CN109797792A - A kind of bull-dozer electric-control system shift control method and bull-dozer - Google Patents
A kind of bull-dozer electric-control system shift control method and bull-dozer Download PDFInfo
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- CN109797792A CN109797792A CN201910151538.5A CN201910151538A CN109797792A CN 109797792 A CN109797792 A CN 109797792A CN 201910151538 A CN201910151538 A CN 201910151538A CN 109797792 A CN109797792 A CN 109797792A
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Abstract
The present invention relates to bull-dozer technical field, a kind of bull-dozer electric-control system shift control method and bull-dozer are disclosed.When bull-dozer electric-control system shift control method includes the movement shift of bull-dozer handle, the pressure in the gear clutch of direction is by the pressure P under current shift5Drop to Pa, change from the pressure in gear clutch by the pressure P under current shift5Drop to P2, change to gear clutch in pressure rise to P by 01, start to change from current shift from gear clutch at this point, changing, change to gear clutch and direction gear clutch starts to change to target gear；It changes and continues from the pressure in gear clutch by P20 is dropped to, is changed completely from gear clutch from target gear at this point, changing；When starting to change to target gear, the pressure changed in gear clutch is begun to ramp up to preset value P5, shift is completed at this time.The present invention realizes the versatility of control program, increases the comfort of shift control.
Description
Technical field
The present invention relates to bull-dozer technical field more particularly to a kind of bull-dozer electric-control system shift control method and soil-shiftings
Machine.
Background technique
Automatically controlled walking has become the trend of bull-dozer development, and external highly developed in this regard, the country is in starting
Stage.Bull-dozer electric-control system shift control method determines the quality of bull-dozer walking handling comfort, therefore, to bull-dozer
Electric-control system shift control method is studied very necessary.
Automatically controlled running gear is all made of opened loop control in the world, and the control elements such as such method comparative example valve, controller are wanted
It asks high, also has strict demand to the machining accuracy of the Hydraulic Elements such as gearbox, speed change valve, for domestic bull-dozer manufacturer,
It is extremely difficult to phase same level.It often will appear the Different Individual of same horsepower type, identical gear and electric current in practical applications
When can correspond to different pressure, to shift control effect have an impact, cause shift shock and shift control program it is not general, sternly
Popularization and application of the automatically controlled running gear on bull-dozer are constrained again.
Summary of the invention
The purpose of the present invention is to provide a kind of bull-dozer electric-control system shift control method and bull-dozers, realize control journey
The versatility of sequence increases the comfort of shift control.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of bull-dozer electric-control system shift control method is provided, comprising:
When the movement shift of bull-dozer handle, the pressure in the gear clutch of direction is by the pressure P under current shift5It drops to
Pa, change from the pressure in gear clutch by the pressure P under current shift5Drop to P2, change to gear clutch in pressure by
0 rises to P1, at this point, described change starts to change from gear clutch from current shift, the change gear clutch and the side
Start to change to target gear to gear clutch；
Described change is continued from the pressure in gear clutch by P2Drop to 0, at this point, it is described change it is complete from gear clutch
It changes from target gear；
When starting to change to target gear, the pressure in the change gear clutch is begun to ramp up to preset value P5, at this time
Shift is completed.
Preferably, the change gear clutch of bull-dozer, it is described change from gear clutch and the direction gear from
Clutch is correspondingly arranged on change shift sensor, changes from shift sensor and direction shift sensor, passes through corresponding biography
Change gear clutch described in sensor Real-time Feedback described is changed from the pressure in gear clutch and the direction gear clutch
Power.
Preferably, the pressure in the change gear clutch rises to P by 01Include:
After bull-dozer handle starts gear shifting action, the change gear clutch start it is oil-filled, in preset time period t1It is interior,
The pressure that the change shift sensor detects rises to P3；Continue oil-filled preset time period t later2Interior, pressure remains
P3, in preset time period t later4Interior, pressure rises to P0, at this point, the oil-filled completion of the change gear clutch；
After the completion of the change gear clutch is oil-filled, the pressure that the change shift sensor detects is continued to rise to
P4, later in preset time period t3Interior, the pressure that the change shift sensor detects drops to P1, later in preset time
Section t5Interior holding P1, wait target gear change.
Preferably, the pressure in the direction gear clutch is by the pressure P under current shift5Drop to Pa, it is described change from
Pressure in gear clutch is by the pressure P under current shift5Drop to P2, comprising:
After shift starts, the pressure detected from shift sensor and the direction shift sensor of changing is when default
Between section t6Interior pressure is by P5Fall to P6, and in preset time period t later7Interior holding pressure P6, wherein t6<t1+t2, t7
≥t1+t2+t3；
Detect that pressure is P in change shift sensor0Afterwards, and earlier than the change shift sensor pressure is detected
For P4The correspondence moment, the pressure detected from shift sensor of changing is by P6It begins to decline, later in preset time period t8
Interior, the pressure detected from shift sensor of changing is by P6Drop to P2, the pressure that the direction shift sensor detects exists
Preset time period t8Inside drop to Pa。
Preferably, described to change the pressure P detected from shift sensor and the direction shift sensor6With P5Relationship
Are as follows: P6=(50%-65%) * P5。
Preferably, described change is changed from gear clutch from current shift, the change gear clutch and direction gear
Position clutch starts to change to target gear, comprising:
In preset time period t9Pressure P interior, that the direction shift sensor detectsaPressure remains unchanged, meanwhile,
The current shift change from the time of, the pressure value that detects is begun to ramp up to P in the change shift sensora；
The pressure detected from shift sensor is changed and pressure that the direction shift sensor detects is when described
PaWhen, the pressure that the direction shift sensor and the change shift sensor detect rises to P5, and the two detects
The pressure versus time change curve arrived is overlapped.
Preferably, bull-dozer difference gear clutch is correspondingly arranged on electromagnetic proportional valve, is controlled by electromagnetic proportional valve
Pressure in corresponding gear clutch；
The pressure P direct proportionality that electric current I in the electromagnetic proportional valve is detected with corresponding shift sensor.
Preferably, the change shift sensor, described change will be examined from shift sensor and the direction gear clutch
The pressure measured, and feed back to soil-shifting machine controller, controller is by feedback pressure P and goal pressure PsIt is compared, and according to
Comparison result adjusts the pressure that corresponding sensor detects.
Preferably, controller is by feedback pressure P and goal pressure PsIt is compared, and corresponding according to comparison result adjustment
The pressure that sensor detects, comprising:
If P > Ps, then the electric current I reduction in corresponding electromagnetic proportional valve is controlled；
If P < Ps, then the electric current I raising in corresponding electromagnetic proportional valve is controlled.
Preferably, the pressure that the pressure and the direction shift sensor that the change shift sensor detects detect
Identical is PaWhen, the pressure that the direction shift sensor and the change shift sensor detect rises to P5, packet
It includes:
In preset time period t10Pressure edge interior, that the change shift sensor and the direction shift sensor detect
First pressure-time curve rises to P7；
In preset time period t11Pressure edge interior, that the change shift sensor and the direction shift sensor detect
Second pressure-time curve is by pressure P7Rise to pressure P5；
The pressure that the change shift sensor and the direction shift sensor detect is in preset time period t11On interior
The rate risen is greater than in preset time period t10Interior climbing speed.
A kind of bull-dozer is provided in this implementation, is carried out including the use of the bull-dozer electric-control system shift control method
Shift work.
Beneficial effects of the present invention: in the present invention when bull-dozer handle gear shifting action, bull-dozer passes through control direction gear
Clutch, the pressure for changing to gear clutch and the gear clutch that swaps out, drop to P when changing the pressure from gear clutch2, P2
For the binding site for changing the friction plate from gear clutch, current shift change from.Current shift change from when, change gear clutch fill
Pressure is P after oil1, P1For the binding site of the friction plate of change gear clutch, change gear clutch is combined, and target gear is opened
Begin to change to.Meanwhile the pressure in the gear clutch of direction is by the pressure P under current shift5Drop to Pa.I.e. current shift change from
While, change gear starts to change to, when the pressure in change gear clutch and direction gear clutch rises to P5Afterwards, complete
At the change of target gear.
Above-mentioned control mode is simple, while current shift swaps out, target gear change, prevent the medium gear of shift process,
Gear is fought, and the comfort of gear shift operation is increased, while saving the shift reaction time, improves customer experience sense.
Detailed description of the invention
Fig. 1 is the pressure versus time variation that each sensor detects in bull-dozer electric-control system shift process of the invention
Curve；
Fig. 2 is schematic enlarged-scale view of three curves in Fig. 1 of the invention in a point, b point vicinity.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " on ", "lower", "left", "right", "vertical", "horizontal",
The orientation or positional relationship of the instructions such as "inner", "outside" be based on the orientation or positional relationship shown in the drawings or the invention produce
Product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as referring to
Show or imply relative importance.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two with
On.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
A kind of bull-dozer electric-control system shift control method is provided in the present embodiment, when bull-dozer is shifted gears, handle movement,
Controller controls the pressure in each clutch with curvilinear motion as depicted in figs. 1 and 2, to realize shift.Three in Fig. 1
In curve, single dotted broken line indicates the pressure versus time change curve of change gear clutch, double dot dash line expression change from gear from
The pressure versus time change curve of clutch, solid line indicates the pressure versus time change curve of direction gear clutch, with reference to Fig. 2.
Shift control in the present embodiment is after handle acts, to realize the control of shift transformation automatically by controller
Journey.Specifically, bull-dozer includes the clutch (1 gear, 2 gears and 3 gears) of forward clutch, back clutch, three gears, and five
A clutch cooperatively forms three forward ranges and three retrogressing gears of control bull-dozer.In the present embodiment for example
When being changed to " advance 2 gears " by " advance 1 gear ", wherein " advance " by direction gear clutch control, " 1 gear " is to change from gear,
By changing from gear clutch control, " 2 gear " is change gear, by changing to gear clutch control.Above three control gear
The clutch of position size not only can be used as change gear clutch but also can be to change from gear clutch.
The change gear clutch of bull-dozer is changed to be correspondingly arranged on to change to from gear clutch and direction gear clutch and be kept off
Level sensor is changed from shift sensor and direction shift sensor.Gear is changed to by corresponding sensor Real-time Feedback
Clutch is changed from the pressure in gear clutch and direction gear clutch.Specifically, bull-dozer includes speed change valve, speed change valve
There is internal oil passage between each clutch, there are certain relationships for the pressure in the two.Correspondence is provided on speed change valve to change
Enter gear clutch, the electromagnetic proportional valve of swap out gear clutch and direction gear clutch, is controlled by electromagnetic proportional valve each
Pressure in a corresponding clutch.By the clutch of above-mentioned control gear it is found that being arranged in this implementation there are five electromagnetic proportional valve,
There are five positions, five electromagnetic proportional valves to be mounted on a speed change valve for setting on speed change valve.Above-mentioned each sensor integration in
On the valve body of speed change valve, for detecting the oil pressure in the oil circuit for corresponding to each clutch at speed change valve, to reflect clutch
Interior real-time pressure.
After bull-dozer handle starts gear shifting action, gear clutch is changed to (in pressure-time curve corresponding diagram 1 and Fig. 2
Single dotted broken line curve) start it is oil-filled, in preset time period t1Interior, the pressure that change shift sensor detects rises to P3.It is subsequent
Continue oil-filled preset time period t2Interior, pressure remains P3.Referring to Fig. 2, within the change gear clutch oil-filled time, change
The pressure value that shift sensor detects remains at P3, changing to the pressure in gear clutch at this time is 0, P3For change gear
The pressure value that level sensor is arrived in the position detection of speed change valve.In preset time period t later3Interior, pressure rises to P0, at this point,
Change to the oil-filled completion of gear clutch.In underfill oil, the pressure that pressure sensor detects is above-mentioned each clutch
0.Full of oil, it is under static state, the pressure that the pressure in clutch and sensor detect on speed change valve is identical.Changing
Enter pressure that shift sensor detects by 0-P3During, changing to the pressure in gear clutch is 0, is maintained in pressure
P1During, the pressure value that change shift sensor detects is identical as the pressure in change gear clutch.Similarly, it shifts gears
In the process, bull-dozer changes equal from gear clutch and direction gear clutch during shifting to target gear by current shift
It is as changed from the pressure in gear clutch to change full of oil condition from shift sensor, direction shift sensor detects
Pressure is the pressure in the gear clutch of direction.
Above-mentioned pressure P0Less times greater than pressure P3, P is set0Less times greater than P3It is because in time period t2Last moment point, pressure
By P3Start to P0When rising, illustrate that the pressure changed in gear clutch has reached full state.P is set0Point is as change
The reference value of the oil-filled external scalar being full of of gear clutch, can accurate judgement clutch be oil-filled finishes the time.Because oil-filled used
Property, when pressure rises to P0Afterwards, the electric current in the electromagnetic proportional valve of corresponding change gear clutch is begun to decline, even if change gear
After the completion of position clutch is oil-filled, because electric current decline needs the reaction time, in the preset time period t of decline12It is interior, change to shift sensing
The pressure that device detects continues to rise to P4, oil pressure will appear a small leak herein.P4The size of value is by solenoid-operated proportional
The influence of the decrease speed of electric current in valve, decrease speed is faster, P4Be worth it is smaller, bull-dozer in real work shift process,
It changes to oil-filled by P in gear clutch0To P4Section is the normal pressure fluctuation in change gear clutch.Later in preset time
Section t4Interior, the pressure that change shift sensor detects drops to P1, later in preset time period t5Interior holding P1, wait target
Gear change.P1The pressure just combined for change gear clutch friction plate.Keeping P1Preset time period t5It is interior, change
Gear clutch friction plate is in discrete state, waits gear change, but friction plate can be made to combine at any time, opens target gear
Begin to change to.P1The tone pitch that opens as change target gear controls its electromagnetic proportional valve after change gear clutch is oil-filled
Interior electric current, which is down to, opens tone pitch, makes to change to the friction plate in gear clutch and is exactly in combination, reduces abrasion.
When bull-dozer works normally under current shift, the pressure value that direction shift sensor detects is P5.It shifts gears wink
Between, the pressure detected from shift sensor and direction shift sensor is changed in preset time period t6 (t6<t1+t2) in pressure
By P5Fall to P6, and in preset time period t later7(t7≥t2+t3) in keep pressure P6.It is above-mentioned to change from shift sensing
Device and direction gear clutch are in preset time period t6、t7Interior pressure-time curve is overlapped.It changes from shift sensor and direction
The pressure P that shift sensor detects6With P5Relationship are as follows: P6=(50%-65%) * P5。
Detect that pressure is P in change shift sensor0Afterwards, and earlier than the change shift sensor pressure is detected
For P4The correspondence moment, at this point, t7≤t2+t3+t12.In the present embodiment, the pressure detected from shift sensor is changed by P6Start
Decline, later, in preset time period t8It is interior, preset time period t8Including preset time period t81With preset time period t82, default
Time period t81It is interior, the pressure detected from shift sensor and direction shift sensor is changed by P6Drop to Pa, and the pressure of the two
Power-time changing curve is overlapped, i.e. solid line and double dot dash line in Fig. 1 are in pressure P5Drop to PaDuan Chonghe).With reference to Fig. 2,
Preset time period t82It is interior, the pressure detected from shift sensor is changed by PaContinue to drop to P2, the detection of direction shift sensor
The pressure arrived keeps Pa, pressure PaFor the binding site of the friction plate of direction gear clutch.
In this implementation, the pressure that above-mentioned change shift sensor detects is P0At the time of point d, direction gear clutch and
It changes and is begun to decline from the pressure in gear clutch, i.e., t at this time7=t2+t3+t12.If d point shifts to an earlier date, i.e., direction gear clutch and
It changes and starts to decline in advance from the pressure in gear clutch, in practical control process, can not determine the specific moment of decline.If
D point is relative to pressure P0Or P4Corresponding moment point lag then in direction gear clutch and is changed from gear clutch by P6Decline
During preset time it is constant in the case where, change to gear clutch by pressure P4Drop to P1Or pressure is maintained at P1's
Time in preset time period is elongated, causes shift time elongated；Or it changes from gear clutch and direction gear clutch
Pressure decrease speed it is too fast, cause vehicle impact big.
It detects to change from shift sensor and drops to P from the pressure in gear clutch changing2Afterwards, P2For change from gear from
The friction plate binding site of clutch, is initially separated at this point, changing from gear clutch friction plate.Later, double dot dash line as shown in Figure 2
The pressure versus time change curve of expression controls the electric current changed in the electromagnetic proportional valve from gear clutch and continues to decline, changes from gear
The pressure that level sensor detects is by P2Continue to drop to 0.At this point, current shift change completely from.Current shift start to change from
While, because change gear clutch in pressure in preset time period t5P is inside being kept always1, therefore, can change to gear from
Clutch can quickly start to combine, and target gear starts to change to.After target gear starts change, control change gear clutch
Electric current in electromagnetic proportional valve is begun to ramp up, and the pressure changed in gear clutch is begun to ramp up, and is kept off until rising to direction
Pressure value P in the clutch of positiona(the b point moment i.e. in figure, the pressure in figure in the direction gear clutch of a point moment are afterwards
Pa, until b point moment remains as Pa), the pressure-time curve of the two starts to be overlapped (i.e. pressure at the time of in Fig. 2 after b point
Power-time change takes curve), P is risen to together5, at this point, bull-dozer starts to work normally under target gear.
In shift process, the pressure changed in gear clutch has P4Drop to P1Moment point, direction gear clutch and is changed
The pressure value entered in gear clutch starts by P6Drop to Pa, when changing from gear clutch by PaContinue to drop to P2When, start
It changes from current shift, meanwhile, start to change to target gear.In shift process, the gear such as avoid, current shift one is changed from i.e. beginning
The case where changing to target gear, gear is avoided to fight appearance.
The pressure in gear clutch and direction gear clutch is changed to by PaP is risen to together5During, default
Time period t10Interior, the pressure that change shift sensor and direction shift sensor detect is along first pressure-time curve
Rise to P7.In preset time period t11It is interior, it changes to the pressure that shift sensor and direction shift sensor detect and is pressed along second
Force-time relationship curve is by pressure P7Rise to pressure P5.The pressure that change shift sensor and direction shift sensor detect
In preset time period t11The rate of interior rising is greater than in preset time period t10Interior climbing speed.
First pressure-time curve and second pressure-time curve tie point are c point.First pressure-when
Between relation curve than more gentle, because at b point, the two just starts to be overlapped, pressure in the two, which rises, at this time needs gentle, prevents
Occur that the rate of climb is too fast impacts, causes to shift gears unstable, abnormal sound etc. occur.After c point, accelerates in conjunction with speed, mention
High shift time.
The position of above-mentioned c point is adjusted according to the actual situation, contained spring pressure of the point position c by each clutch
The influence of size and payload size.
The pressure detected from shift sensor and direction shift sensor is changed by P5Drop to P6, P6It can not be with P5Phase
Difference is too small, if differing too small, packing pressure P6Drop to PaTime it is too long, cause, complete machine shift process is too long.If the two phase
It is poor too many, then in shift process, pressure P6Decline is excessive, causes driver to feel to be short of power in shift, occurs event
The feeling of barrier, experience sense is bad, if bull-dozer loads in biggish situation, the situation that is short of power is become apparent from.
P in the present embodimentaWith P1、P2Relationship controlled by the size of the elastic pressure in each clutch.In this implementation
Relationship as shown in the figure, Pa> P1> P2。
In all gear handoff procedures, internal controller is provided with a target precharge pressure to each gear clutch
Curve, target pressure regulation curve and target decline curve.Wherein target precharge pressure curve refers to what change shift sensor detected
Pressure is by 0 to PaStaged pressure-time changing curve.Target pressure regulation curve refers to change shift sensor and direction shift sensing
The pressure that device detects is by PbRise to P5The pressure versus time change curve in stage, target decline curve, which refers to, to be changed from shift sensing
The pressure that device detects is by P5The pressure that the pressure versus time change curve and direction shift sensor for dropping to for 0 stage detect
Power is by P5Drop to Pa, and keep PaStage pressure versus time conversion curve.
By adjusting the electric current I in electromagnetic proportional valve so as to adjust the pressure P in corresponding gear clutch in the present embodiment,
The pressure P direct proportionality that electric current I in electromagnetic proportional valve is detected with corresponding shift sensor.Change to shift sensing
Device changes the pressure that will test from shift sensor and direction gear clutch, and feeds back to soil-shifting machine controller, and controller will
Feedback pressure P and goal pressure PsIt is compared, and the pressure that corresponding sensor detects, P is adjusted according to comparison resultsIt is
Change in 1 in finger figure is changed from pressure versus time change curve corresponding with direction gear clutch, is put at any one time
Pressure.For example, the pressure P in controller control change gear clutch, controller control P versus time curve, infinitely
The pressure versus time change curve of change gear clutch in Fig. 1, PsFor the correspondence in curve in any moment Fig. 1
Value.Similarly, controller exchange the pressure P of pressure P and direction gear clutch from gear clutch adjustment it is also identical.Specifically
Ground, controller is by feedback pressure P and goal pressure PsIt is compared, and corresponding sensor is adjusted according to comparison result and is detected
Pressure, if including P > Ps, then the electric current I reduction in corresponding electromagnetic proportional valve is controlled.If P < Ps, then corresponding electromagnetism is controlled
Electric current I in proportioning valve is increased.The relationship of pressure and electric current when finding electromagnetic proportional valve raising and lowering by proportional curve:
Ps=KS×IS,PX=KX× IX,.For example, certain gear pressure regulation process, pressure increases with electric current at this time and approximate ratio increases,
During this, by sensor Real-time Feedback pressure P, if pressure P > Ps, then I reduction is controlled, P is made to approach Ps；If P < Ps, then
It controls I to increase, P is made to approach Ps.Target decline curve is similar to target pressure regulation and oil-filled method for controlling curves.
Itself foozle and rigging error and system of above-mentioned electromagnetic proportional valve, speed change valve and each clutch
Oil circuit leakage, oil temperature increase the influence for leading to the factors such as leakage increasing.The electric current of electromagnetic proportional valve is controlled by above-mentioned adjustment, no
Pressure in disconnected amendment electromagnetic proportional valve control clutch overcomes above-mentioned because the factors such as manufacture rigging error cause each clutch
Curve deviation in interior pressure and Fig. 1 makes the controlling curve in the continuous infinite approach Fig. 1 of the pressure in clutch, is not necessarily to
It repeats to debug, solves the problems, such as that control program versatility is poor.
A kind of bull-dozer is additionally provided in this implementation, is changed including above-mentioned bull-dozer electric-control system shift control method
Keep off work.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (11)
1. a kind of bull-dozer electric-control system shift control method characterized by comprising
When the movement shift of bull-dozer handle, the pressure in the gear clutch of direction is by the pressure P under current shift5Drop to Pa, change
From the pressure in gear clutch by the pressure P under current shift5Drop to P2, the pressure in gear clutch is changed to by 0 rising
For P1, at this point, described change starts to change from gear clutch from current shift, the change gear clutch and the direction gear
Clutch starts to change to target gear；
Described change is continued from the pressure in gear clutch by P2Drop to 0, at this point, it is described change from gear clutch change completely from
Target gear；
When starting to change to target gear, the pressure in the change gear clutch is begun to ramp up to preset value P5, shifted gears at this time
At.
2. control method according to claim 1, which is characterized in that the change gear clutch of bull-dozer, described
It changes and is correspondingly arranged on change shift sensor from gear clutch and the direction gear clutch, changes from shift sensor and side
To shift sensor, by change gear clutch described in corresponding sensor Real-time Feedback, described change from gear clutch
Pressure in device and the direction gear clutch.
3. control method according to claim 2, which is characterized in that the pressure in the change gear clutch is by 0
Rise to P1Include:
After bull-dozer handle starts gear shifting action, the change gear clutch start it is oil-filled, in preset time period t1It is interior, it is described
The pressure that change shift sensor detects rises to P3；Continue oil-filled preset time period t later2Interior, pressure remains P3,
Preset time period t later3Interior, pressure rises to P0, at this point, the oil-filled completion of the change gear clutch；
After the completion of the change gear clutch is oil-filled, the pressure that the change shift sensor detects continues to rise to P4, it
Afterwards in preset time period t4Interior, the pressure that the change shift sensor detects drops to P1, later in preset time period t5It is interior
Keep P1, wait target gear change.
4. control method according to claim 3, which is characterized in that the pressure in the direction gear clutch is by current
Pressure P under gear5Drop to Pa, described to change from the pressure in gear clutch by the pressure P under current shift5Drop to P2,
Include:
After shift starts, the pressure detected from shift sensor and the direction shift sensor of changing is in preset time period
t6Interior pressure is by P5Fall to P6, and in preset time period t later7Interior holding pressure P6, wherein t6<t1+t2, t7≥t2+
t3；
Detect that pressure is P in change shift sensor0Afterwards, and earlier than the change shift sensor detect that pressure is P4
The correspondence moment, the pressure detected from shift sensor of changing is by P6It begins to decline, later in preset time period t8It is interior, institute
The pressure changed and detected from shift sensor is stated by P6Drop to P2, the pressure that the direction shift sensor detects is default
Time period t8Inside drop to Pa。
5. control method according to claim 4, which is characterized in that described to change from shift sensor and the direction gear
The pressure P that sensor detects6With P5Relationship are as follows: P6=(50%-65%) * P5。
6. control method according to claim 5, which is characterized in that described change is changed from gear clutch from current shift,
The change gear clutch and the direction gear clutch start to change to target gear, comprising:
In preset time period t9Pressure P interior, that the direction shift sensor detectsaPressure remains unchanged, meanwhile, described
Current shift change from the time of, the pressure value that detects is begun to ramp up to P in the change shift sensora；
The pressure detected from shift sensor is changed and pressure that the direction shift sensor detects is P when describedaWhen,
The pressure that the direction shift sensor and the change shift sensor detect rises to P5, and the pressure that the two detects
Power-time changing curve is overlapped.
7. control method according to claim 2, which is characterized in that bull-dozer difference gear clutch is correspondingly arranged on
Electromagnetic proportional valve controls the pressure in corresponding gear clutch by electromagnetic proportional valve；
The pressure P direct proportionality that electric current I in the electromagnetic proportional valve is detected with corresponding shift sensor.
8. control method according to claim 7, which is characterized in that the change shift sensor described is changed from gear
The pressure that sensor and the direction gear clutch will test, and feed back to soil-shifting machine controller, controller is by feedback pressure
Power P and goal pressure PsIt is compared, and the pressure that corresponding sensor detects is adjusted according to comparison result.
9. control method according to claim 8, which is characterized in that controller is by feedback pressure P and goal pressure PsIt carries out
Compare, and the pressure that corresponding sensor detects adjusted according to comparison result, comprising:
If P > Ps, then the electric current I reduction in corresponding electromagnetic proportional valve is controlled；
If P < Ps, then the electric current I raising in corresponding electromagnetic proportional valve is controlled.
10. control method according to claim 6, which is characterized in that the pressure that the change shift sensor detects
Identical as the pressure that the direction shift sensor detects is PaWhen, the direction shift sensor and the change gear
The pressure that sensor detects rises to P5, comprising:
In preset time period t10Interior, the pressure that the change shift sensor and the direction shift sensor detect is along first
Pressure time histories rise to P7；
In preset time period t11Interior, the pressure that the change shift sensor and the direction shift sensor detect is along second
Pressure time histories are by pressure P7Rise to pressure P5；
The pressure that the change shift sensor and the direction shift sensor detect is in preset time period t11Interior rising
Rate is greater than in preset time period t10Interior climbing speed.
11. a kind of bull-dozer, which is characterized in that changed including the use of the described in any item bull-dozer electric-control systems of claim 1-10
Gear control method carries out shift work.
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| CN110886839A (en) * | 2019-12-11 | 2020-03-17 | 山推工程机械股份有限公司 | Bulldozer gear shifting control method and device and computer storage medium |
| CN113216293A (en) * | 2021-04-14 | 2021-08-06 | 湖南三一路面机械有限公司 | Control method and control system of land leveler |
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| CN109797792B (en) | 2021-06-08 |
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