in drive shift state, controls forward gear clutch to separate；If being in reverse drive gear state, control described reverse drive gear
Clutch separation；
If brake pedal is changed into intermediateness by on-position, control in previous step by detached drive shift clutch
Device or reverse drive gear clutch closure.
So, the brake control method providing according to the present invention, it can be avoided that in braking, what drive disk assembly was caused rushes
Hit, and the poor problem of handling comfort during starting state is converted to by on-position.The derivation of this beneficial effect, with
The derivation of the beneficial effect that above-mentioned braking control system is brought is substantially similar, therefore repeats no more herein.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is braking control system schematic diagram in the specific embodiment of the invention；
In Fig. 1：
Braking sensor 11, whole machine controller 12, it is in the brake pedal 13 of original state, is in intermediateness
Brake pedal 14, the brake pedal 15 being in on-position, forward gear clutch 16, reverse drive gear clutch 17,
Hydraulic valve 18, brake valve control link 19, brake valve 20, brake coupling 21.
Specific embodiment
This specific embodiment provide bull-dozer braking control system, itself it can be avoided that braking when, to drive disk assembly
The impact causing, and the poor problem of handling comfort during starting state is converted to by on-position.This specific embodiment
Additionally provide a kind of bull-dozer brake control method, equally, using this control method it can be avoided that braking when, to drive disk assembly
The impact causing, and the poor problem of handling comfort during starting state is converted to by on-position.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, Fig. 1 is braking control system schematic diagram in the specific embodiment of the invention.
The bull-dozer braking control system that this specific embodiment provides, including braking sensor 11, brake pedal is stepped on
When lower, intermediateness will be changed into by original state and is changed into on-position again, as shown in figure 1, being in the brake pedal of original state
13 are in the state do not trampled, and but the brake pedal 14 being in intermediateness is in and is operated a segment distance is not floored
State, the brake pedal 15 being in on-position is in the state floored.When brake pedal, brake pedal band
The action of dynamic brake valve control link 19, brake valve control link 19 drives brake valve 20 action, and brake valve 20 controls braking clutch
Device 21 is in on-position.
When brake pedal is changed into intermediateness by original state, braking sensor 11 forms the first induced signal, when
When brake pedal is changed into intermediateness by on-position, braking sensor 11 forms the second induced signal.
The braking control system that this specific embodiment provides, also includes whole machine controller 12, can with braking sensor 11
It is communicatively connected and connects, when receiving the first induced signal, whole machine controller 12 judges that bull-dozer is in drive shift state still
Reverse drive gear state, if being in drive shift state, whole machine controller 12 controls forward gear clutch 16 to separate；If being in reverse drive gear shape
State, whole machine controller 12 controls reverse drive gear clutch 17 to separate.
When whole machine controller 12 receives the second induced signal, whole machine controller 12 controls and is separated in previous step
Forward gear clutch 16 or reverse drive gear clutch 17 close.Such as, bull-dozer is braked in drive shift state, whole machine
After controller 12 receives the second induced signal, whole machine controller 12 controls forward gear clutch 16 to close, so that bull-dozer continues
Continuous advance；Equally, if bull-dozer is braked in reverse drive gear state, whole machine controller 12 receives the second induced signal
Afterwards, whole machine controller 12 controls reverse drive gear clutch 17 to close, so that bull-dozer continues to retreat.
The soil-shifting brake system being provided by this specific embodiment, when bulldozer operator needs braking, steps on system
Dynamic pedal, brake pedal is changed into intermediateness from original state and is changed into on-position again, when brake pedal is changed into from original state
During intermediateness, braking sensor 11 is triggered, and forms the first induced signal, and whole machine controller 12 receives the first induced signal
Afterwards, detection bull-dozer is in drive shift state or reverse drive gear state, if being in drive shift state, before whole machine controller 12 controls
Enter grade clutch 16 to separate；If being in reverse drive gear state, whole machine controller 12 controls described reverse drive gear clutch 17 to separate.As
This, when bull-dozer is in braking, the transmission of its forward gear clutch 16 or reverse drive gear clutch 17 is cut off, it is to avoid to transmission
The impact of part.When brake pedal is stepped on to on-position by bulldozer operator by intermediateness, bull-dozer is subject to brake component
Effect be in complete on-position.When bull-dozer needs to be converted to starting state by on-position, bulldozer operator unclamps
Brake pedal, brake pedal is converted to intermediateness by on-position and is reconverted into original state, when brake pedal is by braking shape
When state is converted to intermediateness, closed by detached forward gear clutch 16 or reverse drive gear clutch 17 in previous step, then
Brake pedal is recovered to original state by intermediateness, and bull-dozer can slowly start, and so avoids when lifting brake pedal, pushes away
Native machine starts suddenly, and leads to the problem of handling comfort difference.
It should be noted that in this specific embodiment, forward gear clutch 16 and reverse drive gear clutch 17 are oil pressure
Clutch, whole machine controller 12 passes through to control the hydraulic valve 18 of oil clutch to realize forward gear clutch 16 or reverse drive gear clutch
The separation of device 17 or closure.
In addition, whole machine controller 12 can include selector lever induction apparatuss in this specific embodiment, selector lever senses
Device is in drive shift state or reverse drive gear state by sensing the position judgment bull-dozer of selector lever.
This specific embodiment additionally provides a kind of bull-dozer brake control method, the soil-shifting that this specific embodiment provides
Mechanism flowing control method, including step：
The state of detection braking pedal,
If brake pedal is changed into intermediateness by original state, judge that bull-dozer is in drive shift state and still retreats
Shelves state, if being in drive shift state, controls forward gear clutch to separate；If being in reverse drive gear state, control described reverse drive gear
Clutch separation；
If brake pedal is changed into intermediateness by on-position, control in previous step by detached drive shift clutch
Device or reverse drive gear clutch closure.
So, the brake control method providing according to this specific embodiment, it can be avoided that in braking, to drive disk assembly
The impact causing, and the poor problem of handling comfort during starting state is converted to by on-position.The pushing away of this beneficial effect
Lead process, the derivation of the beneficial effect brought with above-mentioned braking control system is substantially similar, therefore repeats no more herein.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple modifications to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and be to fit to and principles disclosed herein and features of novelty phase one
The scope the widest causing.
Claims (4)
1. a kind of bull-dozer braking control system is it is characterised in that include：
Braking sensor, is changed into intermediateness by original state when brake pedal is operated and is changed into on-position again, work as system
When dynamic pedal is changed into described intermediateness by described original state, described braking sensor forms the first induced signal, works as system
When dynamic pedal is changed into described intermediateness by described on-position, described braking sensor forms the second induced signal；
Whole machine controller, is communicably connected with described braking sensor, when receiving described first induced signal, described
Whole machine controller judges that bull-dozer is in drive shift state or reverse drive gear state, if being in drive shift state, described whole machine control
Device processed controls forward gear clutch to separate；If being in reverse drive gear state, described whole machine controller controls reverse drive gear clutch separation；
When described whole machine controller receives described second induced signal, described whole machine controller controls by detached drive shift clutch
Device or reverse drive gear clutch closure.
2. bull-dozer braking control system as claimed in claim 1 is it is characterised in that described forward gear clutch and reverse drive gear
Clutch is oil clutch, and described whole machine controller controls the hydraulic valve of oil clutch.
3. bull-dozer braking control system as claimed in claim 1 is it is characterised in that described whole machine controller includes gear handss
Handle induction apparatuss, described selector lever induction apparatuss are in drive shift state still by sensing the position judgment bull-dozer of selector lever
Reverse drive gear state.
4. a kind of bull-dozer brake control method, based on the bull-dozer braking control system described in any one of claim 1-3, its
It is characterised by, including step：
The state of detection braking pedal,
If brake pedal is changed into intermediateness by original state, judge that bull-dozer is in drive shift state or reverse drive gear shape
State, if being in drive shift state, controls forward gear clutch to separate；If being in reverse drive gear state, reverse drive gear clutch is controlled to divide
From；
If brake pedal is changed into intermediateness by on-position, control in previous step by detached forward gear clutch or
Reverse drive gear clutch closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310608287.1A CN103587521B (en) | 2013-11-25 | 2013-11-25 | Bulldozer brake control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310608287.1A CN103587521B (en) | 2013-11-25 | 2013-11-25 | Bulldozer brake control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103587521A CN103587521A (en) | 2014-02-19 |
| CN103587521B true CN103587521B (en) | 2017-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310608287.1A Active CN103587521B (en) | 2013-11-25 | 2013-11-25 | Bulldozer brake control system and method |
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| CN (1) | CN103587521B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160339916A1 (en) * | 2015-05-21 | 2016-11-24 | Ford Global Technologies, Llc | Systems and methods for smooth driving mode transitions for a motor vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101346264A (en) * | 2005-12-22 | 2009-01-14 | 株式会社小松制作所 | Work vehicle controller |
| CN102459853A (en) * | 2009-06-17 | 2012-05-16 | 日立建机株式会社 | Apparatus for controlling number of revolutions of engine for industrial vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3830912B2 (en) * | 2003-03-17 | 2006-10-11 | 小松フォークリフト株式会社 | Industrial vehicle travel control device |
| JP2005319984A (en) * | 2004-04-08 | 2005-11-17 | Komatsu Ltd | Drive device for working vehicle, and method of controlling the drive of working vehicle |
| DE102007037357A1 (en) * | 2007-08-08 | 2009-02-12 | Robert Bosch Gmbh | Braking system and braking method of a vehicle |
| US8287433B2 (en) * | 2008-01-10 | 2012-10-16 | Komatsu Ltd. | Work vehicle |
| JP5249872B2 (en) * | 2009-07-29 | 2013-07-31 | 三菱重工業株式会社 | Clutch control device and method for modifying clutch control device |
-
2013
- 2013-11-25 CN CN201310608287.1A patent/CN103587521B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101346264A (en) * | 2005-12-22 | 2009-01-14 | 株式会社小松制作所 | Work vehicle controller |
| CN102459853A (en) * | 2009-06-17 | 2012-05-16 | 日立建机株式会社 | Apparatus for controlling number of revolutions of engine for industrial vehicle |
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| Publication number | Publication date |
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| CN103587521A (en) | 2014-02-19 |
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