CN112628395A - Control strategy of proportional electromagnetic valve for loader planetary gearbox - Google Patents

Control strategy of proportional electromagnetic valve for loader planetary gearbox Download PDF

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Publication number
CN112628395A
CN112628395A CN202110187244.5A CN202110187244A CN112628395A CN 112628395 A CN112628395 A CN 112628395A CN 202110187244 A CN202110187244 A CN 202110187244A CN 112628395 A CN112628395 A CN 112628395A
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CN
China
Prior art keywords
current
solenoid valve
proportional solenoid
control
planetary gearbox
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Pending
Application number
CN202110187244.5A
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Chinese (zh)
Inventor
黄勇超
蒙小行
刘虹
陈会君
代志龙
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LOVOL Engineering Machinery Group Co Ltd
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LOVOL Engineering Machinery Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Priority to CN202110187244.5A priority Critical patent/CN112628395A/en
Publication of CN112628395A publication Critical patent/CN112628395A/en
Pending legal-status Critical Current

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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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/06—Smoothing ratio shift by controlling rate of change of fluid pressure
    • F16H61/061—Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/11—Application
    • F16D2500/1107—Vehicles
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/314—Signal inputs from the user
    • F16D2500/31406—Signal inputs from the user input from pedals
    • F16D2500/3144—Accelerator pedal position
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70402—Actuator parameters
    • F16D2500/70418—Current
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70422—Clutch parameters
    • F16D2500/70426—Clutch slip
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/06—Smoothing ratio shift by controlling rate of change of fluid pressure
    • F16H61/061—Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means
    • F16H2061/062—Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means for controlling filling of clutches or brake servos, e.g. fill time, fill level or pressure during filling

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Transmission Device (AREA)
  • Structure Of Transmissions (AREA)

Abstract

The invention discloses a control strategy of a proportional solenoid valve for a loader planetary gearbox, which comprises the following steps: s1, during the pre-charging stage, the control current of the proportional solenoid valve is stepped to the pre-charging current Ia, the holding time Ta is kept, and then the voltage is reduced to the voltage-building current Ib. S2, in the stage of traction force compaction by sliding friction, the control current of the proportional solenoid valve is increased from the voltage-building current Ib to the maximum traction current Ic; s3, in the system pressure stage, the proportional solenoid valve controls the current step to the holding current Id; and S4, in the holding stage, the control current of the proportional solenoid valve is kept at the holding current Id. By adopting the technical scheme, the control strategy of the proportional electromagnetic valve adds the current, time and engine speed parameters, the control curve adjusts the curve time according to the size of the accelerator, namely the engine speed, the larger the accelerator is, the faster the gear shifting is, and the gear shifting responsiveness and the multi-working-condition adaptability of the planetary gearbox are improved.

Description

Control strategy of proportional electromagnetic valve for loader planetary gearbox
Technical Field
The invention relates to the technical field of engineering machinery and discloses a control strategy of a proportional solenoid valve for a planetary gearbox of a loader.
Background
The planetary gearbox in the common gearbox of the transmission system of the engineering mechanical loader has the advantages of simple structure, low cost and wide application, and the current domestic mainstream planetary gearbox mainly controls the on-off of the oil way of the gearbox by a mechanical switch valve so as to control the connection and disconnection of the clutch of the planetary gearbox. The planetary gearbox controls the on-off of an oil path of the gearbox through a mechanical switch valve, the switch valve is completely opened after receiving an electric signal of a handle, and the oil of the gearbox flows through the opened switch valve to build pressure. The switch valve is only responsible for opening and closing the oil circuit of the planetary gearbox, only has two fluxes of opening and closing, and applies a single pressure curve to the clutch, so that the pressure applied to the clutch cannot be adjusted in multiple sections, and therefore the gearbox has the defects of large gear shifting impact, large abnormal sound, large box body loss and short service life.
Disclosure of Invention
The invention aims to provide a control strategy of a proportional solenoid valve for a loader planetary gearbox, aiming at solving the problems and improving the gear shifting responsiveness and the multi-working-condition adaptability of the planetary gearbox.
In order to achieve the aim, the invention discloses a control strategy of a proportional solenoid valve for a loader planetary gearbox, which comprises the following steps:
s1, in the pre-charging stage, the control current of the proportional solenoid valve is stepped to the pre-charging current Ia, the time Ta is kept, and then the control current is reduced to the voltage Ib; in the pre-charging stage, the control current of the proportional solenoid valve is stepped to the pre-charging current Ia, the proportional solenoid valve is activated to pre-charge hydraulic oil to the clutch control component of the gearbox, subsequent actions are facilitated, after the continuous charging is finished, the control current of the proportional solenoid valve is reduced to the pressure building current Ib, and the clutch control component has certain initial pressure, so that the next operation is facilitated.
S2, the rubs to compress the traction force phase, the proportional solenoid valve control current is raised from the voltage build-up current Ib to the maximum traction current Ic, the curve formula of the proportional solenoid valve control current is I = I1+ I2= AT + B + Cn + D, wherein:
i is the actual control current of the proportional solenoid valve;
i1 is the time-factor dependent proportional solenoid valve control current, I1= AT + B, T is time, a is a time coefficient, B is a time current constant;
i2 is an engine speed-related current compensation value, I2= Cn + D, n is the engine speed, C is a speed coefficient, and D is a speed current constant;
s3, in the system pressure stage, the proportional solenoid valve controls the current step to the holding current Id;
and S4, in the holding stage, the control current of the proportional solenoid valve is kept at the holding current Id.
By adopting the technical scheme, the control strategy of the proportional electromagnetic valve adds the current, time and engine speed parameters, the control curve adjusts the curve time according to the size of the accelerator, namely the engine speed, the larger the accelerator is, the faster the gear shifting is, and the gear shifting responsiveness and the multi-working-condition adaptability of the planetary gearbox are improved.
The precharge current Ia is equal to the maximum traction current Ic. Ensuring the full pre-charging.
When the values of A and B are determined, two points on the control current of the proportional solenoid valve related to the required time factor are selected, and the I1 and T of the two points are substituted into the calculation to obtain the values of A and B. Two extreme positions are chosen to facilitate the detection and calculation of I1 and T at these two points.
Two points of I1= voltage-establishing current Ib and I1= maximum traction current Ic are selected. Two extreme positions are chosen to facilitate the detection and calculation of I1 and T at these two points.
When determining the values of C and D, two points on the current related to the required engine speed are selected, and I2 and n of the two points are substituted into the calculation to obtain the values of C and D. Two locations are chosen to facilitate the detection and calculation of I2 and n for these two points.
And selecting two points of n = idle rotation speed of the engine and n = maximum accelerator rotation speed of the engine. Two extreme positions are chosen to facilitate the detection and calculation of I2 and n at these two points.
The value of I2 is obtained according to the difference between the current values corresponding to the combined pressure of the idle and maximum throttle gearbox clutches. Two locations are chosen to facilitate the detection and calculation of I2 and n for these two points.
n = engine idle speed 750rpm, I2=0 ma; n = 2000rpm as the maximum throttle speed of the engine, I2=120 ma. Two locations are chosen to facilitate the detection and calculation of I2 and n for these two points.
The precharge current Ia =400 ma, the holding time Ta =200ms, the voltage-build current Ib =100 ma, and the maximum traction current Ic =400 ma. The gear-shifting responsiveness and the multi-operating-condition adaptability of the planetary gearbox are improved.
Holding current Id =500 ma. The gear-shifting responsiveness and the multi-operating-condition adaptability of the planetary gearbox are improved.
In conclusion, the beneficial effects of the invention are as follows: the current, time and engine speed parameters are added, the control curve adjusts the curve time according to the size of the accelerator, namely the engine speed, the larger the accelerator is, the faster the gear shifting is, and the gear shifting responsiveness and the multi-working-condition adaptability of the planetary gearbox are improved.
Drawings
FIG. 1 is a schematic diagram of a current control curve in a proportional solenoid valve control strategy for a loader planetary transmission of the present invention;
FIG. 2 is a schematic of a pressure control curve in a prior art mechanical on-off valve control strategy for a planetary transmission.
Detailed Description
The invention is further described with reference to the following figures and detailed description:
as shown in fig. 2, in the prior art, a planetary transmission uses a mechanical switch valve to control the on/off of the oil path of the transmission, the switch valve is fully opened after receiving an electric signal from a handle, and the oil in the transmission flows through the opened switch valve to build pressure. The switch valve is only responsible for opening and closing the oil circuit of the planetary gearbox, only has two fluxes of opening and closing, and applies a single pressure curve to the clutch, so that the pressure applied to the clutch cannot be adjusted in multiple sections, and therefore the gearbox has the defects of large gear shifting impact, large abnormal sound, large box body loss and short service life.
As shown in the attached figure 1, the control strategy of the proportional solenoid valve for the loader planetary gearbox comprises the following steps:
s1, during the pre-charging stage, the control current of the proportional solenoid valve is stepped to the pre-charging current Ia, the holding time Ta is kept, and then the voltage is reduced to the voltage-building current Ib.
Preferably, the precharge current Ia =400 ma, the holding time Ta =200ms, and the voltage-building current Ib =100 ma.
In the pre-charging stage, the control current of the proportional solenoid valve is stepped to the pre-charging current Ia, the proportional solenoid valve is activated to pre-charge hydraulic oil to the clutch control component of the gearbox, subsequent actions are facilitated, after the pre-charging is finished, the control current of the proportional solenoid valve is reduced to the voltage building current Ib, and the clutch control component has certain initial pressure, so that the next operation is facilitated.
And S2, in the stage of traction force compaction by sliding friction, the control current of the proportional solenoid valve is increased from the voltage build-up current Ib to the maximum traction current Ic, and the maximum traction current Ic is the current value corresponding to the combination pressure required by the clutch of the gearbox. The precharge current Ia is equal to the maximum traction current Ic, i.e., the maximum traction current Ic =400 ma.
The curve formula of the proportional solenoid valve control current is I = I1+ I2= AT + B + Cn + D, wherein:
i is the actual control current of the proportional solenoid valve;
i1 is the time-factor dependent proportional solenoid valve control current, I1= AT + B, T is time, a is a time coefficient, B is a time current constant;
when the values of A and B are determined, two points on the control current of the proportional solenoid valve related to the required time factor are selected, and the I1 and T of the two points are substituted into the calculation to obtain the values of A and B.
Preferably, two points, I1= voltage-building current Ib and I1= maximum traction current Ic, are selected.
Specifically, two points, I1=100 ma and I1=400 ma, are selected.
Two extreme positions are chosen to facilitate the detection and calculation of I1 and T at these two points.
I2 is the engine speed-related current compensation value, I2= Cn + D, n is the engine speed, C is the speed coefficient, and D is the speed current constant.
When determining the values of C and D, two points on the current related to the required engine speed are selected, and I2 and n of the two points are substituted into the calculation to obtain the values of C and D.
The value of I2 is obtained according to the difference between the current values corresponding to the combined pressure of the idle and maximum throttle gearbox clutches.
Preferably, two points of n = idle rotation speed of the engine and n = maximum accelerator rotation speed of the engine are selected.
Specifically, when n = the engine idle speed is 750rpm, I2=0 ma; n = 2000rpm as the maximum throttle speed of the engine, I2=120 ma.
Two extreme positions are chosen to facilitate the detection and calculation of I2 and n at these two points.
S3, system pressure stage, proportional solenoid valve control current step to holding current Id.
And S4, in a holding stage, the control current of the proportional solenoid valve is kept at a holding current Id, and the holding current Id =500 ma.
Further improve the combination pressure of gearbox clutch, guarantee that power transmission is stable.
In one embodiment of the invention, the holding current Id =450ma or 550 ma.
The control strategy of the proportional electromagnetic valve adds current, time and engine rotating speed parameters, a control curve adjusts the curve time according to the size of an accelerator, namely the rotating speed of the engine, the larger the accelerator is, the faster the gear shifting is, and the gear shifting responsiveness and the multi-working-condition adaptability of the planetary gearbox are improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims (10)

1. A control strategy of a proportional solenoid valve for a loader planetary gearbox is characterized by comprising the following steps:
s1, in the pre-charging stage, the control current of the proportional solenoid valve is stepped to the pre-charging current Ia, the time Ta is kept, and then the control current is reduced to the voltage Ib;
s2, the rubs to compress the traction force phase, the proportional solenoid valve control current is raised from the voltage build-up current Ib to the maximum traction current Ic, the curve formula of the proportional solenoid valve control current is I = I1+ I2= AT + B + Cn + D, wherein:
i is the actual control current of the proportional solenoid valve;
i1 is the time-factor dependent proportional solenoid valve control current, I1= AT + B, T is time, a is a time coefficient, B is a time current constant;
i2 is an engine speed-related current compensation value, I2= Cn + D, n is the engine speed, C is a speed coefficient, and D is a speed current constant;
s3, in the system pressure stage, the proportional solenoid valve controls the current step to the holding current Id;
and S4, in the holding stage, the control current of the proportional solenoid valve is kept at the holding current Id.
2. The control strategy of the proportional solenoid valve for a loader planetary gearbox according to claim 1, characterized in that the precharge current Ia is equal to the maximum traction current Ic.
3. The control strategy of the proportional solenoid valve for the loader planetary gearbox as claimed in claim 1, wherein when determining the values of A and B, two points on the control current of the proportional solenoid valve related to the required time factor are selected, and the values of A and B are obtained by substituting I1 and T of the two points into the calculation.
4. The control strategy of the proportional solenoid valve for the loader planetary gearbox is characterized in that two points of I1= voltage-building current Ib and I1= maximum traction current Ic are selected.
5. The control strategy of the proportional solenoid valve for the loader planetary gearbox as set forth in claim 1, wherein when determining the values of C and D, two points on the current associated with the desired engine speed are selected, and the values of C and D are obtained by substituting I2 and n at the two points into the calculation.
6. The control strategy of the proportional solenoid valve for the loader planetary gearbox according to claim 5, characterized in that two points of n = engine idle speed and n = engine maximum throttle speed are selected.
7. The proportional solenoid control strategy of claim 6, wherein the value of I2 is derived from the difference between the current values corresponding to the engagement pressure of the transmission clutch at idle and maximum throttle.
8. The proportional solenoid control strategy for a loader planetary gearbox of claim 7, wherein n = engine idle speed of 750rpm, I2=0 ma; n = 2000rpm as the maximum throttle speed of the engine, I2=120 ma.
9. The control strategy of the proportional solenoid valve for the loader planetary gearbox according to any one of claims 1 to 8, characterized in that the pre-charge flow Ia =400 ma, the holding time Ta =200ms, the build-up current Ib =100 ma, and the maximum traction current Ic =400 ma.
10. The control strategy of a proportional solenoid valve for a loader planetary gearbox according to any of claims 1 to 8 characterized in that the holding current Id =500 ma.
CN202110187244.5A 2021-02-18 2021-02-18 Control strategy of proportional electromagnetic valve for loader planetary gearbox Pending CN112628395A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114046353A (en) * 2021-12-06 2022-02-15 雷沃工程机械集团有限公司 Control method of electric control automatic gearbox
CN115076360A (en) * 2022-05-13 2022-09-20 哈尔滨东安汽车发动机制造有限公司 Control method for preventing VBS valve from being clamped and blocked

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4527678A (en) * 1982-12-27 1985-07-09 Ford Motor Company Transmission clutch control system and method
JP2007170531A (en) * 2005-12-21 2007-07-05 Mitsubishi Agricult Mach Co Ltd Travel transmission for working vehicle
CN101614254A (en) * 2009-03-06 2009-12-30 上海汽车集团股份有限公司 Little cunning in wet clutch locking when engagement controlling method of rubbing
CN102226468A (en) * 2011-05-06 2011-10-26 三一重工股份有限公司 Method, device and system for controlling engineering machinery gear shifting
CN203703102U (en) * 2013-12-30 2014-07-09 湖南三一路面机械有限公司 Power shift gearbox and vehicle
CN107339418A (en) * 2016-12-20 2017-11-10 安徽江淮汽车集团股份有限公司 A kind of magnetic valve compensating control method and system
CN109654130A (en) * 2018-12-27 2019-04-19 雷沃重工股份有限公司 A kind of wet type PTO solenoid valve block and its control method, full-vehicle control unit
CN111271443A (en) * 2020-01-17 2020-06-12 山推工程机械股份有限公司 Gear shifting controller and system of bulldozer
CN111536230A (en) * 2020-05-12 2020-08-14 南京劲力变速器科技有限公司 Static gear shifting control method of automatic gearbox
CN111536229A (en) * 2020-05-08 2020-08-14 南京劲力变速器科技有限公司 Gear-up control method for AT automatic transmission

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4527678A (en) * 1982-12-27 1985-07-09 Ford Motor Company Transmission clutch control system and method
JP2007170531A (en) * 2005-12-21 2007-07-05 Mitsubishi Agricult Mach Co Ltd Travel transmission for working vehicle
CN101614254A (en) * 2009-03-06 2009-12-30 上海汽车集团股份有限公司 Little cunning in wet clutch locking when engagement controlling method of rubbing
CN102226468A (en) * 2011-05-06 2011-10-26 三一重工股份有限公司 Method, device and system for controlling engineering machinery gear shifting
CN203703102U (en) * 2013-12-30 2014-07-09 湖南三一路面机械有限公司 Power shift gearbox and vehicle
CN107339418A (en) * 2016-12-20 2017-11-10 安徽江淮汽车集团股份有限公司 A kind of magnetic valve compensating control method and system
CN109654130A (en) * 2018-12-27 2019-04-19 雷沃重工股份有限公司 A kind of wet type PTO solenoid valve block and its control method, full-vehicle control unit
CN111271443A (en) * 2020-01-17 2020-06-12 山推工程机械股份有限公司 Gear shifting controller and system of bulldozer
CN111536229A (en) * 2020-05-08 2020-08-14 南京劲力变速器科技有限公司 Gear-up control method for AT automatic transmission
CN111536230A (en) * 2020-05-12 2020-08-14 南京劲力变速器科技有限公司 Static gear shifting control method of automatic gearbox

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114046353A (en) * 2021-12-06 2022-02-15 雷沃工程机械集团有限公司 Control method of electric control automatic gearbox
CN115076360A (en) * 2022-05-13 2022-09-20 哈尔滨东安汽车发动机制造有限公司 Control method for preventing VBS valve from being clamped and blocked

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Application publication date: 20210409