CN109797792B - Bulldozer electronic control system gear shifting control method and bulldozer - Google Patents
Bulldozer electronic control system gear shifting control method and bulldozer Download PDFInfo
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- CN109797792B CN109797792B CN201910151538.5A CN201910151538A CN109797792B CN 109797792 B CN109797792 B CN 109797792B CN 201910151538 A CN201910151538 A CN 201910151538A CN 109797792 B CN109797792 B CN 109797792B
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Abstract
The invention relates to the technical field of bulldozers and discloses a bulldozer electronic control system gear shifting control method and a bulldozer. The gear shifting control method of the electric control system of the bulldozer comprises the steps that when a handle of the bulldozer acts for gear shifting, the pressure in the directional gear clutch is changed from the pressure P under the current gear5Down to PaThe pressure in the clutch is determined by the pressure P in the current gear5Down to P2The pressure in the clutch for shifting into gear is increased from 0 to P1At the moment, the gear shifting-out clutch starts to shift out of the current gear, and the gear shifting-in clutch and the direction gear clutch start to shift into the target gear; the pressure in the clutch is continuously changed from P2The gear shifting clutch is lowered to 0, and at the moment, the gear shifting clutch is completely shifted from the target gear; when the target gear is started to be shifted, the pressure in the clutch for shifting the gear starts to rise to the preset value P5At this point the shift is complete. The invention realizes the universality of control programs and increases the comfort of gear shifting operation.
Description
Technical Field
The invention relates to the technical field of bulldozers, in particular to a gear shifting control method for an electric control system of a bulldozer and the bulldozer.
Background
The electric control walking has become the development trend of the bulldozer, is very mature in this respect abroad, and is in a starting stage in China. The shifting control method of the electric control system of the bulldozer determines the walking control comfort of the bulldozer, so that the shifting control method of the electric control system of the bulldozer is very necessary to be researched.
The international electric control walking system adopts open-loop control, the method has high requirements on control elements such as proportional valves, controllers and the like, has strict requirements on the processing precision of hydraulic elements such as gearboxes, speed change valves and the like, and is difficult to reach the same level for domestic bulldozer manufacturers. In practical application, different individuals of the same horsepower type often appear, different pressures can be corresponded to the same gear and current, the gear shifting control effect is affected, gear shifting impact and a gear shifting control program are not universal, and popularization and application of the electric control walking system on the bulldozer are severely restricted.
Disclosure of Invention
The invention aims to provide a bulldozer electronic control system gear shifting control method and a bulldozer, which achieve universality of control programs and increase comfort of gear shifting operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the shifting control method for the electric control system of the bulldozer comprises the following steps:
when the handle of the bulldozer acts to shift gears, the pressure in the clutch of the direction gear is changed from the pressure P under the current gear5Down to PaThe pressure in the clutch is determined by the pressure P in the current gear5Down to P2The pressure in the clutch for shifting into gear is increased from 0 to P1At the moment, the gear shifting-out clutch starts to shift out of the current gear, and the gear shifting-in clutch and the direction gear clutch start to shift into the target gear;
the pressure in the gear shifting clutch is continuously increased from P2The gear shifting clutch is lowered to 0, and the target gear is completely shifted by the gear shifting clutch at the time;
when the target gear is started to be shifted, the pressure in the shifting gear clutch begins to rise to a preset value P5At this point the shift is complete.
Preferably, the shifting-in gear clutch, the shifting-out gear clutch and the direction gear clutch of the bulldozer are correspondingly provided with a shifting-in gear sensor, a shifting-out gear sensor and a direction gear sensor, and the pressure in the shifting-in gear clutch, the shifting-out gear clutch and the direction gear clutch is fed back in real time through the respective corresponding sensors.
Preferably, the pressure in the clutch for changing gears is increased from 0 to P1The method comprises the following steps:
after the handle of the bulldozer starts to shift gears, the gear shifting clutch starts to charge oil, and oil is filled in the gear shifting clutch within a preset time period t1In that the pressure detected by the shift-in range sensor rises to P3(ii) a Then continuing to fill oil for a preset time period t2Internal pressure is maintained at P3At a preset time period t thereafter4Internal pressure rises to P0At the moment, the gear shifting clutch is filled with oil;
after the gear shifting clutch is filled with oil, the pressure detected by the gear shifting sensor continuously rises to P4Then for a preset time period t3In that the pressure detected by the shift-in gear sensor drops to P1Then for a preset time period t5Internal holding of P1And waiting for the target gear to be changed in.
Preferably, the pressure in the directional gear clutch is determined by the pressure P in the current gear5Down to PaThe pressure in the clutch is determined by the pressure P in the current gear5Down to P2The method comprises the following steps:
after gear shifting is started, the pressure detected by the gear shifting and separating sensor and the pressure detected by the direction gear sensor are in a preset time period t6All internal pressures are P5Down to P6And for a preset time period t thereafter7Internal holding pressure P6Wherein t is6<t1+t2，t7≥t1+t2+t3；
Sensor detection during shifting into gearMeasuring a pressure of P0Then, and no later than, the shift range sensor detects a pressure of P4At the corresponding moment, the pressure detected by the gear shifting position sensor is P6Starts to fall, and thereafter for a preset time period t8Wherein the pressure detected by the gear shifting position sensor is P6Down to P2The pressure detected by the direction gear sensor is in a preset time period t8Internal down to Pa。
Preferably, the pressure P detected by the shift position sensor and the direction shift position sensor6And P5The relationship of (1) is: p6＝(50％-65％)*P5。
Preferably, the shifting-out gear clutch shifts out of the current gear, and the shifting-in gear clutch and the direction gear clutch start shifting into the target gear, includes:
at a preset time period t9Inner, pressure P detected by the direction gear sensoraThe pressure is kept unchanged, and meanwhile, at the moment of shifting away from the current gear, the pressure value detected in the shifting gear sensor begins to rise to Pa；
When the pressure detected by the gear shifting and separating sensor and the pressure detected by the direction gear sensor are both PaWhen the pressure detected by the direction gear sensor and the shift-in gear sensor rises to P5And the pressure-time curves detected by the two coincide.
Preferably, the clutches of different gears of the bulldozer are correspondingly provided with electromagnetic proportional valves, and the pressure in the clutches of the corresponding gears is controlled through the electromagnetic proportional valves;
the current I in the electromagnetic proportional valve is in direct proportion to the pressure P detected by the corresponding gear sensor.
Preferably, the pressure detected by the shifting-in gear sensor, the shifting-out gear sensor and the direction gear clutch is fed back to a bulldozer controller, and the controller feeds back the feedback pressure P and the target pressure PsComparing and adjusting correspondingThe pressure detected by the sensor.
Preferably, the controller compares the feedback pressure P with the target pressure PsAnd comparing, and adjusting the pressure detected by the corresponding sensor according to the comparison result, wherein the method comprises the following steps:
if P > PsControlling the current I in the corresponding electromagnetic proportional valve to be reduced;
if P<PsAnd controlling the current I in the corresponding electromagnetic proportional valve to rise.
Preferably, the pressure detected by the shift-in gear sensor and the pressure detected by the direction gear sensor are both PaWhen the pressure detected by the direction gear sensor and the shift-in gear sensor rises to P5The method comprises the following steps:
at a preset time period t10The pressure detected by the shift-in gear sensor and the direction gear sensor rises to P along a first pressure-time relation curve7；
At a preset time period t11The pressures detected by the change-in gear sensor and the direction gear sensor are determined by the pressure P along a second pressure-time curve7Up to pressure P5；
The pressure detected by the shift-in gear sensor and the direction gear sensor is in a preset time period t11The internal rising rate is greater than the preset time period t10The rise rate in.
The implementation provides a bulldozer, which comprises the step of carrying out gear shifting work by using the gear shifting control method of the bulldozer electronic control system.
The invention has the beneficial effects that: when the handle of the bulldozer shifts gears, the bulldozer controls the pressure of the direction gear clutch, the gear shifting-in clutch and the gear shifting-out clutch, and when the pressure of the gear shifting-out clutch is reduced to P2，P2The current gear is shifted away as a joint point of a friction plate of the clutch for shifting away the gear. When the front gear is shifted away, the pressure after oil is filled in the clutch for shifting into the gear is P1，P1In order to change into the joint point of the friction plate of the gear clutch,the shift-in gear clutch is engaged and the target gear is shifted in. At the same time, the pressure in the directional gear clutch is changed from the pressure P in the current gear5Down to Pa. That is, when the current gear is shifted, the shifting-in gear is started, and when the pressure in the shifting-in gear clutch and the pressure in the direction gear clutch are increased to P5And then, completing the switching in of the target gear.
Above-mentioned control scheme is simple, and when the current fender position traded out, the target fender position was traded in, and the in-process that prevents to shift is medium keeps off, keeps off the position and puts up, increases the travelling comfort of the operation of shifting, saves the reaction time of shifting simultaneously, improves customer experience and feels.
Drawings
FIG. 1 is a pressure-time curve detected by various sensors during shifting of an electric control system of a bulldozer according to the present invention;
fig. 2 is an enlarged view of the three curves of fig. 1 of the present invention in the vicinity of points a and b.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The embodiment provides a gear shifting control method for an electric control system of a bulldozer, wherein when the bulldozer shifts gears, a handle acts, and a controller controls pressure in each clutch to change along with curves shown in figures 1 and 2, so that gear shifting is realized. Of the three curves in fig. 1, the one-dot chain line indicates a pressure-time change curve of the shift-in clutch, the two-dot chain line indicates a pressure-time change curve of the shift-out clutch, and the solid line indicates a pressure-time change curve of the directional shift clutch, referring to fig. 2.
The gear shifting control in the embodiment is a control process of automatically realizing gear shifting through a controller after a handle acts. Specifically, the bulldozer comprises a forward clutch, a backward clutch and three-gear clutches (1 gear, 2 gear and 3 gear), wherein the five clutches are matched with each other to form three forward gears and three backward gears for controlling the bulldozer. In the present embodiment, for example, the "forward 1 gear" is changed to the "forward 2 gear", where the "forward" is controlled by the directional shift clutch, the "1 gear" is a shift gear, and the "1 gear" is controlled by the shift clutch, and the "2 gear" is an shift gear, and the "2 gear" is controlled by the shift clutch. The three clutches for controlling the gear size can be used as a gear shifting-in clutch and a gear shifting-out clutch.
The shifting-in gear clutch, the shifting-out gear clutch and the direction gear clutch of the bulldozer are correspondingly provided with a shifting-in gear sensor, a shifting-out gear sensor and a direction gear sensor. And the pressure in the shifting-in gear clutch, the shifting-out gear clutch and the direction gear clutch is fed back in real time through respective corresponding sensors. Specifically, the bulldozer includes a transmission valve with an internal oil passage between the transmission valve and each clutch, and the pressures in the transmission valve and each clutch are in a certain relationship. The speed change valve is provided with electromagnetic proportional valves corresponding to the shift-in gear clutch, the shift-out gear clutch and the direction gear clutch, and the pressure in each corresponding clutch is controlled through the electromagnetic proportional valves. As can be seen from the clutch for controlling the gears, in this embodiment, five electromagnetic proportional valves are provided, and five positions are provided on the speed change valve, and all the five electromagnetic proportional valves are installed on one speed change valve. The sensors are integrated on the valve body of the speed change valve and used for detecting oil pressure in oil passages corresponding to the clutches at the position of the speed change valve, and therefore real-time pressure in the clutches is reflected.
After the handle of the bulldozer starts to shift, the gear clutch is shifted in (the pressure-time curve corresponds to the single-dot chain line curve in fig. 1 and 2) to start oil filling, and oil filling is carried out for a preset time period t1In that the pressure detected by the shift-in gear sensor rises to P3. Then continuing to fill oil for a preset time period t2Internal pressure is maintained at P3. Referring to fig. 2, the pressure value detected by the shift-in gear sensor is always maintained at P during the time when the shift-in gear clutch is filled with oil3At this time, the pressure in the shift-in clutch is 0, P3In order to switch in the pressure value detected by the gear position sensor at the position of the gear change valve. At a later preset time period t3Internal pressure rises to P0At this time, the shifting-in gear clutch is filled with oil. When the clutches are not full of oil, the pressure detected by the pressure sensor is 0. When full, at rest, the pressure in the clutch is the same as the pressure detected by the sensor at the transmission valve. I.e. the pressure detected by the sensor during the change-into gear is 0-P3In the process of (1), the pressure in the clutch for shifting into gear is 0, and the pressure is kept at P1In the process of (3), the pressure value detected by the gear shifting sensor is the same as the pressure in the gear shifting clutch. In the same way, in the gear shifting process, in the process that the bulldozer shifts from the current gear to the target gear, the gear shifting clutch and the direction gear clutch are both in an oil-filled state, the gear shifting sensor is the pressure in the gear shifting clutch, and the pressure detected by the direction gear sensor is the pressure in the direction gear clutch.
The above pressure P0Slightly above pressure P3Setting up P0Slightly greater than P3Is due to the time period t2At the end of the time point of (1), pressure from P3Starting towards P0When the pressure rises, the pressure in the gear shifting clutch is indicated to reach the full state. Setting P0The point is used as a reference value of an external scalar quantity filled with oil of the clutch of the gear to be shifted, and the time for finishing oil filling of the clutch can be accurately judged. When the pressure rises to P due to the inertia of the oil charge0Then, the current in the electromagnetic proportional valve corresponding to the gear shifting clutch begins to decrease, even if the gear shifting clutch finishes oil filling, reaction time is needed due to the current decrease, and the preset time period t of the decrease12In that the pressure detected by the shift-in gear sensor still continues to rise to P4Where a small peak in oil pressure occurs. P4The magnitude of the value is influenced by the rate of decrease of the current in the electromagnetic proportional valve, the faster the rate of decrease, P4The smaller the value is, the more P oil is filled in the clutch for shifting into gears in the actual working gear shifting process of the bulldozer0To P4The section is normal oil pressure fluctuation in the clutch for shifting into the gear. Then in a preset time period t4In that the pressure detected by the gear-in sensor drops to P1Then for a preset time period t5Internal holding of P1And waiting for the target gear to be changed in. P1The pressure is just combined with the friction plate of the clutch for shifting into the gear. In maintaining P1Is preset for a time period t5And the friction plate of the gear shifting-in clutch is in a separated state, the gear shifting is waited for, but the friction plate can be combined at any time, so that the target gear starts to be shifted in. P1And as a starting and regulating value of the shifted target gear, after the shifting gear clutch is filled with oil, controlling the current in the electromagnetic proportional valve to be reduced to the starting and regulating value, so that the friction plate in the shifting gear clutch is just combined, and the abrasion is reduced.
When the bulldozer normally works under the current gear, the pressure value detected by the direction gear sensor is P5. At the moment of gear shifting, the pressure detected by the gear shifting sensor and the direction gear sensor is in a preset time period t6 (t6<t1+t2) All internal pressures are P5Down to P6And then after a preliminarySet time period t7(t7≥t2+t3) Internal holding pressure P6. The shifting gear sensor and the direction gear clutch are arranged in a preset time period t6、t7The pressure-time curves within coincide. Pressure P detected by the gear shifting sensor and the direction gear sensor6And P5The relationship of (1) is: p6＝(50％-65％)*P5。
The pressure P is detected by the shift position sensor0Then, and no later than, the shift range sensor detects a pressure of P4At the corresponding time of, at this time, t7≤t2+t3+t12. In this embodiment, the pressure detected by the shift sensor is P6Starts to fall, thereafter, for a preset time period t8Within a preset time period t8Including a predetermined time period t81And a preset time period t82At a preset time period t81The pressure detected by the shifting position sensor and the direction shift position sensor is P6Down to PaAnd the pressure-time change curves of the two are coincident, namely the solid line and the two-dot chain line in the pressure P in figure 15Down to PaSegment coincidence). Referring to fig. 2, at a preset time period t82The pressure detected by the gear-shifting sensor is PaContinuously decreases to P2Pressure hold P detected by the direction gear sensoraPressure PaIs the joint point of the friction plate of the direction gear clutch.
In this embodiment, the pressure detected by the shift position sensor is P0At point d, the pressure in the directional clutch and the shifting clutch begins to drop, i.e. at this point t7＝t2+t3+t12. If the point d is advanced, namely the pressure in the direction gear clutch and the shifting gear clutch begins to decrease in advance, the specific time of the decrease cannot be determined in the actual control process. If point d is in relation to pressure P0Or P4If the corresponding time point is delayed, the gear shifting clutch and the direction gear clutch are shifted from P6Under the condition that the preset time in the descending process is not changedBy pressure P of the clutch in the change-into-gear position4Down to P1Or the pressure is maintained at P1The time within the preset time period is prolonged, so that the gear shifting time is prolonged; or the pressure drop speed in the gear shifting clutch and the direction gear clutch is too high, so that the impact of the whole vehicle is large.
Detecting a pressure drop in the clutch to P when the clutch sensor detects a gear shift2Then, P2The clutch is a joint point of a friction plate of the gear shifting clutch, and the friction plate of the gear shifting clutch begins to separate at the moment. Then, as shown in the pressure-time change curve indicated by the two-dot chain line in fig. 2, the current in the electromagnetic proportional valve of the shifting clutch is controlled to continuously decrease, and the pressure detected by the shifting sensor is P2And continues to drop to 0. At this time, the current gear is completely shifted away. When the current gear is shifted, the pressure in the clutch is in the preset time period t5Always keeping P1Thus, the shiftable gear clutch can quickly begin to engage and the target gear begins to shift. After the target gear is shifted, controlling the current in the electromagnetic proportional valve of the shift-in gear clutch to start rising, and controlling the pressure in the shift-in gear clutch to start rising until the pressure rises to the pressure value P in the direction gear clutchaThen (i.e., Pa for the pressure in the directional clutch at point b in the figure, Pa for the pressure in the clutch at point a in the figure, and Pa for the pressure at point b in the figure), the pressure-time curves of the two start to coincide (i.e., the pressure-time curve after point b in fig. 2) and rise together to P5At this time, the bulldozer starts to operate normally in the target gear.
During shifting, the pressure in the clutch for shifting into gear is P4Down to P1At the time point, the pressure values in the direction gear clutch and the gear shifting clutch begin to be P6Down to PaWhen shifting the clutch from PaContinuously decreases to P2And then, the current gear is shifted, and meanwhile, the target gear is shifted. In the gear shifting process, gear waiting is avoided, the target gear is started to be shifted as soon as the current gear is shifted away, and the condition that the gears are put on the rack is avoided.
The pressure in the shifting-in gear clutch and the direction gear clutch is PaRise together to P5In the course of a preset time period t10The pressure detected by the shift-in gear sensor and the direction gear sensor rises to P along the first pressure-time relation curve7. At a preset time period t11The pressure detected by the shift-in gear sensor and the direction gear sensor is measured by the pressure P along the second pressure-time curve7Up to pressure P5. The pressure detected by the shift-in gear sensor and the direction gear sensor is in a preset time period t11The internal rising rate is greater than the preset time period t10The rise rate in.
The junction of the first pressure-time curve and the second pressure-time curve is point c. The first pressure-time relation curve is relatively gentle, and the first pressure-time relation curve and the second pressure-time relation curve start to coincide only at the point b, so that the pressure rise in the first pressure-time relation curve and the pressure rise in the second pressure-time relation curve need to be gentle, the situation that the rising speed is too fast and impact occurs, and the gear shifting is not stable, abnormal sound occurs and the like is prevented. After point c, the engagement speed is increased, increasing the shift time.
The position of the point c is adjusted according to the actual situation, and the position of the point c is influenced by the pressure of the internal spring of each clutch and the load.
The pressure detected by the shifting gear sensor and the direction gear sensor is P5Down to P6，P6Cannot react with P5If the difference is too small, the subsequent pressure P6Down to PaThe time is too long, so that the whole machine gear shifting process is too long. If the difference between the two is too much, the pressure P is generated during the shifting process6The reduction is too much, and the driver feels the power shortage when shifting gears, has the sensation of breaking down, experiences and feels not good, and if under the great condition of bull-dozer load, the power shortage condition is more obvious.
P in the present exampleaAnd P1、P2Is controlled by the magnitude of the spring pressure in each clutch. The relationship shown in this embodiment, Pa＞P1＞P2。
In all gear switching processes, the internal controller is provided with a target oil charging pressure curve, a target pressure regulating curve and a target descending curve for each gear clutch. Wherein the target oil filling pressure curve indicates that the pressure detected by the gear shifting sensor is from 0 to PaPhase pressure-time profile. The target pressure regulating curve refers to that the pressure detected by the shift-in gear sensor and the direction gear sensor is PbIs raised to P5The pressure-time change curve of the stage and the target descending curve are that the pressure detected by the gear shifting sensor is P5The pressure-time curve of the stage falling to 0 and the pressure detected by the direction gear sensor is represented by P5Down to PaAnd hold PaPressure-time transformation curve of the phase (c).
In the embodiment, the pressure P in the corresponding gear clutch is adjusted by adjusting the current I in the electromagnetic proportional valve, and the current I in the electromagnetic proportional valve is in a direct proportional relation with the pressure P detected by the corresponding gear sensor. The detected pressures of the shifting-in gear sensor, the shifting-out gear sensor and the direction gear clutch are fed back to a bulldozer controller, and the controller feeds back the pressure P and the target pressure PsComparing and adjusting the pressure, P, detected by the corresponding sensor according to the comparison resultsThe pressure at any point in time in the pressure-time curves corresponding to the shift-in, shift-out and direction gear clutches in fig. 1 is meant. For example, the controller controls the pressure P in the shift clutch, the controller controls the profile of P over time, the pressure-time profile infinitely close to the shift clutch in FIG. 1, PsIs the corresponding value in the curve in fig. 1 at any instant. Similarly, the controller adjusts the pressure P of the off-gear clutch and the pressure P of the directional gear clutch equally. Specifically, the controller compares the feedback pressure P with a target pressure PsComparing, and adjusting the pressure detected by the corresponding sensor according to the comparison result, including if P > PsAnd controlling the current I in the corresponding electromagnetic proportional valve to be reduced. If P<PsAnd controlling the current I in the corresponding electromagnetic proportional valve to rise. Through the proportional curveFinding the relationship between the pressure and the current when the electromagnetic proportional valve ascends and descends: ps＝KS×IS,PX＝KX× IX，. For example, in the pressure regulating process of a certain gear, the pressure is increased approximately proportionally along with the increase of the current, in the process, the pressure P is fed back in real time through a sensor, and if the pressure P is more than PsThen control I is decreased to make P approach Ps(ii) a If P < PsThen control I to increase to make P approach Ps. The target descending curve is similar to the target voltage regulating and oil filling curve control method.
The electromagnetic proportional valve, the variable speed valve and each clutch are influenced by self manufacturing errors, assembly errors, leakage of a system oil way, leakage increase caused by oil temperature increase and other factors. The current of the control electromagnetic proportional valve is adjusted, the pressure in the clutch controlled by the electromagnetic proportional valve is continuously corrected, the deviation between the pressure in each clutch and the curve in the figure 1 caused by factors such as manufacturing assembly errors is overcome, the pressure in the clutch is continuously and infinitely close to the control curve in the figure 1, repeated debugging is not needed, and the problem of poor universality of a control program is solved.
The implementation also provides a bulldozer, which comprises the gear shifting control method for the bulldozer electronic control system to perform gear shifting work.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A gear shifting control method for an electric control system of a bulldozer is characterized by comprising the following steps:
when the handle of the bulldozer acts to shift gears, the pressure in the clutch of the direction gear is changed from the pressure P under the current gear5Down to PaThe pressure in the clutch is determined by the pressure P in the current gear5Down to P2The pressure in the clutch for shifting into gear is increased from 0 to P1At the moment, the gear shifting-out clutch starts to shift out of the current gear, and the gear shifting-in clutch and the direction gear clutch start to shift into the target gear;
the pressure in the gear shifting clutch is continuously increased from P2The gear shifting clutch is lowered to 0, and the target gear is completely shifted by the gear shifting clutch at the time;
when the target gear is started to be shifted, the pressure in the shifting gear clutch begins to rise to a preset value P5When the gear shifting is finished;
the shifting-in gear clutch, the shifting-out gear clutch and the direction gear clutch of the bulldozer are correspondingly provided with a shifting-in gear sensor, a shifting-out gear sensor and a direction gear sensor, and the pressure in the shifting-in gear clutch, the shifting-out gear clutch and the direction gear clutch is fed back in real time through the respective corresponding sensors;
the pressure in the gear shifting clutch is increased from 0 to P1The method comprises the following steps:
after the handle of the bulldozer starts to shift gears, the gear shifting clutch starts to charge oil, and oil is filled in the gear shifting clutch within a preset time period t1In that the pressure detected by the shift-in range sensor rises to P3(ii) a Then continuing to fill oil for a preset time period t2Internal pressure is maintained at P3At a preset time period t thereafter3Internal pressure rises to P0At the moment, the gear shifting clutch is filled with oil;
after the gear shifting clutch is filled with oil, the pressure detected by the gear shifting sensor continuously rises to P4Then for a preset time period t4In that the pressure detected by the shift-in gear sensor drops to P1Then for a preset time period t5Internal holding of P1Waiting for the target gear to be changed in;
wherein, PaIs the joint point of the friction plate of the directional gear clutch, P0The point being a reference value for an external scalar quantity, P, for shifting into gear clutch fill1Pressure, P, for engaging clutch discs2For engaging points of friction discs of clutch-changing clutches, P3For switching in the pressure value, P, detected by the gear position sensor at the position of the gear change valve5The pressure value detected by the direction gear sensor when the bulldozer normally works under the current gear.
2. Control method according to claim 1, characterised in that the pressure in the directional gear clutch is determined by the pressure P in the current gear5Down to PaThe pressure in the clutch is determined by the pressure P in the current gear5Down to P2The method comprises the following steps:
after gear shifting is started, the pressure detected by the gear shifting and separating sensor and the pressure detected by the direction gear sensor are in a preset time period t6All internal pressures are P5Down to P6And for a preset time period t thereafter7Internal holding pressure P6Wherein t is6<t1+t2，t7≥t2+t3；
The pressure P is detected by the shift position sensor0Then, and no later than, the shift range sensor detects a pressure of P4At the corresponding moment, the pressure detected by the gear shifting position sensor is P6Starts to fall, and thereafter for a preset time period t8Wherein the pressure detected by the gear shifting position sensor is P6Down to P2The pressure detected by the direction gear sensor is in a preset time period t8Internal down to Pa。
3. Control method according to claim 2, characterized in that the pressure P detected by the shift position sensor and the direction shift position sensor6And P5The relationship of (1) is: p6＝(50％-65％)*P5。
4. The control method according to claim 3, wherein the shifting-out clutch shifts out of the current gear, and the shifting-in clutch and the direction gear clutch start shifting into the target gear, includes:
at a preset time period t9Inner, pressure P detected by the direction gear sensoraThe pressure is kept unchanged, and meanwhile, at the moment of shifting away from the current gear, the pressure value detected in the shifting gear sensor begins to rise to Pa；
When the pressure detected by the gear shifting and separating sensor and the pressure detected by the direction gear sensor are both PaWhen the pressure detected by the direction gear sensor and the shift-in gear sensor rises to P5And the pressure-time curves detected by the two coincide.
5. The control method according to claim 1, characterized in that electromagnetic proportional valves are correspondingly arranged on different gear clutches of the bulldozer, and the pressure in the corresponding gear clutch is controlled through the electromagnetic proportional valves;
the current I in the electromagnetic proportional valve is in direct proportion to the pressure P detected by the corresponding gear sensor.
6. The control method of claim 5, wherein the pressures sensed by the upshift sensor, the downshift sensor and the direction gear clutch are fed back to the bulldozer controller, which feeds back the pressure P to the target pressure PsAnd comparing, and adjusting the pressure detected by the corresponding sensor according to the comparison result.
7. The control method of claim 6, wherein the controller compares the feedback pressure P with a target pressure PsAnd comparing, and adjusting the pressure detected by the corresponding sensor according to the comparison result, wherein the method comprises the following steps:
if P > PsControlling the current I in the corresponding electromagnetic proportional valve to be reduced;
if P<PsAnd controlling the current I in the corresponding electromagnetic proportional valve to rise.
8. Control method according to claim 4, characterized in that the pressure detected by the change-in gear sensor and the pressure detected by the direction gear sensor are both PaWhen the pressure detected by the direction gear sensor and the shift-in gear sensor rises to P5The method comprises the following steps:
at a preset time period t10The pressure detected by the shift-in gear sensor and the direction gear sensor rises to P along a first pressure-time relation curve7；
At a preset time period t11The pressures detected by the change-in gear sensor and the direction gear sensor are determined by the pressure P along a second pressure-time curve7Up to pressure P5；
The pressure detected by the shift-in gear sensor and the direction gear sensor is in a preset time period t11The internal rising rate is greater than the preset time period t10The rise rate in.
9. A bulldozer, comprising an electronic control system for performing a shifting operation by using the shifting control method of the bulldozer electronic control system according to any one of claims 1 to 8.
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| CN113216293B (en) * | 2021-04-14 | 2022-06-07 | 湖南三一路面机械有限公司 | Control method and control system of land leveler |
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