CN111559377B - A speed regulation control method for a wheeled tractor dual-flow transmission system - Google Patents

A speed regulation control method for a wheeled tractor dual-flow transmission system Download PDF

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CN111559377B
CN111559377B CN202010442403.7A CN202010442403A CN111559377B CN 111559377 B CN111559377 B CN 111559377B CN 202010442403 A CN202010442403 A CN 202010442403A CN 111559377 B CN111559377 B CN 111559377B
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tractor
speed
priority
resistance
speed regulation
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CN111559377A (en
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夏光
纵华宇
高军
于星海
张亮
王跃强
李嘉诚
夏岩
陈建杉
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Hefei University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/152—Tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Transmission Device (AREA)
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Abstract

本发明公开了一种用于轮式拖拉机双流传动系统的调速控制方法，是在拖拉机作业阻力和路面附着条件发生变化时，通过对拖拉机驱动轮滑转率进行分级，将调速控制分为通过性优先和生产效率优先两个不同的优先级，并分别执行滑转率控制和车速控制。本发明能在进行车速控制时，通过对拖拉机当前作业阻力进行分级，确定双流传动系统的传动模式，并以最高生产率变速规律进行变速调节，从而最大限度保持拖拉机的生产效率。

Figure 202010442403

The invention discloses a speed regulation control method for a dual-flow transmission system of a wheeled tractor. When the working resistance of the tractor and the adhesion conditions of the road surface are changed, the slip rate of the driving wheel of the tractor is graded, and the speed regulation control is divided into pass Performance priority and productivity priority are two different priorities, and slip rate control and vehicle speed control are performed respectively. The invention can determine the transmission mode of the dual-flow transmission system by grading the current working resistance of the tractor during vehicle speed control, and adjust the speed change according to the highest productivity speed change law, thereby maintaining the tractor production efficiency to the maximum extent.

Figure 202010442403

Description

Speed regulation control method for double-flow transmission system of wheeled tractor
Technical Field
The invention relates to the field of vehicle speed change control research and design, in particular to a speed regulation control method for a double-flow transmission system of a wheeled tractor.
Background
Unlike the requirement of passenger cars for vehicle fuel economy, tractors are more concerned about the production efficiency of the units. In the operation process of the tractor, the slip rate of the driving wheels and the speed of the tractor can influence the production efficiency of the tractor. The existing speed regulation control for the tractor with the hydraulic mechanical double-flow transmission system only considers the speed regulation of the tractor and ignores the control of the slip rate of a driving wheel, and a corresponding speed regulation method is not established by taking the slip rate and the speed as a coupled whole, so that the slip rate of the driving wheel is easy to deteriorate and the phenomenon of the slip of the driving wheel occurs in the speed regulation process, so that the trafficability of the tractor is reduced, and finally the production efficiency of the tractor is reduced.
In addition, in the prior art, the influence of the transmission efficiency fluctuation of the hydraulic speed regulation branch on the transmission efficiency of the whole transmission system is not considered in the speed regulation control process of the hydraulic mechanical double-flow transmission system, and when the dynamic speed change rule of the tractor is determined, the maximum output power of the engine is usually equal to the maximum driving power of the driving wheels of the tractor, so that the actual speed regulation effect is greatly reduced.
Disclosure of Invention
The invention provides a speed regulation control method for a double-flow transmission system of a wheeled tractor to overcome the defects of the prior art, so that the speed regulation can be performed according to the highest-productivity speed regulation law when the road attachment condition or the tractor operation resistance changes, and the tractor still has higher production efficiency.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention relates to a speed regulation control method for a double-flow transmission system of a wheeled tractor, which is characterized by comprising the following steps of:
step 1, obtaining the slip ratio delta of a tractor driving wheel by using a formula (1) so as to determine the priority of speed regulation control, wherein the priority of the speed regulation control comprises the following steps: passing priority and production efficiency priority;
Figure BDA0002504454010000011
in the formula (1), v represents the actual speed of the tractor acquired by a speed sensor; v' represents the theoretical speed of the tractor acquired by the rotating speed sensor;
step 2, carrying out corresponding control according to the priority of the speed regulation control, comprising the following steps:
when the priority is passing priority, carrying out slip rate control on the tractor;
and when the priority is the priority of production efficiency, controlling the speed of the tractor.
The speed regulation control method of the present invention is also characterized in that the priority of the speed regulation control in step 1 is determined according to the following method:
the slip rate delta of the driving wheel is compared with a lower threshold value deltaminAnd an upper threshold δmaxFor comparison, if the slip ratio of the tractor driving wheel is in the interval [ delta ]min,δmax]In the method, the speed regulation control of the tractor takes the production efficiency as the first priority; otherwise, the speed regulation control of the tractor takes the trafficability as the first priority.
The lower threshold value deltaminIs determined according to the following method:
step 1A.1, adjusting the road adhesion condition and the tractor operation resistance;
step 1A.2, measuring the maximum traction efficiency eta of the tractormax；
Step 1A.3, keeping the road adhesion condition unchanged and reducing the operation resistance of the tractor;
step 1A.4, measuring the slip rate of the driving wheel under each resistance state;
step 1A.5, measuring the traction efficiency of the tractor under each slip ratio;
step 1A.6, the traction efficiency of the tractor is lower than the maximum traction efficiency etamaxSlip ratio at ×. DELTA% as a threshold value [ delta ]minWherein the value range of delta is 70-80.
The upper threshold value deltamaxIs determined according to the following method:
step 1B.1, adjusting the road adhesion condition and the tractor operation resistance;
step 1B.2, measuring the maximum traction efficiency eta of the tractormax；
Step 1B.3, keeping the road adhesion condition unchanged and increasing the operation resistance of the tractor;
step 1B.4, measuring the slip rate of the driving wheel under each resistance state;
step 1B.5, measuring the traction efficiency of the tractor under each slip ratio;
step 1B.6, the traction efficiency of the tractor is lower than the maximum traction efficiency etamaxSlip ratio at ×. DELTA% as a threshold value [ delta ]maxWherein the value range of delta is 70-80.
The slip ratio control in the step 2 is performed according to the following method:
if the slip ratio delta of the tractor driving wheel is less than the lower threshold value deltaminWhen the tractor is used, the speed regulation control of the tractor is realized by deepening the working depth of the machine tool or increasing the width of the harvesting machine tool;
if the slip ratio of the tractor driving wheel is larger than the upper limit threshold value deltamaxIn time, the speed regulation control of the tractor is realized by reducing the working depth of the machine or the width of the harvester.
The speed control in the step 2 is to make the tractor perform speed change regulation according to the speed change rule of the highest productivity after determining the transmission mode of the tractor double-flow transmission system under the current resistance level according to the obtained actual speed v and acceleration a of the tractor and according to the following conditions:
when a is 0 and v is v2If the current resistance level is no resistance, the transmission mode is pure mechanical transmission MT;
when 0 is present<a≤a1And v is<v1When the current resistance level is small resistance, the transmission mode is pure mechanical transmission MT;
when a is1<a≤a2And v is<v1If the current resistance level is the medium resistance, the transmission mode is a hydraulic mechanical double-flow transmission HMT;
when a is>a2And v is<v1If the current resistance level is large resistance, the transmission mode is pure hydraulic transmission (HST);
wherein v is1And v2Respectively is the lower limit and the upper limit of the high-efficiency operation vehicle speed interval; a is1And a2Respectively, the lower and upper limits of acceleration.
Lower limit a of the acceleration1And an upper limit a2Is determined according to the following method:
step 2A.1, under the current operation type, keeping other operation conditions of the tractor unchanged, and adjusting the operation resistance of the tractor;
step 2A.2, only adjusting the diesel engine to determine the upper limit value of the resistance which can be overcome in the pure mechanical transmission MT mode;
step 2A.3, acquiring the acceleration of the tractor under the current resistance state and the initial accelerator opening degree and taking the acceleration as a lower limit a1；
Step 2A.4, adjusting the diesel engine and the displacement ratio to determine the upper limit value of the resistance which can be overcome in the hydraulic machinery double-flow transmission HMT mode;
step 2A.5, acquiring the acceleration of the tractor under the current resistance state and the initial accelerator opening degree and taking the acceleration as an upper limit a2。
The maximum production rate speed change rule is determined according to the following method:
step 2B.1, determining a current transmission mode;
step 2B.2, acquiring a vehicle speed v, an oil pressure P and an accelerator opening degree alpha;
step 2B.3, obtaining a three-dimensional data table obtained by the variation of the displacement ratio e of the double-flow transmission system of the wheeled tractor under the highest transmission efficiency along with the vehicle speed v and the oil pressure P under the conditions of sigma% and 100% of accelerator opening, wherein the value range of sigma is 90-95;
step 2B.4, acquiring the required throttle opening of the diesel engine according to the current transmission mode;
and 2B.5, inquiring the optimal displacement ratio corresponding to the vehicle speed v and the oil pressure P according to the three-dimensional data table.
The throttle opening degree of the diesel engine required in the step 2B.4 is determined according to the following method:
when the transmission mode is a hydraulic mechanical double-flow transmission HMT mode, the throttle opening of the diesel engine is adjusted to be sigma%, wherein the value range of sigma is 90-95;
when the transmission mode is a pure hydraulic transmission HST mode, the throttle opening of the diesel engine is adjusted to be 100%.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention considers the slip rate of the driving wheel of the tractor and the speed of the tractor as a coupled whole, introduces the slip rate control into an independent speed control strategy, and determines the priority of the speed control and the slip rate control by grading the slip rate, thereby establishing a proper speed regulation control method, not only effectively avoiding the slipping phenomenon of the driving wheel of the tractor, but also ensuring that the tractor has higher production efficiency.
2. When the speed of the tractor is controlled, the present operation resistance of the tractor is graded, the transmission mode of the tractor transmission system under the condition of adapting to the present resistance is determined, and the advantages of jumping and rapid switching of the transmission mode of the double-flow transmission system are fully utilized, so that the tractor has excellent speed regulation capability and higher transmission efficiency.
3. The invention can classify the speed regulation control into two different priorities of trafficability priority and production efficiency priority by classifying the slip ratio of the driving wheels of the tractor when the tractor changes in operation resistance and road adhesion conditions, and respectively execute the slip ratio control and the vehicle speed control. When the speed of the tractor is controlled, the current operation resistance of the tractor is graded, the transmission mode of the double-flow transmission system is determined, and the variable speed regulation is carried out according to the maximum productivity variable speed rule, so that the production efficiency of the tractor is maintained to the maximum extent.
Drawings
FIG. 1 is a flow chart of the speed control method of the present invention;
FIG. 2 is a graph illustrating the grading of slip ratio grading according to the present invention;
FIG. 3 is a front end block diagram of a dual flow transmission system of the present invention;
reference numbers in the figures: a Z1 power input shaft; c1 transfer gear; z2 split axis; p1 bidirectional variable displacement plunger pump; f1 adjustable throttle valve; an M1 bidirectional fixed displacement motor; z3 confluence axis; TY conflux planetary gear train sun gear; an XJ converging planetary gear train planet carrier; a CQ confluence planetary gear train gear ring; an L1 HMT clutch; l2 HST clutch.
Detailed Description
In the embodiment, the speed regulation control method for the double-flow transmission system of the wheeled tractor is characterized in that when the working resistance and the road adhesion condition of the tractor are changed, the speed regulation control is divided into two different priorities of passing priority and production efficiency priority by grading the slip rate of the driving wheels of the tractor, and the slip rate control and the vehicle speed control are respectively executed. When the speed of the tractor is controlled, the current operation resistance of the tractor is graded, the transmission mode of the double-flow transmission system is determined, and the variable speed regulation is carried out according to the maximum productivity variable speed rule, so that the production efficiency of the tractor is kept to the maximum extent. Specifically, as shown in fig. 1, the speed regulation control method is performed according to the following method:
step 1, obtaining the slip rate of a tractor driving wheel by using a formula (1) so as to determine the priority of speed regulation control, wherein the priority of the speed regulation control comprises the following steps: passing priority and production efficiency priority;
Figure BDA0002504454010000041
in the formula (1), v represents the actual speed of the tractor acquired by a speed sensor; v' represents the theoretical speed of the tractor acquired by the rotating speed sensor;
step 2, carrying out corresponding control according to the priority of the speed regulation control, comprising the following steps:
when the priority is passing priority, the slip rate of the tractor is controlled;
and when the priority is the priority of production efficiency, controlling the speed of the tractor.
Specifically, the slip ratio δ of the driving wheel is compared with the lower threshold δ in fig. 2minAnd an upper threshold δmaxAnd comparing to determine the priority of the speed regulation control. If the slip ratio of the tractor driving wheel is in the interval [ delta ]min,δmax]In the interior, the speed regulation control of the tractor is startedThe production efficiency is a first priority; otherwise, the speed regulation control of the tractor takes the trafficability as the first priority.
Wherein the lower threshold value deltaminThe determination is carried out according to the following method:
step 2A.1, adjusting the road adhesion condition and the tractor operation resistance;
step 2A.2, measuring the maximum traction efficiency eta of the tractormax；
Step 2A.3, keeping the road adhesion condition unchanged and reducing the operation resistance of the tractor;
step 2A.4, measuring the slip rate of the driving wheel under each resistance state;
step 2A.5, measuring the traction efficiency of the tractor under each slip ratio;
step 2A.6, the traction efficiency of the tractor is lower than the maximum traction efficiency etamaxSlip ratio at ×. DELTA% as a threshold value [ delta ]minWherein the value range of delta is 70-80. The value of delta only influences the time point of the intervention of the speed regulation control in the invention, but does not influence the control effect of the speed regulation control. For example, when Δ is 70, the timing at which the throttle control is engaged is later than the timing at which the system is engaged when Δ is 80. In practical engineering application, the value of delta can be determined after experimental analysis according to needs.
In a specific implementation, the upper threshold δmaxThe determination is carried out according to the following method:
step 2B.1, adjusting the road adhesion condition and the tractor operation resistance;
step 2B.2, measuring the maximum traction efficiency eta of the tractormax；
Step 2B.3, keeping the road adhesion condition unchanged and increasing the operation resistance of the tractor;
step 2B.4, measuring the slip rate of the driving wheel under each resistance state;
step 2B.5, measuring the traction efficiency of the tractor under each slip ratio;
step 2B.6, the traction efficiency of the tractor is lower than the maximum traction efficiency etamaxSlip ratio at ×. DELTA% as a threshold value [ delta ]maxWherein the value range of delta is 70-80.
Step 3, carrying out corresponding speed regulation control according to different control priorities, and when the speed regulation control is carried out by taking the passing property as the first priority, carrying out slip rate control and executing the step 3.1; when the speed regulation control takes the production efficiency as the first priority, the speed control is carried out, and the step 3.2 is executed;
step 3.1, slip ratio control is carried out according to the following method:
step 3.1.1, obtaining the slip ratio delta of the driving wheel of the tractor;
step 3.1.2, comparing the slip ratio delta of the driving wheel with the lower threshold delta in the figure 2minAnd an upper threshold δmaxComparing;
step 3.1.3, if the slip ratio of the driving wheels of the tractor is less than the lower limit threshold value deltaminThe speed regulation control of the tractor takes the increase of the operation resistance as a control target and is realized by a mode of deepening the operation tilling depth of the machine tool or increasing the width of the harvesting machine tool; if the slip ratio of the driving wheels of the tractor is larger than the upper limit threshold value deltamaxThe speed regulation control of the tractor takes the reduction of the operation resistance as a control target and is realized by reducing the operation tilling depth of the machine tool or reducing the width of the harvesting machine tool;
and 3.2, controlling the vehicle speed according to the following method:
step 3.2.1, acquiring the actual speed v of the tractor;
step 3.2.2, acquiring the acceleration a of the tractor;
step 3.2.3, determining the transmission mode of the tractor double-flow transmission system under the current resistance level according to the following conditions:
when a is 0 and v is v2When the resistance level is no resistance, the transmission mode is pure mechanical transmission MT;
when 0 is present<a≤a1And v is<v1When the current resistance level is small resistance, the transmission mode is pure mechanical transmission MT;
when a is1<a≤a2And v is<v1When the current resistance level is the medium resistance, the transmission mode is the hydraulic mechanical double-flow transmission HMT;
when a is>a2And v is<v1When the current resistance level is large resistance, the transmission mode is pure hydraulic transmission HST;
wherein v is1And v2Respectively is the lower limit and the upper limit of the high-efficiency operation vehicle speed interval; a is1And a2Respectively, the lower and upper limits of acceleration. The lower limit and the upper limit of the high-efficiency operation vehicle speed interval of different operation types are different, and the upper limit and the lower limit of the interval are generally determined by industry experience or a test calibration mode. For example, when the wheeled tractor is used for seeding, the high-efficiency operation speed range is 5-9 km/h.
In a specific embodiment, the lower limit a of the acceleration1And an upper limit a2Is determined according to the following method:
step a, under the current operation type, keeping other operation conditions of the tractor unchanged, and adjusting the operation resistance of the tractor;
b, only adjusting the diesel engine to determine the upper limit value of the resistance which can be overcome in the MT mode of the pure mechanical transmission;
step c, acquiring the acceleration of the tractor under the current resistance state and the initial accelerator opening degree and taking the acceleration as a lower limit a1；
D, adjusting the diesel engine and the displacement ratio to determine the upper limit value of the resistance which can be overcome in the hydraulic machinery double-flow transmission HMT mode;
step e, acquiring the acceleration of the tractor under the current resistance state and the initial accelerator opening degree and taking the acceleration as an upper limit a2。
And 3.2.4, changing speed according to the highest productivity speed change rule:
step 3.2.4.1, determining the current transmission mode;
step 3.2.4.2, acquiring a vehicle speed v, an oil pressure P and an accelerator opening degree alpha;
and 3.2.4.3, obtaining a three-dimensional data table obtained by the variation of the displacement ratio e of the double-flow transmission system of the wheeled tractor under the conditions of the maximum transmission efficiency of the accelerator opening of sigma% and the accelerator opening of 100% along with the change of the vehicle speed v and the oil pressure P, wherein the value range of sigma is 90-95. (ii) a
Step 3.2.4.4, acquiring the required throttle opening of the diesel engine according to the current transmission mode;
when the transmission mode is a hydraulic mechanical double-flow transmission HMT mode, the throttle opening of the diesel engine is adjusted to be 90%, wherein the value range of sigma is 90-95; the value of sigma determines the output power of the diesel engine, and in practical engineering application, the specific value of sigma is determined by a test calibration mode.
When the transmission mode is a pure hydraulic transmission HST mode, the throttle opening of the diesel engine is adjusted to be 100%.
Step 3.2.4.5, inquiring the optimal displacement ratio corresponding to the vehicle speed v and the oil pressure P according to the three-dimensional data table;
and 3.2.4.6, correspondingly adjusting the opening of the diesel engine valve and the displacement of the hydraulic pump according to the steps 3.2.4.4 and 3.2.4.5.
Examples
FIG. 3 is a schematic diagram of a dual flow transmission front end module, and the transition to dual flow transmission modes may be accomplished by adjusting the displacement of the HMT clutch L1, the HST clutch L2, and the hydraulic pump in the front end module. Such as: the HMT clutch L1 is combined, the HST clutch L2 is separated, the displacement of the hydraulic pump is adjusted to be 0, and the double-flow transmission system is in a pure mechanical transmission state; and when the HMT clutch L1 is combined and the HST clutch L2 is disengaged, the displacement of the hydraulic pump is not 0, and the double-flow transmission system is in a hydraulic and mechanical double-flow transmission state.
Assuming that a wheeled tractor equipped with the dual-flow transmission system is harvesting in a pure mechanical transmission mode, suddenly, the working resistance of the tractor increases sharply, and if the speed regulating system detects that the slip ratio of the driving wheels is greater than the upper threshold value delta at the momentmaxIn order to ensure the passing performance of the tractor, the speed regulating system can send a slip rate control signal, and at the moment, the tractor can send a signal for reminding a driver to reduce the operation width of the machine tool; if the speed regulating system detects that the slip ratio of the driving wheel is in the interval [ delta ] at the momentmin,δmax]In order to ensure the production efficiency of the tractor, the speed regulating system can send a speed control signal. The speed regulating system judges the current working resistance according to the detected tractor speed and acceleration signals and sends out switching transmissionA signal of a pattern. If the vehicle speed is lower than the lower limit value and the acceleration is at a1<a≤a2And when the speed is higher than the set speed, switching to a hydraulic mechanical double-flow transmission mode. When the hydraulic engine is in a hydraulic mechanical double-flow transmission mode, on one hand, the speed regulating system determines the opening degree of the throttle of the diesel engine required by the current resistance state according to the transmission mode; on the other hand, the speed regulating system queries the three-dimensional data form according to the current vehicle speed v and the oil pressure P to obtain the displacement ratio corresponding to the highest transmission efficiency. Finally, the speed of the tractor can be adjusted by adjusting the opening of the throttle valve and the discharge capacity of the hydraulic pump, and the tractor still has high production efficiency after the operation resistance fluctuates.

Claims (7)

1.一种用于轮式拖拉机双流传动系统的调速控制方法，其特征在于：包括以下步骤：1. a speed regulation control method for wheeled tractor dual-flow transmission system, is characterized in that: comprise the following steps: 步骤1、利用式(1)获取拖拉机驱动轮的滑转率δ，从而确定调速控制的优先级，所述调速控制的优先级包括：通过性优先和生产效率优先；Step 1. Use formula (1) to obtain the slip rate δ of the driving wheel of the tractor, so as to determine the priority of the speed regulation control, the priority of the speed regulation control includes: priority on passability and priority on production efficiency;
Figure FDA0002946285800000011
Figure FDA0002946285800000011
 式(1)中，v表示由车速传感器采集得到的拖拉机的实际车速；v′表示由转速传感器采集得到拖拉机的理论车速；In formula (1), v represents the actual vehicle speed of the tractor acquired by the vehicle speed sensor; v′ represents the theoretical vehicle speed of the tractor acquired by the rotational speed sensor; 所述步骤1中的调速控制的优先级是按照以下方法确定的：The priority of the speed regulation control in the step 1 is determined according to the following method: 将驱动轮的滑转率δ与下限阈值δmin和上限阈值δmax作比较，若拖拉机驱动轮的滑转率处于区间[δmin,δmax]内，则令所述拖拉机的调速控制是以生产效率为第一优先级；否则，令所述拖拉机的调速控制是以通过性为第一优先级；Compare the slip rate δ of the driving wheel with the lower threshold δ min and the upper threshold δ max , if the slip rate of the tractor driving wheel is in the interval [δ min ,δ max ], then let the speed control of the tractor be Take production efficiency as the first priority; otherwise, make the speed control of the tractor take the passability as the first priority; 所述下限阈值δmin是按照以下方法确定的：The lower threshold value δ min is determined according to the following method: 步骤1A.1、调整路面附着条件及拖拉机作业阻力；Step 1A.1. Adjust road adhesion conditions and tractor operating resistance; 步骤1A.2、测量出拖拉机的最大牵引效率ηmax；Step 1A.2, measure the maximum traction efficiency η max of the tractor; 步骤1A.3、保持路面附着条件不变，并降低拖拉机的作业阻力；Step 1A.3. Keep the road adhesion conditions unchanged and reduce the working resistance of the tractor; 步骤1A.4、测量各个阻力状态下驱动轮的滑转率；Step 1A.4, measure the slip rate of the driving wheel under each resistance state; 步骤1A.5、测量各个滑转率下拖拉机的牵引效率；Step 1A.5, measure the traction efficiency of the tractor under each slip ratio; 步骤1A.6、取拖拉机的牵引效率低于最大牵引效率ηmax×Δ％时的滑转率作为阈值δmin，其中，Δ的取值范围是70～80；Step 1A.6, take the slip ratio when the traction efficiency of the tractor is lower than the maximum traction efficiency η max ×Δ% as the threshold value δ min , where the value range of Δ is 70-80; 步骤2、根据调速控制的优先级进行相应的控制，包括：Step 2. Carry out corresponding control according to the priority of speed control, including: 当所述优先级为通过性优先时，对所述拖拉机进行滑转率控制；When the priority is passability priority, controlling the slip rate of the tractor; 当所述优先级为生产效率优先时，对所述拖拉机进行车速控制。When the priority is the production efficiency priority, the vehicle speed control is performed on the tractor. 2.根据权利要求1所述的调速控制方法，其特征在于，所述上限阈值δmax是按照以下方法确定的：2. The speed regulation control method according to claim 1, wherein the upper limit threshold δ max is determined according to the following method: 步骤1B.1、调整路面附着条件及拖拉机作业阻力；Step 1B.1. Adjust road adhesion conditions and tractor operating resistance; 步骤1B.2、测量出拖拉机的最大牵引效率ηmax；Step 1B.2, measure the maximum traction efficiency η max of the tractor; 步骤1B.3、保持路面附着条件不变，并增大拖拉机作业阻力；Step 1B.3, keep the road adhesion conditions unchanged, and increase the tractor operating resistance; 步骤1B.4、测量各个阻力状态下驱动轮的滑转率；Step 1B.4, measure the slip rate of the driving wheel under each resistance state; 步骤1B.5、测量各个滑转率下拖拉机的牵引效率；Step 1B.5, measure the traction efficiency of the tractor under each slip ratio; 步骤1B.6、取拖拉机的牵引效率低于最大牵引效率ηmax×Δ％时的滑转率作为阈值δmax，其中，Δ的取值范围是70～80。Step 1B.6, take the slip ratio when the traction efficiency of the tractor is lower than the maximum traction efficiency η max ×Δ% as the threshold δ max , where the value of Δ ranges from 70 to 80. 3.根据权利要求1所述的调速控制方法，其特征在于，所述步骤2中的滑转率控制是按照以下方法进行：3. The speed regulation control method according to claim 1, wherein the slip rate control in the step 2 is carried out according to the following method: 若拖拉机驱动轮的滑转率δ小于下限阈值δmin时，所述拖拉机的调速控制是以加深机具作业耕深或加大收割机具的幅宽来实现；If the slip ratio δ of the driving wheel of the tractor is less than the lower threshold value δ min , the speed regulation control of the tractor is realized by deepening the working depth of the machine tool or increasing the width of the harvester tool; 若拖拉机驱动轮的滑转率大于上限阈值δmax时，所述拖拉机的调速控制是以降低机具作业耕深或减小收割机具的幅宽来实现。If the slip ratio of the driving wheel of the tractor is greater than the upper limit threshold δmax , the speed regulation control of the tractor is realized by reducing the ploughing depth of the tool or reducing the width of the harvesting tool. 4.根据权利要求1所述的调速控制方法，其特征在于，所述步骤2中的车速控制是根据获取到的拖拉机的实际车速v和加速度a，并按如下情况确定当前阻力级别下的拖拉机双流传动系统的传动模式后，使拖拉机以最高生产率的变速规律进行变速调节：4. The speed regulation control method according to claim 1, wherein the vehicle speed control in the step 2 is based on the obtained actual vehicle speed v and acceleration a of the tractor, and determines the current resistance level as follows. After the transmission mode of the tractor's dual-stream transmission system, the tractor can be adjusted with the speed change law of the highest productivity: 当a＝0且v＝v2时，表示当前阻力级别为无阻力，则所述传动模式为纯机械传动MT；When a=0 and v=v 2 , it means that the current resistance level is no resistance, and the transmission mode is pure mechanical transmission MT; 当0<a≤a1且v<v1时，表示当前阻力级别为小阻力，则所述传动模式为纯机械传动MT；When 0< a≤a1 and v< v1 , it means that the current resistance level is small resistance, and the transmission mode is pure mechanical transmission MT; 当a1<a≤a2且v<v1时，表示当前阻力级别为中等阻力，则所述传动模式为液压机械双流传动HMT；When a 1 <a≤a 2 and v<v 1 , it means that the current resistance level is medium resistance, and the transmission mode is hydraulic-mechanical dual-flow transmission HMT; 当a>a2且v<v1时，表示当前阻力级别为大阻力，则所述传动模式为纯液压传动HST；When a > a2 and v<v1, it means that the current resistance level is large resistance, and the transmission mode is pure hydraulic transmission HST; 其中，v1和v2分别为高效作业车速区间的下限和上限；a1和a2分别为加速度的下限和上限。Among them, v 1 and v 2 are the lower and upper limits of the high-efficiency operating vehicle speed interval, respectively; a 1 and a 2 are the lower and upper limits of the acceleration, respectively. 5.根据权利要求4所述的调速控制方法，其特征在于，所述加速度的下限a1和上限a2是按照以下方法确定的：5. The speed regulation control method according to claim 4, wherein the lower limit a 1 and the upper limit a 2 of the acceleration are determined according to the following methods: 步骤2A.1、在当前作业类型下，保持拖拉机其他作业条件不变，调节拖拉机的作业阻力；Step 2A.1. Under the current job type, keep other working conditions of the tractor unchanged, and adjust the working resistance of the tractor; 步骤2A.2、仅调节柴油机确定纯机械传动MT模式下所能克服的阻力上限值；Step 2A.2, only adjust the diesel engine to determine the upper limit of resistance that can be overcome in the purely mechanical transmission MT mode; 步骤2A.3、获取在当前阻力状态和初始油门开度下的拖拉机加速度并将作为下限a1；Step 2A.3, obtain the tractor acceleration under the current resistance state and the initial throttle opening and use it as the lower limit a 1 ; 步骤2A.4、调节柴油机和排量比确定液压机械双流传动HMT模式下所能克服的阻力上限值；Step 2A.4, adjust the diesel engine and the displacement ratio to determine the upper limit of the resistance that can be overcome in the hydraulic-mechanical dual-flow transmission HMT mode; 步骤2A.5、获取在当前阻力状态和初始油门开度下的拖拉机加速度并将作为上限a2。Step 2A.5. Obtain the tractor acceleration under the current resistance state and the initial throttle opening and use it as the upper limit a 2 . 6.根据权利要求4所述的调速控制方法，其特征在于，所述最高生产率的变速规律是按照以下方法确定的：6. The speed regulation control method according to claim 4, wherein the speed change law of the highest productivity is determined according to the following method: 步骤2B.1、确定当前传动模式；Step 2B.1. Determine the current transmission mode; 步骤2B.2、获取车速v、油压P、油门开度α；Step 2B.2. Obtain vehicle speed v, oil pressure P, and accelerator opening α; 步骤2B.3、获取σ％和100％油门开度下所述轮式拖拉机双流传动系统在最高传动效率下的排量比e随车速v和油压P变化而得到的三维数据表，其中，σ的取值范围是90～95；Step 2B.3. Obtain a three-dimensional data table obtained by changing the displacement ratio e of the wheeled tractor dual-flow transmission system under the highest transmission efficiency with the vehicle speed v and oil pressure P under σ% and 100% accelerator opening, wherein, The value range of σ is 90 to 95; 步骤2B.4、根据当前传动模式获取所需柴油机的油门开度；Step 2B.4, obtain the required throttle opening of the diesel engine according to the current transmission mode; 步骤2B.5、根据所述三维数据表查询所述车速v和油压P所对应的最佳排量比。Step 2B.5, query the optimal displacement ratio corresponding to the vehicle speed v and the oil pressure P according to the three-dimensional data table. 7.根据权利要求6所述的调速控制方法，其特征在于，所述步骤2B.4中所需柴油机的油门开度是按照以下方法确定的：7. The speed regulation control method according to claim 6, wherein the accelerator opening of the diesel engine required in the step 2B.4 is determined according to the following method: 当传动模式为液压机械双流传动HMT模式时，柴油机的油门开度调整为σ％，其中，σ的取值范围是90～95；When the transmission mode is the hydraulic-mechanical dual-flow transmission HMT mode, the throttle opening of the diesel engine is adjusted to σ%, where the value range of σ is 90 to 95; 当传动模式为纯液压传动HST模式时，柴油机油门开度调整为100％。When the transmission mode is pure hydraulic transmission HST mode, the diesel throttle opening is adjusted to 100%.
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