CN110822076A - Automatic gear shifting fault detection and processing method for electric tractor - Google Patents
Automatic gear shifting fault detection and processing method for electric tractor Download PDFInfo
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- CN110822076A CN110822076A CN201911144279.XA CN201911144279A CN110822076A CN 110822076 A CN110822076 A CN 110822076A CN 201911144279 A CN201911144279 A CN 201911144279A CN 110822076 A CN110822076 A CN 110822076A
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- push rod
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- remote controller
- gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
- F16H59/044—Ratio selector apparatus consisting of electrical switches or sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/08—Range selector apparatus
- F16H59/10—Range selector apparatus comprising levers
- F16H59/105—Range selector apparatus comprising levers consisting of electrical switches or sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H2059/0291—Selector apparatus comprising safety means for preventing injuries in case of accidents
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gear-Shifting Mechanisms (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a method for detecting automatic gear shifting and gear shifting faults of an electric tractor, which comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod and a gear lever, wherein the actuating mechanism electric push rod is connected with the gear lever, a pressure sensor is arranged between the actuating mechanism electric push rod and the gear lever, the output end of the remote controller screen is electrically connected with the input end of the remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, the output end of the control unit VCU is electrically connected with the input end of the H bridge, and the output end of the H bridge is electrically connected with the input end of the electric push rod of the actuating mechanism.
Description
Technical Field
The invention relates to the technical field of electric tractors, in particular to an automatic gear shifting fault detection and processing method for an electric tractor.
Background
Along with the national requirements and popularization of agricultural mechanization, the intelligent requirements of farmers on agricultural machinery are increased, the demand of the agricultural machinery is also increased, the national requirements are for the rapid development of agriculture, and the agricultural machinery equipment is promoted to move towards the direction of intellectualization, informatization and modernization. At present, most of domestic unmanned tractors still have a cab, and the unmanned electric tractors without the cab need to be remotely controlled to realize automatic gear shifting, so that gear shifting is not in place due to the fact that gear shifting faults often occur in the gear shifting process, gear levers are easy to damage, operation of the tractors is affected, and therefore the gear shifting faults need to be detected and timely processed.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects, and provide an automatic gear shifting and gear shifting fault detection method for an electric tractor, so that the situations that faults cannot be timely processed and a gear lever is damaged in the automatic gear shifting process are effectively avoided, and the problems in the background art can be effectively solved.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic gear-shifting fault detection method of an electric tractor comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod and a blocking rod, wherein the actuating mechanism electric push rod is connected with the blocking rod, a pressure sensor is arranged between the actuating mechanism electric push rod and the blocking rod, the output end of the remote controller screen is electrically connected with the input end of the remote controller main chip, the output end of the remote controller main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, the output end of the control unit VCU is electrically connected with the input end of the H bridge, the output end of the H bridge is electrically connected with the input end of the actuating mechanism electric push rod, the method comprises the following steps:
s1): analyzing and judging the command sent by the remote controller, if the command is a high-gear command, entering step S2, and if the command is a low-gear command, entering step S3;
s2): confirming the high-level command sent by the remote controller, and proceeding to step S4;
s3): confirming the low gear command sent by the remote controller, and proceeding to step S5;
s4): when the actuator electric push rod is to be extended, the VCU sends IN1 ═ 1 and IN2 ═ 0 through the H bridge, and the process proceeds to step S6;
s5): when the actuator electric push rod is to be retracted, the VCU sends IN1 ═ 0 and IN2 ═ 1 through the H bridge, and the process proceeds to step S7;
s6): judging whether the electric push rod of the executing mechanism acts, if so, entering step S8, and if not, entering step S9;
s7): judging whether the electric push rod of the executing mechanism acts, if so, entering step S10, and if not, entering step S11;
s8): the electric push rod of the actuating mechanism extends, the voltage output value fed back by the pressure sensor is increased, and the step S12 is carried out;
s9): judging whether the voltage output value fed back by the pressure sensor is larger than the maximum voltage output value, if so, entering step S13, and if not, entering step S14;
s10): the electric push rod of the actuating mechanism contracts, the output voltage fed back by the pressure sensor is reduced, and the step S15 is carried out;
s11): judging whether the voltage output value fed back by the pressure sensor is smaller than the minimum voltage output value, if so, entering step S13, and if not, entering step S14;
s12): judging whether the electric push rod of the executing mechanism stops operating, if so, entering the step S9, and if not, returning to the step S8;
s13): if it is determined that the shift failure has occurred, the routine proceeds to step S16;
s14): executing a gear shifting command, stopping after the gear is in place, and entering step S17;
s15): judging whether the electric push rod of the executing mechanism stops operating, if so, entering the step S11, and if not, returning to the step S10;
s16): fault processing;
s17): and finishing the fault detection.
A processing method for an electric tractor after automatic gear shifting fault detection comprises the following steps:
s18): the high gear shift fault proceeds to step S19, and the low gear shift fault proceeds to step S20;
s19): the remote controller sends a high gear shift command and the process goes to step S21;
s20): the remote controller sends a low gear shift command and the process goes to step S22;
s21): judging whether the gear shift fault is a high gear shift fault, if so, entering step S23, and if not, entering step S24;
s22): judging whether the gear shift fault is a low gear shift fault, if so, entering step S25, and if not, entering step S24;
s23): sending a low-gear remote control instruction through a remote controller, and entering step S26;
s24): continuing to execute the gear shift command, and then proceeding to step S27;
s25): sending a high-grade remote control instruction through a remote controller, and entering step S28;
s26): the actuator electric push rod contracts and then returns to S19;
s27): failure removal, proceeding to step S29;
s28): the actuator electric push rod is extended and then returns to step S20;
s29): the fault handling command ends.
As a preferred embodiment of the present invention, the remote controller screen sends a shift command, the remote controller main chip sends shift information according to a predetermined communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the shift information, the shift program IN the VCU controller controls contraction and extension of the actuator electric push rod through the output terminals IN1 and IN2 of the H bridge, when the H bridge output IN1 is equal to 1 and IN2 is equal to 0, the actuator electric push rod extends, the H bridge output IN1 is equal to 0 and IN2 is equal to 0, the actuator electric push rod stops operating, when the H bridge output IN1 is equal to 0 and IN2 is equal to 1, the actuator electric push rod contracts.
As a preferable technical solution of the present invention, the output signal of the pressure sensor is a voltage signal.
In a preferred embodiment of the present invention, when the actuator electric push rod is extended, the maximum output value of the pressure sensor is MAX-0.3V, and when the actuator electric push rod is retracted, the minimum output value of the pressure sensor is MIN-0.3V.
Compared with the prior art, the invention has the beneficial effects that: the automatic gear shifting fault detection and processing method of the electric tractor is reasonable in design and high in execution efficiency, effectively avoids the phenomenon that a fault cannot be timely processed and a gear lever is damaged in the automatic gear shifting process, enables gears to be successfully shifted, and reduces device loss.
Drawings
FIG. 1 is a flow chart of the automatic shift control of the present invention;
FIG. 2 is a shift fault detection flow diagram of the present invention;
fig. 3 is a flow chart of the fault handling of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-3, the present invention provides a technical solution: an automatic gear-shifting fault detection method of an electric tractor comprises a remote controller screen, a remote controller main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod and a blocking rod, wherein the actuating mechanism electric push rod is connected with the blocking rod, a pressure sensor is arranged between the actuating mechanism electric push rod and the blocking rod, an output signal of the pressure sensor is a voltage signal, an output end of the remote controller screen is electrically connected with an input end of the remote controller main chip, an output end of the remote controller main chip is electrically connected with an input end of the transmitting unit, an output end of the transmitting unit is electrically connected with an input end of the receiver, an output end of the receiver is bidirectionally connected with an input end of the control unit VCU, an output end of the control unit VCU is electrically connected with an input end of the H bridge, an output end of the H bridge is electrically, the pressure sensor is connected with the control unit VCU IN a bidirectional way, the remote controller screen sends a gear instruction, the remote controller main chip sends gear information according to a specified communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring the normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the gear information, a gear shifting program IN the VCU controller controls the contraction and the extension of the electric push rod of the actuating mechanism through output ends IN1 and IN2 of an H bridge, when the output IN1 of the H bridge is 1 and the IN2 is 0, the electric push rod of the actuating mechanism extends, the output IN1 of the H bridge is 0 and the IN2 is 0, the electric push rod of the actuating mechanism stops acting, when the output IN1 of the H bridge is 0 and the IN2 is 1, the electric push rod of the actuating mechanism contracts, when the electric push rod of the actuating mechanism extends, the maximum output value MAX of the pressure sensor is 0.3V, when the electric push rod of the actuating mechanism contracts, the minimum value of the output of the pressure sensor is-0.3V, the method comprises the following steps:
s1): analyzing and judging the command sent by the remote controller, if the command is a high-gear command, entering step S2, and if the command is a low-gear command, entering step S3;
s2): confirming the high-level command sent by the remote controller, and proceeding to step S4;
s3): confirming the low gear command sent by the remote controller, and proceeding to step S5;
s4): when the actuator electric push rod is to be extended, the VCU sends IN1 ═ 1 and IN2 ═ 0 through the H bridge, and the process proceeds to step S6;
s5): when the actuator electric push rod is to be retracted, the VCU sends IN1 ═ 0 and IN2 ═ 1 through the H bridge, and the process proceeds to step S7;
s6): judging whether the electric push rod of the executing mechanism acts, if so, entering step S8, and if not, entering step S9;
s7): judging whether the electric push rod of the executing mechanism acts, if so, entering step S10, and if not, entering step S11;
s8): the electric push rod of the actuating mechanism extends, the voltage output value fed back by the pressure sensor is increased, and the step S12 is carried out;
s9): judging whether the voltage output value fed back by the pressure sensor is larger than the maximum voltage output value, if so, entering step S13, and if not, entering step S14;
s10): the electric push rod of the actuating mechanism contracts, the output voltage fed back by the pressure sensor is reduced, and the step S15 is carried out;
s11): judging whether the voltage output value fed back by the pressure sensor is smaller than the minimum voltage output value, if so, entering step S13, and if not, entering step S14;
s12): judging whether the electric push rod of the executing mechanism stops operating, if so, entering the step S9, and if not, returning to the step S8;
s13): if it is determined that the shift failure has occurred, the routine proceeds to step S16;
s14): executing a gear shifting command, stopping after the gear is in place, and entering step S17;
s15): judging whether the electric push rod of the executing mechanism stops operating, if so, entering the step S11, and if not, returning to the step S10;
s16): fault processing;
s17): and finishing the fault detection.
A processing method for an electric tractor after automatic gear shifting fault detection comprises the following steps:
s18): the high gear shift fault proceeds to step S19, and the low gear shift fault proceeds to step S20;
s19): the remote controller sends a high gear shift command and the process goes to step S21;
s20): the remote controller sends a low gear shift command and the process goes to step S22;
s21): judging whether the gear shift fault is a high gear shift fault, if so, entering step S23, and if not, entering step S24;
s22): judging whether the gear shift fault is a low gear shift fault, if so, entering step S25, and if not, entering step S24;
s23): sending a low-gear remote control instruction through a remote controller, and entering step S26;
s24): continuing to execute the gear shift command, and then proceeding to step S27;
s25): sending a high-grade remote control instruction through a remote controller, and entering step S28;
s26): the actuator electric push rod contracts and then returns to S19;
s27): failure removal, proceeding to step S29;
s28): the actuator electric push rod is extended and then returns to step S20;
s29): the fault handling command ends.
Wherein, the maximum value of the extension of the electric push rod of the fault detection actuating mechanism is MAX 0.3V, the minimum value of the contraction of the electric push rod of the actuating mechanism is MIN-0.3V, if the gear shifting is successful, the value of the pressure sensor 1 is about 0V, and a voltage value which tends to 0V exists, if the electric push rod of the actuating mechanism is extended in the gear shifting process, the voltage value is increased from zero to 0.2V, the gear shifting is successfully changed to 0V, if the electric push rod of the actuating mechanism is contracted, the value of the pressure sensor is reduced from 0 to-0.25V, the gear shifting is successfully changed to 0, if the electric push rod of the actuating mechanism is blocked in the gear shifting process, but the electric push rod of the actuating mechanism still acts all the time, the value of the pressure sensor is increased or reduced all the time, the increased value exceeds 0.3V or the reduced value is lower than-0.3V, the stop lever is deformed by excessive force, and the electric, reduce the damage to the gear lever.
The automatic gear shifting device effectively avoids the situation that the fault cannot be timely processed and the gear lever is damaged in the automatic gear shifting process; the gear shifting fault can be detected, corresponding processing is carried out, the manual operation rate is reduced, the gear shifting can be successfully carried out, and the device loss is reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The automatic gear shifting fault detection method of the electric tractor is characterized by comprising the following steps of: the remote control device comprises a remote control screen, a remote control main chip, a transmitting unit, a receiver, a control unit VCU, an H bridge, an actuating mechanism electric push rod and a stop lever, wherein the actuating mechanism electric push rod is connected with the stop lever, and a pressure sensor is arranged between the actuating mechanism electric push rod and the stop lever, the output end of the remote control screen is electrically connected with the input end of the remote control main chip, the output end of the remote control main chip is electrically connected with the input end of the transmitting unit, the output end of the transmitting unit is electrically connected with the input end of the receiver, the output end of the receiver is bidirectionally connected with the input end of the control unit VCU, the output end of the control unit VCU is electrically connected with the input end of the H bridge, the output end of the H bridge is electrically connected with the input end of the actuating mechanism electric push rod, the:
s1): analyzing and judging the command sent by the remote controller, if the command is a high-gear command, entering step S2, and if the command is a low-gear command, entering step S3;
s2): confirming the high-level command sent by the remote controller, and proceeding to step S4;
s3): confirming the low gear command sent by the remote controller, and proceeding to step S5;
s4): when the actuator electric push rod is to be extended, the VCU sends IN1 ═ 1 and IN2 ═ 0 through the H bridge, and the process proceeds to step S6;
s5): when the actuator electric push rod is to be retracted, the VCU sends IN1 ═ 0 and IN2 ═ 1 through the H bridge, and the process proceeds to step S7;
s6): judging whether the electric push rod of the executing mechanism acts, if so, entering step S8, and if not, entering step S9;
s7): judging whether the electric push rod of the executing mechanism acts, if so, entering step S10, and if not, entering step S11;
s8): the electric push rod of the actuating mechanism extends, the voltage output value fed back by the pressure sensor is increased, and the step S12 is carried out;
s9): judging whether the voltage output value fed back by the pressure sensor is larger than the maximum voltage output value, if so, entering step S13, and if not, entering step S14;
s10): the electric push rod of the actuating mechanism contracts, the output voltage fed back by the pressure sensor is reduced, and the step S15 is carried out;
s11): judging whether the voltage output value fed back by the pressure sensor is smaller than the minimum voltage output value, if so, entering step S13, and if not, entering step S14;
s12): judging whether the electric push rod of the executing mechanism stops operating, if so, entering the step S9, and if not, returning to the step S8;
s13): if it is determined that the shift failure has occurred, the routine proceeds to step S16;
s14): executing a gear shifting command, stopping after the gear is in place, and entering step S17;
s15): judging whether the electric push rod of the executing mechanism stops operating, if so, entering the step S11, and if not, returning to the step S10;
s16): fault processing;
s17): and finishing the fault detection.
2. The method for processing after detection of the automatic gear shifting fault of the electric tractor according to claim 1, characterized in that: the steps are as follows:
s18): the high gear shift fault proceeds to step S19, and the low gear shift fault proceeds to step S20;
s19): the remote controller sends a high gear shift command and the process goes to step S21;
s20): the remote controller sends a low gear shift command and the process goes to step S22;
s21): judging whether the gear shift fault is a high gear shift fault, if so, entering step S23, and if not, entering step S24;
s22): judging whether the gear shift fault is a low gear shift fault, if so, entering step S25, and if not, entering step S24;
s23): sending a low-gear remote control instruction through a remote controller, and entering step S26;
s24): continuing to execute the gear shift command, and then proceeding to step S27;
s25): sending a high-grade remote control instruction through a remote controller, and entering step S28;
s26): the actuator electric push rod contracts and then returns to S19;
s27): failure removal, proceeding to step S29;
s28): the actuator electric push rod is extended and then returns to step S20;
s29): the fault handling command ends.
3. The electric tractor automatic gear shift fault detection method according to claim 1, characterized in that: the remote controller screen sends a gear instruction, the remote controller main chip sends gear information according to a specified communication protocol format through the remote controller sending unit, the receiver is responsible for ensuring normal communication between the remote controller and the control unit VCU, after the control unit VCU receives the gear information, a gear shifting program IN the VCU controller controls contraction and extension of the electric push rod of the executing mechanism through output ends IN1 and IN2 of an H bridge, when an H bridge output IN1 is equal to 1 and an IN2 is equal to 0, the electric push rod of the executing mechanism extends, the H bridge output IN1 is equal to 0 and an IN2 is equal to 0, the electric push rod of the executing mechanism stops acting, when an H bridge output IN1 is equal to 0 and the IN2 is equal to 1, the electric push rod of the executing mechanism contracts.
4. The electric tractor automatic gear shift fault detection method according to claim 1, characterized in that: the output signal of the pressure sensor is a voltage signal.
5. The electric tractor automatic gear shift fault detection method according to claim 1, characterized in that: when the electric push rod of the actuating mechanism extends, the maximum output value of the pressure sensor is MAX 0.3V, and when the electric push rod of the actuating mechanism contracts, the minimum output value of the pressure sensor is MIN-0.3V.
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