CN108518476A - A kind of shifting control method for wheeled tractor farming operation - Google Patents
A kind of shifting control method for wheeled tractor farming operation Download PDFInfo
- Publication number
- CN108518476A CN108518476A CN201810299389.2A CN201810299389A CN108518476A CN 108518476 A CN108518476 A CN 108518476A CN 201810299389 A CN201810299389 A CN 201810299389A CN 108518476 A CN108518476 A CN 108518476A
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- Prior art keywords
- power
- slippage rate
- closes
- clutch
- pressure
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
-
- 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
- F16H61/04—Smoothing ratio shift
- F16H61/0403—Synchronisation before shifting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
- F16H2059/506—Wheel slip
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/14—Measures for saving energy, e.g. in green houses
Abstract
The invention discloses a kind of shifting control method for wheeled tractor farming operation, different tire slippage rate when being according to tractor work carries out transmission power shift and tilling depth adjusting control；When tire slippage rate is in rational range, by carrying out power shifting to tractor speed changer to adapt to the variation of operation resistance；When tire slippage rate exceeds rational range, by equipment tilling depth adjusting control, tire slippage rate is made to be maintained at rational range, ensure that tractor can adapt to working resistance variation, continue farming operation, and engine is made to be operated in high efficient district, to improve fuel economy.
Description
Technical field
The present invention relates to tractor dynamic powers to be driven control field, and specifically a kind of guarantee wheeled tractor is continuously high-quality
Measure the shifting control method of farming operation.
Technical background
Agricultural production efficiency and quality are improved, for ensureing national base substance life requirement and improving material life water
It is flat, it has great significance.
It is to carry large-duty effective ways, but increase equipment working width and then hold to increase tractor equipment working width
Easily increase tractive resistance variation range.If transmission system is using traditional manual fixed gear speed transmission, such as soil quality
Or gather in cropping intensity unevenness and working resistance is caused to change, then shift of frequently stopping is needed, this will increase the labour of driver
Intensity, while will also substantially reduce the productivity and operation quality of tractor.By using power shifting technology, can overcome by
Frequent parking shift problem, enables tractor continuous operation, to ensure productivity and work caused by working resistance variation
Industry quality.
But it is inadequate to rely solely on power shifting, since tractor working resistance is bigger, tire slippage rate is bigger, sliding
Rate of rotation crosses conference and increases the power loss of trackslipping of tractor, destroys soil texture, aggravation tire wear, cultivating quality decline.
Under big working resistance, although individual shift of transmission can ensure that engine is operated in advantageous section, it is unable to control wheel
Tire slippage rate.
Invention content
The present invention is directed to the high-efficiency continuous problem of wheeled tractor farming operation, proposes a kind of for wheeled tractor farming
The automatic shift control method of operation, different tire slippage rate when can be according to tractor work, carries out transmission power shift
Continue farming operation, and make engine work with tilling depth adjusting control to ensure that tractor can adapt to working resistance variation
Make in high efficient district, and then improves productivity and operation quality.
The present invention is to solve technical problem to adopt the following technical scheme that：
A kind of the characteristics of shifting control method for wheeled tractor farming operation of the present invention, is：
As tire slippage rate a≤δ≤b, transmission power is carried out to wheeled tractor according to the variation of operation resistance and is changed
Gear control, makes the output power of engine and the resistance power match of operation, to ensure cultivating quality；
As tire slippage rate δ ＜ a or δ ＞ b, equipment tilling depth adjusting control is carried out to wheeled tractor, tire is made to trackslip
Rate is maintained in the zone of reasonableness of a≤δ≤b, to ensure that engine is operated in high efficient district.
The characteristics of shifting control method of the present invention, lies also in：The transmission power shift, which controls, includes：
When the operation resistance power of wheeled tractor is more than the output power of engine, then the transmission power shift is controlled
It is made as implementing power downshift control；
When the operation resistance power of wheeled tractor is less than the output power of engine, then the transmission power shift is controlled
It is made as implementing power upshift control；
The process of the power downshift control is divided into：Rotating speed synchronous phase and power switching phase；
The rotating speed synchronous phase：Detach clutch CPointBe down to critical pressure so that pressure is slowly reduced, until engage from
Clutch CIt closesPrincipal and subordinate's Moving plate rotating speed synchronizes；
The power switching phase：The engagement clutch CIt closesWith separation clutch CPointBy pressure increment shown in formula (1)
Relationship start, until the engagement clutch CIt closesPressure increase to upper pressure limit：
|ΔpPoint|=| q Δs pIt closes| (1)
Formula (1), Δ pPointFor the separation clutch CPointPressure increment, Δ pIt closesFor the engagement clutch CIt closesPressure increase
Amount, q are adjacent two gears transmission ratio ratio；
The process of the power upshift control is divided into：Power switching phase and rotating speed synchronous phase；
The power switching phase：The separation clutch CPointRemain engaged with state, the engagement clutch CIt closesGradually plus
Pressure so that power is gradually from the separation clutch CPointIt is transitioned into the engagement clutch CIt closes；
The rotating speed synchronous phase：The separation clutch C is discharged completelyPointPressure, the engagement clutch CIt closesPressure
Power continues to rise, and keeps pressure to be synchronized to complete rotating speed when reaching upper pressure limit.
The equipment tilling depth adjusting control carries out in accordance with the following methods：
As tire slippage rate δ ＜ a, by reducing equipment position, increase equipment tilling depth, to improve tire slippage rate and hair
The utilization rate of motivation power；
As tire slippage rate δ ＞ b, by lifting machinery position, reduces equipment tilling depth, to reduce operation resistance, and drop
Low tire slippage rate.
The zone of reasonableness lower limit a=0.1 and upper limit b=0.15 of the tire slippage rate.
Compared with the prior art, beneficial effects of the present invention are embodied in：
1, the present invention fully considers that wheeled tractor tillage resistance in field farming operation is changeable, it is proposed that one kind is used for
The automatic shift control method of wheeled tractor farming operation, different tire slippage rates, is become when according to tractor work
The adjusting of fast device power shifting and tilling depth jointly controls, and the tire slippage rate of tractor is made to be maintained in reasonable interval, obtain compared with
High towage efficiency.
2, the present invention, according to the variation of operation resistance, can be led to when wheeled tractor tire slippage rate is in zone of reasonableness
The elevating control that power shifting carries out gear is crossed, the output power of engine and the resistance power match of operation are made, it is automatic to adapt to
Resistance changes, and ensure that wheeled tractor continuous operation, it is ensured that cultivating quality.
3, shift process is divided into power and joins two stages synchronous with rotating speed by power shifting control according to the present invention,
A clutch slipping, another clutch is only needed to be in engagement or discrete state, advantageously reduce in shift process
Sliding abrasion is lost, and the utilization rate of engine output is improved.
4, tilling depth adjusting control according to the present invention is by monitoring tire slippage rate in real time, when slippage rate exceeds
When reasonable interval range, adjustment tilling depth improves cultivating quality and productivity to slippage rate zone of reasonableness.
Description of the drawings
Fig. 1 is the relational graph of slippage rate and propulsive efficiency under different soil；
Clutch act pressure change curve when Fig. 2 is power downshift of the present invention；
Clutch act pressure change curve when Fig. 3 is power upshift of the present invention.
Specific implementation mode
In the present embodiment, a kind of shifting control method for wheeled tractor farming operation is according to tractor work
The tire slippage rate selection of Shi Butong carries out transmission power shift or tilling depth adjusting control.When tire slippage rate is in reasonably
When range, by carrying out power shifting to tractor speed changer, ascending, descending gear is reasonably selected with suitable according to the variation of operation resistance
Answer the variation of operation resistance；When tire slippage rate exceeds rational range, by equipment tilling depth adjusting control, tire is made to trackslip
Rate is maintained at rational range, ensures that tractor can play higher propulsive efficiency, adapt to working resistance variation, continues farming
Operation, and engine is made to be operated in high efficient district, to improve fuel economy.
Below in conjunction with the accompanying drawings 1 to Fig. 3, the present invention is described in further detail：
1, by monitoring tire slippage rate δ in real time, as tire slippage rate a≤δ≤b, tire slippage rate is in reasonable model
It encloses.As shown in Figure 1, under various edaphic conditions when farming, the tire slippage rate slippage rate of wheeled tractor is maintained at 0.1~
In 0.15 range, the higher propulsive efficiency of competence exertion, then slippage rate zone of reasonableness lower limit a=0.1, upper limit b=0.15.
If 2, tire slippage rate is in zone of reasonableness, when operation resistance changes, according to the variation of operation resistance
Transmission power shift control is carried out to wheeled tractor, makes the output power of engine and the resistance power match of operation, with
Ensure that cultivating quality, transmission power shift control carry out in accordance with the following methods：
1) when output power of the operation resistance power of wheeled tractor more than engine, gear should be reduced at this time to increase
Output torque, to overcome operation resistance, then transmission power shift control is implementation power downshift control.
Power downshift control process is divided into：Rotating speed synchronous phase and power switching phase, it can be ensured that in shift process
Only there are one clutches to be in sliding state of rubbing, and is conducive to reduce sliding abrasion mistake.
In rotating speed synchronous phase：Detach clutch CPointIt is down to critical pressure so that pressure is slowly reduced, until engagement clutch
Device CIt closesPrincipal and subordinate's Moving plate rotating speed synchronizes；
In power switching phase：Engage clutch CIt closesWith separation clutch CPointMake by pressure increment relationship shown in formula (1)
It is dynamic, until engagement clutch CIt closesPressure increase to upper pressure limit
When downshift operation, clutch act pressure changes as shown in Fig. 2, t1For start time of shifting gears, t2To engage clutch
CIt closesPrincipal and subordinate's Moving plate rotating speed synchronization point, t3To engage clutch CIt closesPoint of engagement, pConjunction _ cTo engage clutch CIt closesIt rubs under state in cunning
With load TLCorresponding act pressure, pPoint _ cTo detach clutch CPointUnder sliding state of rubbing with load TLCorresponding act pressure.t1-
t2For rotating speed synchronous phase, t2-t3Join the stage for power.In t1Moment, separation clutch CPointIt is down to critical pressure, is hereafter delayed
It is slow to reduce, until in t2Moment engages clutch CIt closesPrincipal and subordinate's Moving plate rotating speed synchronizes.In t1-t2Period, separation clutch CPointIt needs
It is excessive to avoid power loss slowly to reduce pressure, engagement clutch CIt closesIt is failure to actuate to avoid parasitic power is generated.In t2-t3When
Between section, engagement clutch CIt closesWith separation clutch CPointBy formula (1) pressure increment relationship start, until engagement clutch CIt closesIt increases to
The size of upper pressure limit, upper pressure limit is adjusted by coefficient a.
2) when output power of the operation resistance power of wheeled tractor less than engine, gear should be increased at this time to reduce
Engine stand-by power, maximum play the power of engine, engine are made to be operated in high efficient district, improve the operation effect of tractor
Rate, then transmission power shift control is implementation power upshift control.
Power upshift control process is divided into：Power switching phase and rotating speed synchronous phase, it can be ensured that in shift process
Only there are one clutches to be in sliding state of rubbing, and is conducive to reduce sliding abrasion mistake.
In power switching phase：Detach clutch CPointRemain engaged with state, engagement clutch CIt closesIt gradually pressurizes so that power
Gradually from separation clutch CPointIt is transitioned into engagement clutch CIt closes；
In rotating speed synchronous phase：Release separation clutch C completelyPointPressure, engagement clutch CIt closesPressure continue to rise,
Pressure is kept to be synchronized to complete rotating speed when reaching upper pressure limit.
When upshift operation, clutch act pressure changes as shown in figure 3, t1For start time of shifting gears, t2To detach clutch
CPointAct pressure discharges moment, t3To engage clutch CIt closesPoint of engagement；A is a coefficient more than 1, pPoint _ cTo detach clutch
Device CPointUnder sliding state of rubbing with load TLCorresponding act pressure, pConjunction _ cTo engage clutch CIt closesUnder sliding state of rubbing with load TL
Corresponding act pressure.t1-t2Join stage, t for power2-t3For rotating speed synchronous phase.In t1-t2Period detaches clutch
CPointRemain engaged with state, engagement clutch CIt closesIt gradually pressurizes so that power is gradually from separation clutch CPointIt is transitioned into engagement clutch
Device CIt closes, in t2Moment, power handing-over are basically completed, completely release separation clutch CPointPressure, the moment need rationally control, if
It is too early then power loss is excessive；Conversely, then detaching clutch CPointBack transfer torque and generate parasitic power.In t2-t3Time
Section, set clutch CIt closesPressure continues to rise, and keeps pressure to complete rotating speed when reaching upper pressure limit and synchronizes, it is ensured that engagement clutch
Device CIt closesDiesel engine excess load will not be caused flame-out while complete within a short period of time because normal pressure is excessive under sliding state of rubbing
It is synchronized at rotating speed, upper pressure limit can be adjusted by coefficient a.In t3Moment, rotating speed synchronously complete, and continue growing engagement clutch
CIt closesNormal pressure with ensure engage nargin, prevent slipping of clutch.
3, tire slippage rate is related with the working resistance of wheeled tractor under identical pavement conditions, therefore tractor is certainly
Although dynamic speed change can ensure that engine is operated in advantageous section, it is unable to control tire slippage rate and is in zone of reasonableness.Work as wheel
When tire slippage rate δ ＜ a or δ ＞ b, tire slippage rate exceeds zone of reasonableness, and the output power of engine can not be played normally, draws
Machine travel efficiency is low, and when slippage rate is excessively high, and tractor skids seriously, can not only increase the power damage of trackslipping of tractor
It loses, and soil texture can be destroyed, therefore equipment tilling depth adjusting control should be carried out to wheeled tractor, tire slippage rate is made to protect
It holds in the zone of reasonableness of a≤δ≤b, to ensure that engine is operated in high efficient district.Equipment tilling depth adjusting control is in accordance with the following methods
It carries out：
1) as tire slippage rate δ ＜ a, working resistance is smaller at this time, by reduction equipment position, increases equipment tilling depth,
Increase working resistance to improve the utilization rate of tire slippage rate and engine power；
2) as tire slippage rate δ ＞ b, working resistance is larger at this time or ground is more wet and slippery, by lifting machinery position,
Reduce equipment tilling depth, to reduce operation resistance, reduce tire slippage rate, reduction is trackslipped power loss, and is reduced tire and trackslipped pair
The destruction of soil texture.
Embodiment：The present embodiment is wheeled to certain type using the shifting control method of the wheeled tractor continuous operation of the present invention
It is controlled when Field-working Tractor-implement.
Certain type wheeled tractor monitors tire slippage rate δ, a certain moment t in real time in farm work0Monitor slippage rate
It is 0.11, within the scope of the reasonable interval of defined, equipment position remains unchanged at this time, is changed according to working resistance and carries out speed change
Device power shifting controls；Tractor works on, t1Moment equipment farming is to the more hard soil of a piece of quality, working resistance
Become larger, tire slippage rate rises to 0.12, still in the reasonable scope, executes power downshift control at this time；Tractor works on,
The soil texture is more hard, and working resistance persistently increases, and slippage rate also increases, until t2Moment, tire slippage rate rise to
0.16, exceed reasonable interval, use tilling depth adjusting control at this time, equipment location-appropriate is improved, reduces tilth to reduce
Working resistance belongs to reduce slippage rate to 0.13 in reasonable interval；Tractor works on, in t3Moment farming is to a piece of
The soft field of soil property, working resistance become smaller, and slippage rate is also reduced to 0.11, within the scope of reasonable interval, equipment position at this time
It remains unchanged, executes transmission power upshift control, gear is risen into higher gear to ensure that engine is operated in high efficient district；It drags
Machine drawing works on, and the soil texture is more soft, and working resistance persistently reduces, and tire slippage rate also decreases, until t4Moment,
Tire slippage rate is reduced to 0.08, executes tilling depth adjusting control at this time, appropriate to reduce equipment position, increases tilth to increase
Working resistance is to increase slippage rate to 0.13, in reasonable interval, to ensure that tractor has higher propulsive efficiency.
In conclusion the shifting control method of wheeled tractor continuous operation using the present invention, it can be according to wheeled dilatory
The machine tire slippage rate different in farm work reasonably selects transmission power shift or tilling depth adjusting control, is effectively ensured
Wheeled tractor can adapt to working resistance variation, continue farming operation, and engine is made to be operated in high efficient district, and then improve
Productivity and operation quality.
Claims (4)
1. a kind of shifting control method for wheeled tractor farming operation, it is characterised in that：
As tire slippage rate a≤δ≤b, transmission power shift control is carried out to wheeled tractor according to the variation of operation resistance
System, makes the output power of engine and the resistance power match of operation, to ensure cultivating quality；
As tire slippage rate δ ＜ a or δ ＞ b, equipment tilling depth adjusting control is carried out to wheeled tractor, tire slippage rate is made to protect
It holds in the zone of reasonableness of a≤δ≤b, to ensure that engine is operated in high efficient district.
2. shifting control method according to claim 1, it is characterised in that：The transmission power shift, which controls, includes：
When the operation resistance power of wheeled tractor is more than the output power of engine, then the transmission power shift, which controls, is
Implement power downshift control；
When the operation resistance power of wheeled tractor is less than the output power of engine, then the transmission power shift, which controls, is
Implement power upshift control；
The process of the power downshift control is divided into：Rotating speed synchronous phase and power switching phase；
The rotating speed synchronous phase：Detach clutch CPointIt is down to critical pressure so that pressure is slowly reduced, until engagement clutch
CIt closesPrincipal and subordinate's Moving plate rotating speed synchronizes；
The power switching phase：The engagement clutch CIt closesWith separation clutch CPointBy pressure increment relationship shown in formula (1)
Start, until the engagement clutch CIt closesPressure increase to upper pressure limit：
|ΔpPoint|=| q Δs pIt closes| (1)
Formula (1), Δ pPointFor the separation clutch CPointPressure increment, Δ pIt closesFor the engagement clutch CIt closesPressure increment, q
For adjacent two gears transmission ratio ratio；
The process of the power upshift control is divided into：Power switching phase and rotating speed synchronous phase；
The power switching phase：The separation clutch CPointRemain engaged with state, the engagement clutch CIt closesIt gradually pressurizes, makes
Power is obtained gradually from the separation clutch CPointIt is transitioned into the engagement clutch CIt closes；
The rotating speed synchronous phase：The separation clutch C is discharged completelyPointPressure, the engagement clutch CIt closesPressure after
It is continuous to rise, keep pressure to be synchronized to complete rotating speed when reaching upper pressure limit.
3. shifting control method according to claim 1, it is characterised in that：The equipment tilling depth adjusting control is according to following
Method carries out：
As tire slippage rate δ ＜ a, by reducing equipment position, increase equipment tilling depth, to improve tire slippage rate and engine
The utilization rate of power；
As tire slippage rate δ ＞ b, by lifting machinery position, reduces equipment tilling depth, to reduce operation resistance, and reduce wheel
Tire slippage rate.
4. shifting control method according to claim 1, it is characterised in that：The zone of reasonableness lower limit of the tire slippage rate
A=0.1 and upper limit b=0.15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299389.2A CN108518476A (en) | 2018-03-30 | 2018-03-30 | A kind of shifting control method for wheeled tractor farming operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299389.2A CN108518476A (en) | 2018-03-30 | 2018-03-30 | A kind of shifting control method for wheeled tractor farming operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108518476A true CN108518476A (en) | 2018-09-11 |
Family
ID=63431916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810299389.2A Pending CN108518476A (en) | 2018-03-30 | 2018-03-30 | A kind of shifting control method for wheeled tractor farming operation |
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Cited By (5)
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| CN109291926A (en) * | 2018-10-26 | 2019-02-01 | 合肥工业大学 | A kind of control method for the attachment operating condition operation of wheeled tractor height |
| CN109398360A (en) * | 2018-10-26 | 2019-03-01 | 合肥工业大学 | A kind of control method for the low attachment operating condition operation of wheeled tractor |
| CN111391853A (en) * | 2020-04-03 | 2020-07-10 | 合肥工业大学 | Vehicle slip rate identification regulation and control method and system |
| CN111559377A (en) * | 2020-05-22 | 2020-08-21 | 合肥工业大学 | Speed regulation control method for double-flow transmission system of wheeled tractor |
| CN111577884A (en) * | 2020-05-28 | 2020-08-25 | 合肥工业大学 | Speed change control method for tillage operation of wheeled tractor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291926A (en) * | 2018-10-26 | 2019-02-01 | 合肥工业大学 | A kind of control method for the attachment operating condition operation of wheeled tractor height |
| CN109398360A (en) * | 2018-10-26 | 2019-03-01 | 合肥工业大学 | A kind of control method for the low attachment operating condition operation of wheeled tractor |
| CN109291926B (en) * | 2018-10-26 | 2020-04-14 | 合肥工业大学 | Control method for high-adhesion working condition operation of wheeled tractor |
| CN109398360B (en) * | 2018-10-26 | 2021-07-27 | 合肥工业大学 | Control method for low-adhesion working condition operation of wheeled tractor |
| CN111391853A (en) * | 2020-04-03 | 2020-07-10 | 合肥工业大学 | Vehicle slip rate identification regulation and control method and system |
| CN111391853B (en) * | 2020-04-03 | 2021-08-03 | 合肥工业大学 | Vehicle slip rate identification regulation and control method and system |
| CN111559377A (en) * | 2020-05-22 | 2020-08-21 | 合肥工业大学 | Speed regulation control method for double-flow transmission system of wheeled tractor |
| CN111577884A (en) * | 2020-05-28 | 2020-08-25 | 合肥工业大学 | Speed change control method for tillage operation of wheeled tractor |
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Application publication date: 20180911 |