CN106763743B - A kind of mobile gear-shifting control method of hydrostatic transmissions and system - Google Patents
A kind of mobile gear-shifting control method of hydrostatic transmissions and system Download PDFInfo
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- CN106763743B CN106763743B CN201611220199.4A CN201611220199A CN106763743B CN 106763743 B CN106763743 B CN 106763743B CN 201611220199 A CN201611220199 A CN 201611220199A CN 106763743 B CN106763743 B CN 106763743B
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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
- 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
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4008—Control of circuit pressure
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
- F16H63/42—Ratio indicator devices
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- Mechanical Engineering (AREA)
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Abstract
The mobile gear-shifting control method of a kind of hydrostatic transmissions disclosed by the embodiments of the present invention, comprising: load shedding step reduces the pressure differential Δ p between motor high-pressure side and low-pressure side when needing gear shift；Switch neutral gear step, when the Δ p is down to preset pressure, is switched to neutral state；Synchronously control step controls the revolving speed of motor, under the premise of being based on target gear transmission ratio, so that the revolving speed of transmission input shaft is synchronous with the revolving speed of output shaft of gear-box；Target gear step, is switched to target gear.The gearbox that the present invention uses is not with clutch and synchronizer, structure is simply universal, cost is relatively low, there is comparable cost advantage in the solution of hydrostatic drive, and entire gearshift procedure fully automated can be realized, shift time can guarantee that the speed in the rapidity and gearshift procedure of gear shift is smooth between 500ms~800ms.The invention also discloses a kind of mobile shift controls of hydrostatic transmissions.
Description
Technical field
The present invention relates to hydrostatic transmissions technical fields, more specifically to a kind of mobile gear shift control of hydrostatic transmissions
Method and system processed.
Background technique
Hydrostatic drive is that the hydraulic-driven transmission system of closed circuit is made of hydraulic pump and hydraulic motor.Hydraulic pump is inhaled
The power of transmitting-receiving motivation converts it into hydraulic energy, and hydraulic energy transfer at kinetic energy and is passed through speed change gear band motor-car by hydraulic motor
Or crawler belt operating walking be driven solution.
Hydrostatic drive have structure is simple, low noise, starting torque are big, high reliablity and operating comfort height etc. absolutely
Advantage, which are mainly applied to mechanically moving field (engineering machinery, agricultural machinery, municipal machinery and certain special vehicles etc.).?
It is certain to need more than 20Km/h speed per hour in, such as loading machine, tractor, forklift truck, hydrostatic drive add two grades or more
Shelves (can at most arrive fourth gear) gearbox is ideal solution.But in the application of hydrostatic+multi-speed gear box, due to not having
As the clutch in passenger car, load can not be cut off in traveling, therefore is unable to complete gear-change operation, needed before gear shift first vehicle
It stops, starts to walk again again after completing gear shift.This brings great inconvenience to the driving of vehicle, and selects high tap position with regard to only
It can be used in the case where good road surface low-load, cannot achieve large torque and start to walk to the continuity of high speed.
At present at abroad, there is a kind of technology of hydrostatic walking for being mainly used in field of agricultural machinery, it uses hydrostatic drive
The structure of dynamic+two grades of gearboxes, and realize the gear shift in advancing.
From system composition, including hydrostatic drive system, two grades of gearboxes and control system.Hydrostatic drive is variable
The closed system of pump 102 and variable displacement motor 103, variable pump 102 are driven by engine 101.Two grades of gearboxes need tape synchronizer
104, as shown in Figure 1.
Control system includes controller, gear position sensor, speed probe, gear shift button, gear-shifting actuating mechanism, change
Measure motor control solenoid valve etc..The shift command of gear shift button reception driver；Gear position sensor is to detect gearbox
Current gear state；Revolving speed of the speed probe to detect transmission input shaft and output shaft.More than controller can be based on
Information is inputted, according to the discharge capacity and control gear-shifting actuating mechanism of certain rate-determining steps regulated variable motor 103.Wherein, variable
The discharge capacity of motor 103 is adjusted to be realized by the proportion magnetic valve on control variable displacement motor 103；Gear-shifting actuating mechanism includes gear shift electricity
Magnet valve, hydraulic cylinder etc., controller pass through the powering state of control gear-shifting solenoid valve, and hydraulic cylinder comes in realization shift mechanism
Return is dynamic, to realize the gear shift of gearbox.
From control method and process, which needs to distinguish the process of upshift and downshift, and respective process is as follows:
(1) shifting up operation, as shown in Figure 2.
Step S101, gear shift button push two grades；
Since the program is based on two grades of gearboxes, so shifting up operation, which refers to, is upgraded to two grades by one grade, shifting up operation needs
Gear shift button is pushed into two file locations by driver, just will start upshift program.
Step S102, shift condition detection；
Controller carries out shift condition detection, no if output speed allows gear shift within the adjusting of new gear bands
Do not allow gear shift then.
The discharge capacity of motor is adjusted to 0cc/r by step S103.
Step S104,2 grades of solenoid valve power-up, 1 grade of solenoid valve power-off；
Gear-shifting solenoid valve control, former one grade of solenoid valve power loss, two grades of solenoid valves obtain electric.
Step S105, speed sync in gearbox；
It relies on synchronizer in gearbox to work, realizes that gearbox outputs and inputs the synchronization of speed.
Step S106,2 grades of realization engagements；
New gear is at a fully engaged, and gear shift is completed.
Step S107 controls motor displacement by new gear and speed requirement；
Variable displacement motor discharge capacity is adjusted to and matches new gear transmission ratio and speed requirement by system.
(2) downshift process, as shown in Figure 3.
Step S201, gear shift button push one grade；
Since the program is based on two grades of gearboxes, so downshift process, which refers to, is upgraded to one grade by two grades, downshift process needs
Gear shift button is pushed into a file location by driver, just will start downshift program.
Step S202, shift condition detection；
Controller carries out shift condition detection, no if output speed allows gear shift within the adjusting of new gear bands
Do not allow gear shift then.
Motor displacement is set to 0cc/r by step S203.
Step S204,1 grade of solenoid valve power-up, 2 grades of solenoid valve power-off；
Gear-shifting solenoid valve control, former 2 grades of solenoid valve power loss, 1 grade of solenoid valve obtains electric.
Step S205, motor displacement are adjusted to about 60% maximum pump discharge, speed sync in gearbox；
Variable displacement motor discharge capacity is quickly adjusted to about 60% maximum pump discharge, for supporting the synchronously control of gearbox, so
Pull back to 0 again afterwards.It relies on synchronizer in gearbox to work, realizes that gearbox outputs and inputs the synchronization of speed.
Step S206,1 grade of realization engagement；
New gear is at a fully engaged, and gear shift is completed.
Step S207 controls motor displacement by new gear and speed requirement；
Variable displacement motor discharge capacity is adjusted to and matches new gear transmission ratio and speed requirement by system.
There are following technical problems for above-mentioned prior art:
(1) firstly, the technology needs the gearbox of tape synchronizer, compared to the change of not tape synchronizer from system composition
Fast case, the disadvantage is that price is high, high failure rate.
(2) in gearshift procedure, control system needs first to adjust the discharge capacity of motor to 0, needs the discharge capacity simultaneously by pump
It adjusts and otherwise pumps the hydraulic oil of output to 0 and can rapidly result in the overflow of system, cause the heavy load of engine.It is asked to solve this
It inscribes, has selected a more special hydraulic pump in the above technology, reduced discharge capacity automatically when pressure is higher.In this case,
On the one hand certain overflow and energy loss can inevitably be caused in gearshift procedure；On the other hand it is special to need to select
Pump, system suitability are poor.
(3) the step of the step of upshifing and downshift, has any different, and during downshift, in order to meet synchronous requirement, needs
Motor is quickly adjusted to 60% maximum pump discharge from 0 discharge capacity, is then adjusted back again to 0, process is complicated, proposes more to software design
High requirement.Simultaneously because the response characteristic that motor itself is adjusted theoretically needs the time of 200ms or so from 0 to 60%,
Increase total time required for gear shift.
Therefore, how to make the gearbox of not tape synchronizer that can also realize the gear shift in advancing, while the row without will pump
Amount is adjusted to 0, reduces total time required for gear shift, becomes those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of mobile gear-shifting control method of hydrostatic transmissions and system, with
So that the gearbox of tape synchronizer can also not realize the gear shift in advancing, while it is not necessary that the discharge capacity of pump is adjusted to 0, reducing gear shift
Required total time.
To achieve the above object, the invention provides the following technical scheme:
A kind of mobile gear-shifting control method of hydrostatic transmissions, comprising:
Load shedding step reduces the pressure differential Δ p between motor high-pressure side and low-pressure side when needing gear shift；
Switch neutral gear step, when the Δ p is down to preset pressure, is switched to neutral state；
Synchronously control step controls the revolving speed of motor, under the premise of being based on target gear transmission ratio, so that gearbox inputs
The revolving speed of axis and the revolving speed of output shaft of gear-box are synchronous；
Target gear step, is switched to target gear.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, the load shedding step specifically:
Accelerate if gear shift vehicle in front is in or drive at a constant speed state, Δ p > 0 then reduces the travel speed of vehicle；If gear shift
Vehicle in front is in deceleration or on-position, Δ p < 0 then increase the travel speed of vehicle.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, closed-loop control is used to the adjusting of Δ p, it is defeated
Enter for Δ p, export as the regulated quantity to travel speed demand, which is superimposed with the travel speed before load shedding, obtains hydraulic
The control discharge capacity of pump or motor.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, the revolving speed and gearbox of transmission input shaft
The revolving speed of output shaft is synchronous are as follows: nHMWith nGearOut·inewDifference absolute value be lower than preset difference value, nHMFor motor rotary speed,
nGearOut·inewFor the product of output shaft of gear-box revolving speed and new gear transmission ratio.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, the revolving speed of motor passes through closed-loop control.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, the range of the preset pressure is -30bar
~+30bar.
It preferably, further include changing before the load shedding step in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions
Shelves condition judgment step then carries out load shedding step when meeting shift condition, and the shift condition includes:
1) required hydrostatic under the premise of maintaining current vehicle speed because of the variation of transmission ratio before and after gear shift
The regulated quantity of system can be within the scope of it be adjusted；
2) because of the variation of transmission ratio, under the premise of maintaining present load, the pressure of hydrostatic pressure system before and after gear shift
Power does not exceed the maximum limit pressing pressure of system.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, before the shift condition judgment step
It further include gear shift request detecting step, the gear shift request detecting step is the state for detecting Gear-shift switch, is opened in the gear shift
When the state of pass changes or is not inconsistent with actual-gear, then shift condition judgment step is executed.
It preferably, further include timed process in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, the timed process
If the step does not complete within a preset time, to quote for carrying out timing to other each steps in addition to timed process
The step time out fault.
Preferably, in the mobile gear-shifting control method of above-mentioned hydrostatic transmissions, in stationary vehicle, if necessary to gear shift,
And vehicle is in neutral state, controls hydraulic pump to preset displacement operation, then performance objective gear step.
A kind of mobile shift control of hydrostatic transmissions, comprising:
It is respectively used to the pressure sensor of the high-pressure side of detection motor and the pressure of low-pressure side；
For detecting the input speed sensor of motor or transmission input shaft revolving speed, the input speed sensor detection
The tachometer value arrived is the first revolving speed；
For detecting the output speed probe of output shaft of gear-box revolving speed, what the output speed probe detected turns
Speed value is the second revolving speed；
Controller, when the Gear-shift switch state of vehicle changes, the controller is used to adjust the traveling speed of vehicle
Degree, when the Δ p is down to preset pressure, controls gearbox to reduce the pressure differential Δ p between motor high-pressure side and low-pressure side
Gear shifting operator be switched to neutral state, then control the revolving speed of motor, based under the premise of target gear transmission ratio so that
First revolving speed is synchronous with the second revolving speed, then controls gear shifting operator and is switched to target gear.
Preferably, in the mobile shift control of above-mentioned hydrostatic transmissions, become in the Gear-shift switch state of vehicle
When change, the controller is used in Δ p > 0, reduces the output displacement of hydraulic pump；In Δ p < 0, increase the output row of hydraulic pump
Amount.
Preferably, in the mobile shift control of above-mentioned hydrostatic transmissions, first revolving speed is based on the second revolving speed
It is synchronous under the premise of target gear transmission ratio are as follows: nHMWith nGearOut·inewDifference absolute value be lower than preset difference value；Wherein,
nHMFor motor rotary speed, nGearOut·inewFor the product of output shaft of gear-box revolving speed and new gear transmission ratio.
Preferably, in the mobile shift control of above-mentioned hydrostatic transmissions, the range of the preset pressure is -30bar
~+30bar.
Preferably, in the mobile shift control of above-mentioned hydrostatic transmissions, the controller is also used to shift condition and sentences
It is disconnected, when meeting shift condition, gearshift control is just carried out, the shift condition includes:
1) required hydrostatic under the premise of maintaining current vehicle speed because of the variation of transmission ratio before and after gear shift
The regulated quantity of system can be within the scope of it be adjusted；
2) because of the variation of transmission ratio, under the premise of maintaining present load, the pressure of hydrostatic pressure system before and after gear shift
Power does not exceed the maximum limit pressing pressure of system.
It preferably, further include for detecting shelves locating for gearbox in the mobile shift control of above-mentioned hydrostatic transmissions
Position gear position sensor, the controller be used for the Gear-shift switch state change or with actual-gear not
Fu Shi then carries out shift condition judgement.
Preferably, in the mobile shift control of above-mentioned hydrostatic transmissions, in stationary vehicle, if necessary to gear shift,
And vehicle is in neutral state, the controller controls the hydraulic pump to preset displacement operation, then controls gear shifting operator
It is switched to target gear.
It preferably, further include timer in the mobile shift control of above-mentioned hydrostatic transmissions, the timer is to use
Timing is carried out in the execution time of each instruction to the controller, if the instruction does not complete within a preset time, is quoted
The instruction time out fault.
It can be seen from the above technical scheme that the mobile gear-shifting control method of hydrostatic transmissions provided by the invention, is needing
When wanting gear shift, progress load shedding processing first, i.e. pressure differential Δ p between reduction motor high-pressure side and low-pressure side, so that Δ p is low
To preset pressure, so that be decreased to can be with for the torque that torque or gearbox that motor applies gearbox are applied to motor
It enables selector fork that can transfer to from the engagement of old shifting gear, neutral state is then switched to, to cut off the input of gearbox
Power transmitting between axis and output shaft.Then the revolving speed for controlling motor, under the premise of being based on target gear transmission ratio, so that becoming
The revolving speed of fast case input shaft is synchronous with the revolving speed of output shaft of gear-box, makes itself and target gear so as to stir selector fork
Gear engagement, avoids the occurrence of the case where can not engaging or beating tooth.Hydrostatic load shedding step in the present invention realizes clutch
Effect, synchronously control step realizes the effect of synchronizer, in gearshift procedure, it is not necessary that the discharge capacity of pump is adjusted to 0, also without
Special hydraulic pump need to be used, it is only necessary to which the pressure difference for reducing motor high and low pressure side reduces shift time.The present invention makes
Gearbox is not with clutch and synchronizer, and structure is simply universal, and cost is relatively low, has in the solution of hydrostatic drive
Comparable cost advantage, and entire gearshift procedure fully automated can be realized, shift time can 500ms~800ms it
Between, but guarantee that the speed in the rapidity and gearshift procedure of gear shift is smooth.
The technical effect of the mobile shift control of hydrostatic transmissions provided by the invention, can refer to above-mentioned hydrostatic transmissions
The technical effect of mobile gear-shifting control method.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of static hydraulic drive system in the prior art；
Fig. 2 is the upshift flow chart of the mobile gear-shifting control method of hydrostatic transmissions in the prior art；
Fig. 3 is the downshift flow chart of the mobile gear-shifting control method of hydrostatic transmissions in the prior art；
Fig. 4 is the structural schematic diagram of static hydraulic drive system provided in an embodiment of the present invention；
Fig. 5 is the flow chart of the mobile gear-shifting control method of hydrostatic transmissions provided by the embodiment of the present invention；
Fig. 6 is the flow chart of the mobile gear-shifting control method of hydrostatic transmissions provided by another embodiment of the present invention.
Wherein, 101 be engine, and 102 be variable pump, and 103 be variable displacement motor, and 104 be synchronizer；
201 be hydraulic pump, and 202 be motor, and 203 be controller, and 204 be Gear-shift switch, and 205 be gear position sensor,
206 be gear-shifting solenoid valve, and 207 be gear shifting operator, and 208 be output speed probe, and 209 be selector fork, and 210 be gearbox
Output shaft, 211 be pressure sensor, and 212 be output speed probe.
Specific embodiment
Core of the invention is to provide a kind of mobile gear-shifting control method of hydrostatic transmissions and system, so that without same
The gearbox of step device can also realize the gear shift in advancing, while it is not necessary that the discharge capacity of pump is adjusted to 0, reduce total required for gear shift
Time.
Hereinafter, being illustrated referring to attached drawing to embodiment.In addition, embodiments illustrated below is not to recorded in claim
Summary of the invention rise any restriction effect.In addition, the full content of composition represented by following example is not limited to as right
Necessary to the solution invented documented by it is required that.
Referring to Fig. 5, Fig. 5 is the process of the mobile gear-shifting control method of hydrostatic transmissions provided by the embodiment of the present invention
Figure.
The embodiment of the invention discloses a kind of mobile gear-shifting control methods of hydrostatic transmissions, comprising steps of
S301: Gear-shift switch gear shift request；
The gear shift request of real-time detection driver, once Gear-shift switch state change (such as switch to 2 grades by 1 grade, or
Person switches to 1 grade by 2 grades), or detect that driving switch state and actual-gear are not inconsistent, then gearshift procedure starts.
S302: the load shedding control of hydrostatic pressure system；
Since motor in hydrostatic pressure system and transmission input shaft are rigidly connected, before gear shift, vehicle, which is in advance, works as
In, there is torque transmitting between motor and transmission input shaft, selector fork can not be transferred to from the engagement of old shifting gear, this
Be after needing vehicle to come to a complete stop in current solution again gear shift the reason of.Hydrostatic load shedding reduces motor and gearbox is defeated
Enter the torque between axis to 0 (perfect condition), can usually be reduced to a preset value, can be selected according to different vehicles should
Preset value, as long as it can ensure that selector fork is transferred to from old shifting gear engagement.Due to the output torque of motor
It is in a linear relationship with the discharge capacity of motor, so reducing the torque output of motor when needing gear shift, motor high-pressure side can be reduced
Pressure differential deltap p between low-pressure side specifically can reduce pressure differential Δ p by adjusting Vehicle Speed demand.
Due in the solution of hydrostatic drive, under fixed gear, Vehicle Speed and hydraulic pump and motor
Discharge capacity than directly proportional, the regulative mode of hydraulic pump and motor is: motor displacement being first set as maximum when starting, the row of hydraulic pump
Amount is gradually increased from 0, and speed gradually rises；Start to gradually decrease motor displacement when hydraulic pump discharge reaches maximum, speed after
Continuous to gradually rise, when motor displacement reaches minimum setting value, speed reaches maximum.Whole process hydraulic pump and motor displacement ratio
It is being gradually increased.Once travel speed demand determines, the discharge capacity of hydraulic pump and motor respectively is also assured that.Above traveling
Speed requirement is the discharge capacity ratio of hydraulic pump and motor.Conversion between travel speed demand and hydraulic pump/motor discharge capacity ratio is closed
System can be calculated with following formula:
Wherein, r is travel speed demand, qPump_maxFor the maximum pump discharge of pump, qMotor_minFor the minimum setting row of motor
Amount, qPump_max/qMotor_minFor the maximal regulated ability of hydraulic system, it is ensured that vehicle reaches max. speed.
When enter hydrostatic pressure system load shedding control the step for moment, travel speed demand is freezed, that is, is
System no longer responds the drive demand of driver.The control of hydrostatic pressure system load shedding is on the basis of the travel speed demand freezed to Δ
P carries out closed-loop control, as Δ p > 0, will persistently reduce travel speed demand；As Δ p < 0, will continue to increase travel speed is needed
It asks.It is worth further illustrating, the load shedding control of hydrostatic pressure system, which needs to be continued until, switches to neutral gear completion, to keep away
Exempt from Δ p during being switched to neutral gear and has exceeded corresponding range again.
S303: neutral gear is switched to；
When the Δ p is down to preset pressure, it is switched to neutral state, preset pressure needs are done not according to different vehicles
Same setting, as long as it can ensure that selector fork is transferred to from old shifting gear engagement.The range of the preset pressure
- 30bar~+30bar can be taken, i.e., when Δ p is fallen between -30bar~+30bar, neutral state, Huo Zhe can be switched to
When the absolute value of Δ p is lower than 30bar, it is switched to neutral state.It should be noted that preset pressure be not limited to -30bar~
This range of+30bar needs to be adjusted according to different vehicles, as long as realizing that selector fork is detached from, engages.
S304: synchronously control；
By the control of S303, motor is detached from output shaft of gear-box, and vehicle drives gearbox under effect of inertia
Output shaft rotation, will realize the engagement of new gear, need to control transmission ratio and speed change that motor rotary speed makes it based on target gear
The output shaft of case keeps synchronizing.The control of motor rotary speed is real by adjusting travel speed demand (pumping the discharge capacity ratio with motor)
It is existing, because in hydrostatic drive, the relationship such as following formula of the revolving speed of motor with hydraulic pump and motor displacement ratio:
In formula, nMotorFor motor rotary speed, nDieselFor engine speed, qPumpFor the setting discharge capacity of pump, qMotorFor motor
Set discharge capacity.
S305: it is switched to target gear；
The powering state of controllable gear-shifting solenoid valve, gear shifting operator drive selector fork to be switched to target gear positions.
S306: hydraulic system is controlled by new gear and speed requirement；
HYDRAULIC CONTROL SYSTEM is carried out according to new gear state and speed requirement, is adjusted according to the transmission ratio of new gear hydraulic
The discharge capacity of pump and motor realizes the speed control to vehicle.In order to guarantee to have just enter into the speed continuity of new gear moment, need
According to the discharge capacity of certain slope adjustment hydraulic pump and motor, it is gradually transitions the regulation of hydraulic system amount of target.
The mobile gear-shifting control method of hydrostatic transmissions provided by the invention, when needing gear shift, progress load shedding processing first,
The pressure differential Δ p between motor high-pressure side and low-pressure side is reduced, so that Δ p is down to preset pressure, so that motor pair
The torque that the torque or gearbox that gearbox applies are applied to motor is decreased to enable selector fork can be from old gear
It is transferred in gear engagement, then switches to neutral state, to cut off the transmitting of the power between the input shaft of gearbox and output shaft.
Then the revolving speed for controlling motor, under the premise of being based on target gear transmission ratio, so that the revolving speed and gearbox of transmission input shaft
The revolving speed of output shaft is synchronous, engages it with the gear of target gear so as to stir selector fork, avoiding the occurrence of can not nibble
The case where closing or beating tooth.Hydrostatic load shedding step in the present invention realizes the effect of clutch, and synchronously control step is realized
The effect of synchronizer it is not necessary that the discharge capacity of pump is adjusted to 0, without special hydraulic pump is used, only needs in gearshift procedure
The pressure difference for reducing motor high and low pressure side, reduces shift time.The gearbox that the present invention uses it is not with clutch and
Synchronizer, structure is simply universal, and cost is relatively low, there is comparable cost advantage in the solution of hydrostatic drive, and
Entire gearshift procedure fully automated can realize that shift time can guarantee the quick of gear shift between 500ms~800ms
Speed in property and gearshift procedure is smooth.
In a specific embodiment of the invention, step S302 specifically:
Accelerate if gear shift vehicle in front is in or drive at a constant speed state, illustrates that motor pushes gearbox rotation, at this time Δ p > 0,
Then reduce the travel speed of vehicle；If gear shift vehicle in front is in deceleration or on-position, illustrate that motor is pushed by gearbox, at this time
Δ p < 0 then increases the travel speed of vehicle.
In an of the invention specific embodiment, closed-loop control is used to the adjusting of Δ p, inputs as Δ p, exports as to traveling
The regulated quantity of speed requirement, the regulated quantity are superimposed with the travel speed before load shedding, obtain the control discharge capacity of hydraulic pump or motor.One
Denier shows that the mutual torque between motor and gearbox is sufficiently small when detecting the absolute value of Δ p lower than preset pressure,
Selector fork can be allowed easily to be disengaged from state and return to neutral position.
Preferably, the revolving speed of transmission input shaft and the revolving speed of output shaft of gear-box are synchronous are as follows: nHMWith nGearOut·
inewDifference absolute value be lower than preset difference value, can stir selector fork engages it with the gear of target gear, nHMFor horse
Up to revolving speed, nGearOut·inewFor the product of output shaft of gear-box revolving speed and new gear transmission ratio.The setting of the preset difference value can root
It is set according to different vehicles, as long as can guarantee that selector fork is allowed easily to be detached from, engage.
In view of the variation of hydraulic pump and motor volumetric efficiency, single pass-through enables nHMWith nGearOut·inewDifference it is absolute
Value is adjusted lower than preset difference value may have deviation, can increase a closed-loop control according to actual needs to actual horse
Further fine tuning is done up to revolving speed, is rapidly achieved synchronous purpose to realize.It is worth further illustrating, synchronously control needs
Step S305 is continued until, to guarantee that the moment keeps speed sync during being switched to target gear.
Another embodiment of the present invention discloses a kind of mobile gear-shifting control method of hydrostatic transmissions, comprising steps of
S401: Gear-shift switch gear shift request；
The gear shift request of real-time detection driver, once Gear-shift switch state change (such as switch to 2 grades by 1 grade, or
Person switches to 1 grade by 2 grades), or detect that driving switch state and actual-gear are not inconsistent, then gearshift procedure starts.
S402: shift condition detection；
When meeting shift condition, then step S403 is carried out, the shift condition includes:
1) required hydrostatic under the premise of maintaining current vehicle speed because of the variation of transmission ratio before and after gear shift
The regulated quantity of system can be within the scope of it be adjusted；
2) because of the variation of transmission ratio, under the premise of maintaining present load, the pressure of hydrostatic pressure system before and after gear shift
Power does not exceed the maximum limit pressing pressure of system.
S403: the load shedding control of hydrostatic pressure system；
Since motor in hydrostatic pressure system and transmission input shaft are rigidly connected, before gear shift, vehicle, which is in advance, works as
In, there is torque transmitting between motor and transmission input shaft, selector fork can not be transferred to from the engagement of old shifting gear, this
Be after needing vehicle to come to a complete stop in current solution again gear shift the reason of.Hydrostatic load shedding reduces motor and gearbox is defeated
Enter the torque between axis to 0 (perfect condition), can usually be reduced to a preset value, can be selected according to different vehicles should
Preset value, as long as it can ensure that selector fork is transferred to from old shifting gear engagement.Due to the output torque of motor
It is in a linear relationship with the discharge capacity of motor, so reducing the torque output of motor when needing gear shift, motor high-pressure side can be reduced
Pressure differential deltap p between low-pressure side specifically can reduce pressure differential Δ p by adjusting Vehicle Speed mode.
S404: neutral gear is switched to；
When the Δ p is down to preset pressure, it is switched to neutral state, preset pressure needs are done not according to different vehicles
Same setting, as long as it can ensure that selector fork is transferred to from old shifting gear engagement.The range of the preset pressure
- 30bar~+30bar can be taken, i.e., when Δ p is fallen between -30bar~+30bar, neutral state, Huo Zhe can be switched to
When the absolute value of Δ p is lower than 30bar, it is switched to neutral state.It should be noted that preset pressure be not limited to -30bar~
This range of+30bar needs to be adjusted according to different vehicles, as long as realizing that selector fork is detached from, engages.
S405: synchronously control；
By the control of S404, motor is detached from output shaft of gear-box, and vehicle drives gearbox under effect of inertia
Output shaft rotation, will realize the engagement of new gear, need to control transmission ratio and speed change that motor rotary speed makes it based on target gear
The output shaft of case keeps synchronizing.The control of motor rotary speed is real by adjusting travel speed demand (pumping the discharge capacity ratio with motor)
It is existing, because in hydrostatic drive, the relationship such as following formula of the revolving speed of motor with hydraulic pump and motor displacement ratio:
In formula, nMotorFor motor rotary speed, nDieselFor engine speed, qPumpFor the setting discharge capacity of pump, qMotorFor motor
Set discharge capacity.
S406: it is switched to target gear；
The powering state of controllable gear-shifting solenoid valve, gear shifting operator drive selector fork to be switched to target gear positions.
S407: hydraulic system is controlled by new gear and speed requirement；
HYDRAULIC CONTROL SYSTEM is carried out according to new gear state and speed requirement, is adjusted according to the transmission ratio of new gear hydraulic
The discharge capacity of pump and motor realizes the speed control to vehicle.In order to guarantee to have just enter into the speed continuity of new gear moment, need
According to the discharge capacity of certain slope adjustment hydraulic pump and motor, it is gradually transitions the regulation of hydraulic system amount of target.
In order to avoid a certain step is unable to complete always under the abnormal conditions such as failure because of certain components, and lead to control process
The case where having reached an impasse further includes timed process in an of the invention specific embodiment, and the timed process is for removing timing
Other each steps outside step carry out timing, if the step does not complete within a preset time, quote the step time out fault,
To remind driver to restart or debugging maintenance.
Detect the case where gear is in neutral state (as just switched in last gearshift procedure when static for vehicle
But it is aborted to neutral gear), it needs to carry out specially treated to such situation.At this time if there is gear shift request, neutral gear is switched to
And before the step of, is equivalent to and has been automatically performed, and enters synchronously control step at this time, and since vehicle is static, if
Synchronous velocity control can keep motor static and enter to switch to target gear.If but at this time the key teeth of selector fork not with
The keyway of target shifting gear is aligned, and controlling gear shifting operator at this time certainly can not be real by the movement of gear switch to target gear
It is existing, and eventually lead to reporting an error for gearshift procedure.
Therefore the mode of speed sync in this case is not to maintain that motor is static, but allow hydraulic pump have one it is small
Discharge capacity (i.e. control hydraulic pump is to preset displacement operation), allows motor with the speed rotation of a very little, while gear shifting operator pushes away
Dynamic selector fork, once key teeth and keyway alignment, being switched to target gear can be smoothly completed.Default discharge capacity is not necessarily to too greatly, as long as
Motor rotates a low-angle, that is, can guarantee key teeth and keyway alignment, can realize that gear shifting operator pushes selector fork in this way
Gear shift.
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of static hydraulic drive system provided in an embodiment of the present invention.
The mobile shift control of hydrostatic transmissions disclosed by the embodiments of the present invention includes pressure sensor 211, input turn
Fast sensor 212, output speed probe 208 and controller 203.
Pressure sensor 211 is the pressure of two high-pressure sides for being respectively used to detection motor and low-pressure side.Input speed passes
Sensor 212 is used to detect the revolving speed of motor 202 or transmission input shaft, and the tachometer value that input speed sensor 212 detects is
First revolving speed；Output speed probe 208 is used to detect the revolving speed of output shaft of gear-box, and output speed probe 208 detects
Tachometer value be the second revolving speed.
When 204 state of Gear-shift switch of vehicle changes, controller 203 is used to adjust the travel speed of vehicle, with
The pressure differential Δ p between 202 high-pressure side of motor and low-pressure side is reduced, when Δ p is down to preset pressure, controls the gear shift of gearbox
Actuator 207 is switched to neutral state (gear shifting operator 207 passes through 206 control action of gear-shifting solenoid valve), then controls motor
202 revolving speed, so that the first revolving speed is synchronous with the second revolving speed, then controls gear shift based under the premise of target gear transmission ratio
Actuator 207 is switched to target gear.
Since motor 202 in hydrostatic pressure system and transmission input shaft are rigidly connected, before gear shift, vehicle, which is in, advances
In the middle, there is torque transmitting between motor 202 and transmission input shaft, selector fork 209 can not be from the engagement of old shifting gear
Transfer to, this be also after needing vehicle to come to a complete stop in current solution again gear shift the reason of.Hydrostatic load shedding reduces motor
Torque between 202 and transmission input shaft can usually be reduced to a preset value to 0 (perfect condition), can be according to not
Same vehicle selects the preset value, as long as it can ensure that selector fork 209 is transferred to from old shifting gear engagement.By
It is in a linear relationship in the output torque of motor 202 and the discharge capacity of motor 202, so reducing the torsion of motor 202 when needing gear shift
Square output, can reduce the pressure differential deltap p between 202 high-pressure side of motor and low-pressure side, specifically can be by adjusting Vehicle Speed
Mode reduces pressure differential Δ p.
When the Δ p is down to preset pressure, it is switched to neutral state, preset pressure needs are done not according to different vehicles
Same setting, as long as it can ensure that selector fork 209 is transferred to from old shifting gear engagement.The model of the preset pressure
- 30bar~+30bar can be taken by enclosing, i.e., when Δ p is fallen between -30bar~+30bar, can be switched to neutral state, or
When the absolute value of Δ p is lower than 30bar, it is switched to neutral state.It should be noted that preset pressure is not limited to -30bar
This range of~+30bar needs to be adjusted according to different vehicles, as long as realizing that selector fork 209 is detached from, engages.
Controller 203 control gearbox gear shifting operator 207 be switched to neutral state after, motor 202 with change
Fast case output shaft 210 is detached from, and vehicle drives output shaft of gear-box 210 to rotate under effect of inertia, to realize the engagement of new gear,
It is synchronous with the holding of the output shaft of gearbox to need to control the transmission ratio that motor rotary speed makes it based on target gear.The control of motor rotary speed
System, which passes through, adjusts travel speed demand (i.e. the discharge capacity ratio of hydraulic pump 201 and motor 202) realization, because in hydrostatic drive,
Relationship such as following formula of the revolving speed of motor 202 with hydraulic pump 201 and motor displacement ratio:
In formula, nMotorFor motor rotary speed, nDieselFor engine speed, qPumpFor the setting discharge capacity of pump, qMotorFor motor
Set discharge capacity.
After the control gear shifting operator 207 of controller 203 is switched to target gear, then adjusted according to the transmission ratio of new gear
The discharge capacity of hydraulic pump 201 and motor 202 realizes the speed control to vehicle.In order to guarantee that the speed for having just enter into new gear moment connects
Coherence needs to be gradually transitions the hydraulic system of target according to the discharge capacity of certain slope adjustment hydraulic pump 201 and motor 202
Regulated quantity.
Due in the solution of hydrostatic drive, under fixed gear, Vehicle Speed and hydraulic pump 201 and horse
Up to 202 discharge capacity than directly proportional, hydraulic pump 201 and the regulative mode of motor 202 are: being first set as motor displacement most when starting
Greatly, the discharge capacity of hydraulic pump 201 is gradually increased from 0, and speed gradually rises；Start gradually when 201 discharge capacity of hydraulic pump reaches maximum
The discharge capacity of motor 202 is reduced, speed continues to gradually rise, and speed reaches most when the discharge capacity of motor 202 reaches minimum setting value
Greatly.Whole process hydraulic pump 201 and the discharge capacity ratio of motor 202 are being gradually increased.Once travel speed demand determines, hydraulic pump
201 and the discharge capacity of motor 202 respectively be also assured that.Above travel speed demand is hydraulic pump 201 and motor 202
Discharge capacity ratio.Conversion relation between travel speed demand and hydraulic pump/motor discharge capacity ratio can be calculated with following formula:
Wherein, r is travel speed demand, qPump_maxFor the maximum pump discharge of pump, qMotor_minFor the minimum setting row of motor
Amount, qPump_max/qMotor_minFor the maximal regulated ability of hydraulic system, it is ensured that vehicle reaches max. speed.
When the load shedding for entering hydrostatic pressure system controls moment of this instruction, travel speed demand is freezed, that is, is
System no longer responds the drive demand of driver.The control of hydrostatic pressure system load shedding is on the basis of the travel speed demand freezed to Δ
P carries out closed-loop control, as Δ p > 0, will persistently reduce travel speed demand；As Δ p < 0, will continue to increase travel speed is needed
It asks.It is worth further illustrating, the load shedding control of hydrostatic pressure system, which needs to be continued until, switches to neutral gear completion, to keep away
Exempt from Δ p during being switched to neutral gear and has exceeded corresponding range again.
In a specific embodiment of the invention, when 204 state of Gear-shift switch of vehicle changes, controller 203 is used
In in Δ p > 0, the output displacement of hydraulic pump 201 is reduced；In Δ p < 0, increase the output displacement of hydraulic pump 201.If before gear shift
Vehicle, which is in, to be accelerated or drives at a constant speed state, illustrates that motor 202 pushes gearbox rotation, Δ p > 0, then reduce the row of vehicle at this time
Sail speed；If gear shift vehicle in front is in deceleration or on-position, illustrate that motor 202 is pushed by gearbox, Δ p < 0, then increase at this time
The travel speed of big vehicle.
In a specific embodiment of the invention, the first revolving speed and the second revolving speed are based on same under the premise of target gear transmission ratio
Step are as follows: nHMWith nGearOut·inewDifference absolute value be lower than preset difference value；Wherein, nHMFor motor rotary speed, nGearOut·inew
For the product of output shaft of gear-box revolving speed and new gear transmission ratio.The setting of the preset difference value can be set according to different vehicles,
As long as can guarantee that selector fork is allowed easily to be detached from, engage.
In view of the variation of 202 volumetric efficiency of hydraulic pump 201 and motor, single pass-through enables nHMWith nGearOut·inewDifference
Absolute value be adjusted lower than preset difference value and may have deviation, a closed-loop control can be increased according to actual needs to reality
The motor rotary speed on border does further fine tuning, is rapidly achieved synchronous purpose to realize.It is worth further illustrating, synchronous control
System needs to be continued until step S305, to guarantee that the moment keeps speed sync during being switched to target gear.
In a specific embodiment of the invention, controller 203 is also used to shift condition judgement, when meeting shift condition,
Gearshift control is just carried out, shift condition includes:
1) required hydrostatic under the premise of maintaining current vehicle speed because of the variation of transmission ratio before and after gear shift
The regulated quantity of system can be within the scope of it be adjusted；
2) because of the variation of transmission ratio, under the premise of maintaining present load, the pressure of hydrostatic pressure system before and after gear shift
Power does not exceed the maximum limit pressing pressure of system.
In a specific embodiment of the invention, the invention also includes the gear positions biographies for detecting gear locating for gearbox
Sensor 205, controller 203 are used for when the state of Gear-shift switch 204 changes or is not inconsistent with actual-gear, are then changed
Shelves condition judgement.The detection limit of gear position sensor 205 can also be used in the foundation that controller 203 executes next instruction.Such as
The gear shifting operator 207 that controller 203 controls gearbox is switched to neutral state, detects change in gear position sensor 205
When fast case is in neutral state, the revolving speed of motor 202 is controlled, under the premise of being based on target gear transmission ratio, so that the first revolving speed
It is synchronous with the second revolving speed, it then controls gear shifting operator 207 and is switched to target gear.It is detected in gear position sensor 205
When gearbox is in target gear, then realize according to the discharge capacity that the transmission ratio of new gear adjusts hydraulic pump 201 and motor 202 to vehicle
Speed control.
It should be noted that gear position sensor 205 can detecte out gearbox in one grade, two grades or the shape of neutral gear
State, since four-speed gear shift case needs two selector forks, therefore four-speed gear shift case needs two gear position sensors.
In a specific embodiment of the invention, in stationary vehicle, if necessary to gear shift, and vehicle is in neutral state,
Controller 203 controls hydraulic pump to preset displacement operation, then controls gear shifting operator 207 and is switched to target gear.For vehicle
Detect the case where gear is in neutral state (as being just switched to neutral gear but by exception in last gearshift procedure when static
Interrupt), it needs to carry out specially treated to such situation.At this time if there is gear shift request, controller executes synchronously control and refers at this time
It enables, and since vehicle is static, if synchronous velocity control can keep motor 202 static and enter to switch to target gear.
If but the key teeth of selector fork 209 is not aligned with the keyway of target shifting gear at this time, controls gear shifting operator 207 at this time
The movement of gear switch to target gear cannot achieve certainly, and eventually lead to reporting an error for gearshift procedure.
Therefore it is static not to be to maintain motor for the mode of speed sync in this case, but allow hydraulic pump 201 have one it is micro-
Small discharge capacity (i.e. control hydraulic pump 201 is to preset displacement operation), allows motor 202 to change simultaneously with the speed rotation of a very little
Shelves actuator 207 pushes selector fork 209, once key teeth and keyway alignment, being switched to target gear can be smoothly completed.Default row
Amount is without too big, as long as motor 202 rotates a low-angle, that is, can guarantee key teeth and keyway alignment, can realize gear shift in this way
Actuator 207 pushes 209 gear shift of selector fork.
In order to avoid a certain step is unable to complete always under the abnormal conditions such as failure because of certain components, and lead to control process
The case where having reached an impasse further includes timer in a specific embodiment of the invention, and timer is for controller 203
The execution time of each instruction carries out timing, if the instruction does not complete within a preset time, quotes the instruction time out fault, with
Prompting driver is restarted or debugging maintenance.
Controller 203 of the present invention controls hydraulic pump and the discharge capacity of motor passes through hydraulic pump and the corresponding solenoid valve reality of motor
It is existing.
Explanation is further explained to the control of gear shifting operator 207, due to the movement gear shift technology can support two grades or
Four-speed gear shift case, and each gear shifting operator 207 can support moving left and right for hydraulic valve all the way, i.e. a selector fork
209 in two movements between gear and neutral gear, therefore if it is two grades of gearbox schemes are selected, system needs a gear shift to execute
Device 207；If it is four-speed gear shift case scheme is selected, system needs two gear shifting operators 207.For some gear shifting operator
207, if neutral position control electric current is N, it is L that low gear position, which controls electric current, and high-grade position control electric current is H, then for one
A four-speed gear shift case, the control combination mode of gear shifting operator and the corresponding relationship of gear can be shown by following table:
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (16)
1. a kind of mobile gear-shifting control method of hydrostatic transmissions characterized by comprising
Shift condition judgment step then carries out load shedding step when meeting shift condition, and the shift condition includes: 1) gear shift
Front and back because transmission ratio variation, under the premise of maintaining current vehicle speed, the regulated quantity energy of required hydrostatic pressure system
Enough within the scope of it is adjusted；2) because of the variation of transmission ratio, under the premise of maintaining present load, hydrostatic before and after gear shift
The pressure of pressure system does not exceed the maximum limit pressing pressure of system；
Load shedding step reduces the pressure differential Δ p between motor high-pressure side and low-pressure side when needing gear shift；
Switch neutral gear step, when the Δ p is down to preset pressure, is switched to neutral state；
Synchronously control step controls the revolving speed of motor, under the premise of being based on target gear transmission ratio, so that transmission input shaft
Revolving speed is synchronous with the revolving speed of output shaft of gear-box；
Target gear step, is switched to target gear.
2. the mobile gear-shifting control method of hydrostatic transmissions as described in claim 1, which is characterized in that the load shedding step is specific
Are as follows:
Accelerate if gear shift vehicle in front is in or drive at a constant speed state, Δ p > 0 then reduces the travel speed of vehicle；If gear shift front truck
In slow down or on-position, Δ p < 0 then increase the travel speed of vehicle.
3. the mobile gear-shifting control method of hydrostatic transmissions as claimed in claim 2, which is characterized in that used to the adjusting of Δ p
Closed-loop control inputs as Δ p, exports as the regulated quantity to travel speed demand, and the travel speed before the regulated quantity and load shedding is folded
Add, obtains the control discharge capacity of hydraulic pump or motor.
4. the mobile gear-shifting control method of hydrostatic transmissions as described in claim 1, which is characterized in that transmission input shaft turns
Speed is synchronous with the revolving speed of output shaft of gear-box are as follows: nHMWith nGearOut·inewDifference absolute value be lower than preset difference value, nHMFor horse
Up to revolving speed, nGearOut·inewFor the product of output shaft of gear-box revolving speed and new gear transmission ratio.
5. the mobile gear-shifting control method of hydrostatic transmissions as claimed in claim 4, which is characterized in that the revolving speed of motor is by closing
Ring control.
6. the mobile gear-shifting control method of hydrostatic transmissions as described in any one in claim 1-5, which is characterized in that described default
The range of pressure difference is -30bar~+30bar.
7. the mobile gear-shifting control method of hydrostatic transmissions as described in any one in claim 1-5, which is characterized in that changed described
It further include gear shift request detecting step before shelves condition judgment step, the gear shift request detecting step is detection Gear-shift switch
State then executes shift condition judgment step when the state of the Gear-shift switch changes or is not inconsistent with actual-gear.
8. the mobile gear-shifting control method of hydrostatic transmissions as described in any one in claim 1-5, which is characterized in that further include meter
When step, the timed process is for carrying out timing to other each steps in addition to timed process, if within a preset time
The step does not complete, then quotes the step time out fault.
9. the mobile gear-shifting control method of hydrostatic transmissions as described in any one in claim 1-5, which is characterized in that quiet in vehicle
When only, if necessary to gear shift, and vehicle is in neutral state, controls hydraulic pump to preset displacement operation, then performance objective shelves
Position step.
10. a kind of mobile shift control of hydrostatic transmissions characterized by comprising
It is respectively used to the pressure sensor (211) of the high-pressure side of detection motor and the pressure of low-pressure side；
For detecting the input speed sensor (212) of motor (202) or transmission input shaft revolving speed, the input speed sensing
The tachometer value that device (212) detects is the first revolving speed；
For detecting the output speed probe (208) of output shaft of gear-box revolving speed, output speed probe (208) detection
The tachometer value arrived is the second revolving speed；
Controller (203), when meeting shift condition, the controller (203) just carries out gearshift control, the shift condition packet
It includes: 1) because of the variation of transmission ratio, under the premise of maintaining current vehicle speed, required hydrostatic pressure system before and after gear shift
Regulated quantity can be within the scope of it be adjusted；2) because of the variation of transmission ratio before and after gear shift, before maintaining present load
It puts, the pressure of hydrostatic pressure system does not exceed the maximum limit pressing pressure of system；Occur in Gear-shift switch (204) state of vehicle
When variation, the controller (203) is used to adjust the travel speed of vehicle, with reduce motor (202) high-pressure side and low-pressure side it
Between pressure differential Δ p, when the Δ p is down to preset pressure, the gear shifting operator (207) for controlling gearbox is switched to neutral gear shape
Then state controls the revolving speed of motor (202), under the premise of being based on target gear transmission ratio, so that the first revolving speed and the second revolving speed
It is synchronous, it then controls gear shifting operator (207) and is switched to target gear.
11. the mobile shift control of hydrostatic transmissions as claimed in claim 10, which is characterized in that opened in the gear shift of vehicle
When (204) state of closing changes, the controller (203) is used in Δ p > 0, reduces the output displacement of hydraulic pump (201)；
In Δ p < 0, increase the output displacement of hydraulic pump (201).
12. the mobile shift control of hydrostatic transmissions as claimed in claim 10, which is characterized in that first revolving speed with
Second revolving speed is based on synchronizing under the premise of target gear transmission ratio are as follows: nHMWith nGearOut·inewDifference absolute value lower than pre-
If difference；Wherein, nHMFor motor rotary speed, nGearOut·inewFor the product of output shaft of gear-box revolving speed and new gear transmission ratio.
13. such as the mobile shift control of the described in any item hydrostatic transmissions of claim 10-12, which is characterized in that described
The range of preset pressure is -30bar~+30bar.
14. such as the mobile shift control of the described in any item hydrostatic transmissions of claim 10-12, which is characterized in that also wrap
The gear position sensor (205) for detecting gear locating for gearbox is included, the controller (203) in the gear shift for opening
When the state of pass (204) changes or is not inconsistent with actual-gear, then shift condition judgement is carried out.
15. such as the mobile shift control of the described in any item hydrostatic transmissions of claim 10-12, which is characterized in that in vehicle
When static, if necessary to gear shift, and vehicle is in neutral state, and the controller (203) controls the hydraulic pump with default
Then displacement operation controls gear shifting operator (207) and is switched to target gear.
16. such as the mobile shift control of the described in any item hydrostatic transmissions of claim 10-12, which is characterized in that also wrap
Timer is included, the timer is the execution time progress timing for each instruction to the controller (203), if pre-
If the instruction does not complete in the time, then the instruction time out fault is quoted.
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| CN201611220199.4A CN106763743B (en) | 2016-12-26 | 2016-12-26 | A kind of mobile gear-shifting control method of hydrostatic transmissions and system |
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| DE102017211232A1 (en) * | 2017-07-03 | 2019-01-03 | Robert Bosch Gmbh | Travel drive and method for driving a traction drive |
| JP7152163B2 (en) * | 2018-02-14 | 2022-10-12 | 株式会社小松製作所 | WORK VEHICLE AND CONTROL METHOD FOR WORK VEHICLE |
| CN110281863B (en) * | 2019-06-28 | 2022-09-06 | 重庆长安汽车股份有限公司 | Automobile starting control method and computer readable storage medium |
| CN110985629B (en) * | 2019-12-26 | 2023-02-17 | 广西柳工机械股份有限公司 | Hydrostatic drive transmission system, speed change control method and loader |
| CN111412277B (en) * | 2020-04-07 | 2022-02-18 | 三一汽车制造有限公司 | Method for controlling automatic gear shifting of paver, automatic gear shifting control device and paver |
| CN114909465B (en) * | 2021-02-07 | 2024-04-16 | 广汽埃安新能源汽车有限公司 | Vehicle upshift control method, device and storage medium |
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