CN114151543B - Gear shifting fork position judgment method based on three-head Hall gear sensor - Google Patents

Gear shifting fork position judgment method based on three-head Hall gear sensor Download PDF

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CN114151543B
CN114151543B CN202111526959.5A CN202111526959A CN114151543B CN 114151543 B CN114151543 B CN 114151543B CN 202111526959 A CN202111526959 A CN 202111526959A CN 114151543 B CN114151543 B CN 114151543B
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gear
hall
gear shifting
shifting
voltage
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CN114151543A (en
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夏光
施展
魏志祥
刘贤阳
夏岩
张华磊
陈建杉
纵华宇
盛楠
汪韶杰
孙保群
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Hefei University of Technology
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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
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/42—Ratio indicator devices
    • 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
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/32—Gear shift yokes, e.g. shift forks
    • 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
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/42—Ratio indicator devices
    • F16H2063/423—Range indicators for automatic transmissions, e.g. showing selected range or mode

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

The invention discloses a method for judging the position of a gear shifting fork of a three-head Hall gear sensor, which comprises the following steps: at first get up three hall chip and a PCB board installation and constitute gear sensor and install to the shift fork operating position of shifting, through the operation of shifting, install the magnetic sheet on the shift fork and produce different magnetic field intensity input to three chip because of the removal of shift fork, thereby output and the voltage of the linear relation of magnetic field intensity by the sensor perception of shifting, according to this relation, judge the accurate position of the shift fork of shifting this moment. The gear shifting method is strong in universality, can be suitable for gear shifting operation under most conditions, and can improve the operation accuracy and judgment accuracy of a driver.

Description

Gear shifting fork position judgment method based on three-head Hall gear sensor
Technical Field
The invention relates to the field of control of gear shifting operation, in particular to a gear shifting fork position judging method based on a three-head Hall gear sensor.
Background
At present, the application range of engineering machinery such as large agricultural vehicles, forklifts, excavators and the like is wider and wider, the precision requirement and the accuracy requirement for controlling the engineering machinery are also improved, particularly the engineering machinery has the advantages that the production cost is reduced due to the unique working advantages of the engineering machinery, the production efficiency is improved, and more accurate operation is performed on the original basis along with the increase of the complexity of the working conditions.
Traditional engineering machine tool shifts and puts into gear the operation comparatively simple, and the shift and put into gear in the actual work process is very frequent operating procedure, under many operating modes, can not put into gear completely or be difficult to judge the concrete position of current gear, can produce certain negative effects to whole engineering machine tool's operation, causes the operation precision and the safety in utilization to be difficult to guarantee. The three-head Hall gear sensor is adopted, and the specific position of the shifting fork at a certain moment can be judged through the magnetic field intensity generated by the magnetic sheets arranged on the shifting fork, so that the gear shifting and gear engaging operation is ensured to be thorough or the real-time gear condition is fed back to a driver in time; meanwhile, the engineering machinery is assisted to operate according to the intention of the driver by the driver, so that the use safety and the operation accuracy are improved, and the fatigue degree of the driver is relieved.
In the three-head Hall gear sensor, certain influence is caused on the linear relation of the Hall chip due to influence factors such as vibration generated by the operation of other components, and the deviation of data reading is increased. Therefore, the influence of external factors is controlled in a reasonable interval, reading deviation is reduced, and the method is a key in the working process of the three-head Hall gear sensor.
Disclosure of Invention
In view of the defects existing in the prior art, the shifting fork position judging method for the three-head Hall gear sensor of the engineering machinery is provided, so that complete gear engagement of the engineering machinery can be realized, and the specific position of the shifting fork can be accurately judged at any moment, and further, the operation stability and the use safety are improved.
The invention adopts the following technical scheme for solving the technical problems:
the invention discloses a gear shifting fork position judging method based on a three-head Hall gear sensor, which is characterized in that the three-head Hall gear sensor comprises the following steps: the three Hall chips, the power supply circuit, the protection circuit and the PCB;
the three Hall chips are arranged side by side at equal intervals, and each Hall chip is provided with three pins, namely a VCC input end, a GND ground end and an OUT output end;
the power supply circuit is used for providing a working power supply; the protection circuit is used for preventing the short circuit and the reverse connection of the circuit;
the PCB is provided with five upper ports and three groups of lower interfaces, wherein the three upper interfaces are output ends and are respectively marked as OUT 1 、OUT 2 And OUT 3 The other two upper interfaces are respectively a VCC power supply input end and a GND grounding end; the three groups of lower interfaces respectively correspond to three pins of three Hall chips, wherein the output end OUT 1 -OUT 3 The method for judging the position of the shifting fork is carried OUT according to the following steps:
step 1, defining the current gear shifting frequency as i, and initializing i =1;
step 2, recording voltage values output by the three Hall chips respectively as V when the current ith gear shifting action is finished 1i 、V 2i And V 3i ；
Step 3, for three voltage values V 1i 、V 2i And V 3i Rapidly repeating the collection for m times, and respectively obtaining average values
Figure BDA0003409352220000021
And &>
Figure BDA0003409352220000022
Step 4, marking the positions of the three Hall chips on the PCB as Area 1 、Area 2 、Area 3 ；
Respectively carrying out curve fitting according to the relation between the stroke of the gear shifting fork and the output voltages of the three Hall chips to obtain three fitting curves during the ith gear shifting, and recording the intersection point of two adjacent fitting curves as P 1i And P 2i Thereby obtaining three position intervals D in the ith gear shifting 1i (Area 1 ，P 1i )、D 2i (P 1i ，P 2i ) And D 3i (P 2i ，Area 3 )；
Let three position intervals D at the time of ith shift 1i 、D 2i 、D 3i The corresponding voltage interval is denoted as Q 1i 、Q 2i ，Q 3i ；
Step 5, average value
Figure BDA0003409352220000023
And &>
Figure BDA0003409352220000024
Judging the state of the position interval and the voltage interval in the ith gear shifting, and if the average value is greater than or equal to>
Figure BDA0003409352220000025
And &>
Figure BDA0003409352220000026
If any one of the voltage values reaches the marking voltage value and keeps stable, executing step 6; otherwise, executing step 7;
step 6, outputting voltage values V according to the three Hall chips during the ith gear shifting 1i 、V 2i And V 3i Determining the position of a shifting fork during the ith gear shifting by referring to respective fitted curves, thereby determining the current gear;
and 7, assigning i +1 to i, judging whether i > n is true, if so, reporting an error, otherwise, returning to the step 2 to execute in sequence, wherein n represents the maximum gear shifting times.
The method for judging the position of the shift fork according to the present invention is also characterized in that the method for judging the position interval and the voltage interval in step 3 is performed according to the following steps:
let any Hall chip output voltage value on PCB board be V Area The lowest output voltage is V min At the point of intersection, an output voltage of V P ；
When the temperature is higher than the set temperature
Figure BDA0003409352220000027
Figure BDA0003409352220000028
At V min The gear shifting fork is kept stable, and the gear shifting fork is positioned in a position interval D 1i And corresponds to gear 1;
when in use
Figure BDA0003409352220000029
Then it means that the shift fork is in the position interval D 2 And corresponds to gear 2;
when in use
Figure BDA00034093522200000210
At V min Is kept stable and is taken off>
Figure BDA00034093522200000211
Then it means that the shift fork is in the position interval D 3 And corresponds to gear 3.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts the three-head Hall gear sensor, accurately judges the specific position of the shifting fork in the gear shifting process through the linear relation of input and output of the Hall chip, ensures the operation stability and the use safety, improves the fault-tolerant rate of the engineering machinery working under various working conditions, reduces the repeated operation of a driver and reduces the fatigue.
2. The three Hall chips are adopted to sense the magnetic field intensity of the magnetic sheet on the shifting fork, so that the data reading precision is improved, the accuracy of data at any moment is ensured, and a driver is assisted to know the real-time gear engaging and shifting condition, so that the condition of gear slipping or incomplete gear engaging is prevented.
3. According to the invention, through an optimization method, for the influence of vibration generated by components such as an engine on the linear relation of the Hall chips in the actual working process, the influence generated by the vibration is controlled in a reasonable interval by repeatedly collecting the output data of the three Hall chips in the gear shifting process for average calculation, so that the working stability of the three-head Hall gear sensor is improved, and the gear shifting and gear engaging operation of the engineering machinery can be smoothly and thoroughly completed.
Drawings
FIG. 1 is a primary block diagram of a sensor according to the present invention;
FIG. 2 is a schematic diagram of the operation of the sensor of the present invention;
FIG. 3 is a fitting curve diagram of the output voltage of the Hall chip according to the invention.
Detailed Description
In the embodiment, the three-head Hall gear sensor is universally used for low-speed heavy-duty vehicles such as engineering machinery, forklifts, tractors and combine harvesters, and the three-head Hall gear sensor can enable a driver to know the gear engaging and shifting conditions in real time, so that the steering intention of the driver is guaranteed, the driving difficulty of operators is reduced, repeated operation is avoided, and the driving precision is improved. A method for determining a position of a fork of a three-head hall sensor applied to an engineering machine, referring to fig. 1 and 2, includes:
firstly, three Hall chips are arranged on the same side of a PCB in a line, the distance between every two adjacent Hall chips is equal, the Hall chips are respectively arranged on three interfaces of the PCB, and the OUT output port of each Hall chip is respectively connected with the OUT of the PCB 1 -OUT 3 And (7) an output port. A distance scale is arranged on one side of the moving stroke of the gear shifting fork, and the positions of the three Hall chips are marked as Area 1 、Area 2 And Area 3 Simultaneously obtaining the output voltage values V of the marks at three positions Area1 、V Area2 And V Area3 The index voltages for gear 1, gear 2, and gear 3, respectively.
When the gear shifting button is pressed, the magnetic sheet is close to the chip to generate magnetic field intensity input and output voltage in linear proportion relation with the magnetic field intensity, and the voltage of the shifting fork is obtained from Area 1 Location-oriented Area 3 Three Hall chip output voltage V when position direction moves 1y 、V 2y And V 3y And shift fork movement distance data A x (ii) a Are respectively expressed as A x As the abscissa, by V 1y 、V 2y And V 3y Fitting curve V for ordinate 1y -V x 、V 2y -V x And V 3y -V x And recording the lowest value V of the output voltages of the three Hall chips min1 、V min2 And V min3 (ii) a Drawing the fitting curves into the same coordinate system, and respectively obtaining adjacent fitting curves V 1y -V x And V 2y -V x And V 2y -V x And V 3y -V x Point of intersection P 1 And P 2 The coordinates of the intersection points are obtained, and the output voltages at the intersection points are respectively V P1 And V P2 。
Based on the steps, three position intervals D are determined 1 、D 2 、D 3 Corresponding voltage interval Q 1 、Q 2 ，Q 3 Referring to fig. 3, since the distances between two of the three hall chips are equal, the output voltage V is actually marked according to the symmetry relationship Area1 ≈V Area2 ≈V Area3 Outputting the lowest voltage V at three positions simultaneously min1 ≈V min2 ≈V min3 Point of intersection P 1 And P 2 Output voltage V P1 ≈V P2 To simplify the determination process, the three voltages are respectively marked as V Area 、V min And V P (ii) a Thus the position interval D 1 、D 2 、D 3 Is divided into representatives (Area) 1 ，P 1 )、(P 1 ，P 2 ) And (P) 2 ，Area 3 ) (ii) a The voltage interval is when V 1 ∈(V P ，V Area )，V 2 ∈(V min ，V P )，V 3 At V min When it is stable, is defined as Q 1 Is at D 1 Interval, corresponding to gear 1; when V is 1 ∈(V min ，V P )，V 2 ∈(V P ，V Area )，V 3 ∈(V min ，V P ) Is defined as Q 2 Is at D 2 Interval, corresponding to gear 2; when V is 1 At V min While the process is kept stable, V 2 ∈(V min ，V P )，V 3 ∈(V P ，V Area ) Is defined as Q 3 Is at D 3 Section, corresponding to gear 3.
In the actual operation process, considering the influence of other factors such as engine vibration and the like, the linear relationship of the input and the output of the Hall chips needs to be further optimized, and experiments show that the linear relationship of the three Hall chips has the same change trend, namely, the linear relationship is simultaneously increased or simultaneously reduced. Based on the change trend, repeated data acquisition is carried out on the output conditions of the three chips in the actual operation process, the continuity and the response time of gear shifting are considered, the acquisition times are not too many, the acquisition times are selected to be i times through tests, the average value calculation is carried out on the data acquired at the i times, and the change of the linear relation is controlled in a reasonable interval. Based on the technology, V at any gear engaging time 1i 、V 2i And V 3i The voltage values are rapidly and repeatedly acquired, and when the acquisition times reach m times, the average value is obtained
Figure BDA0003409352220000041
And &>
Figure BDA0003409352220000042
For any time of any gear shifting, the average value of the output voltages of the three Hall chips can be obtained
Figure BDA0003409352220000043
And &>
Figure BDA0003409352220000044
For the mean value of the voltage at that time>
Figure BDA0003409352220000045
And &>
Figure BDA0003409352220000046
Judging the affiliated relationship with the voltage interval, if one of the output voltages of the three Hall chips reaches the marked output voltage V Area And if the gear is kept stable, the gear is successfully engaged at the moment, and the next operation is not executed. If there is nothing at allIf the output voltage meets the conditions, the output voltage values of the Hall chips at the three positions are read, the specific position at the moment is obtained according to the fitting curve, and the judgment of the specific position is made at the same time>
Figure BDA0003409352220000047
And &>
Figure BDA0003409352220000048
The three voltage values are in the interval of Q 1 In the interval, judging that the operation of engaging the gear 1 is being executed, supplying oil to the gear 1 by a gear oil cylinder, and repeating the operation of engaging the gear; if at Q 2 Interval, when it is determined that the shift 2 operation is being performed, V is again selected 1 Make a judgment if V 1 ∈(V min ，V P ) If the gear oil cylinder supplies oil to the 3-direction gear, the gear engagement operation is repeated, and if V is detected 1 At V min If the gear position is kept stable, the gear oil cylinder supplies oil to the direction of the gear position 1, and the gear engaging operation is repeated; if at Q 3 In the interval, judging that the operation of engaging the gear 3 is being executed, supplying oil to the gear 3 direction by a gear oil cylinder, and repeating the operation of engaging the gear; if the repeated gear engaging operation is not successful after more than n times, the system is reported to be wrong, and the driver is reminded to take corresponding measures. />

Claims (2)

1. The utility model provides a shift fork position judgement method of shifting based on three hall gear sensors which characterized in that, three hall gear sensors include: the three Hall chips, the power supply circuit, the protection circuit and the PCB;
the three Hall chips are arranged side by side at equal intervals, and each Hall chip is provided with three pins, namely a VCC input end, a GND ground end and an OUT output end;
the power supply circuit is used for providing a working power supply; the protection circuit is used for preventing short circuit and reverse connection of the circuit;
the PCB is provided with five upper interfaces and three groups of lower interfaces, wherein the three upper interfaces are output ends and are respectively marked as OUT 1 、OUT 2 And OUT 3 The other two upper interfaces are respectively a VCC power supply input end and a GND grounding end; three sets of lower interfacesThree pins corresponding to the three Hall chips respectively, wherein the output end OUT 1 -OUT 3 The method for judging the position of the shifting fork is carried OUT according to the following steps:
step 1, defining the current gear shifting frequency as i, and initializing i =1;
step 2, recording voltage values output by the three Hall chips respectively as V when the current ith gear shifting action is finished 1i 、V 2i And V 3i ；
Step 3, for three voltage values V 1i 、V 2i And V 3i Rapidly repeating the collection for m times, and respectively obtaining average values
Figure FDA0004024261420000011
And &>
Figure FDA0004024261420000012
Step 4, marking the positions of the three Hall chips on the PCB as Area 1 、Area 2 、Area 3 ；
Respectively carrying out curve fitting according to the relationship between the stroke of the gear shifting fork and the output voltages of the three Hall chips to obtain three fitting curves during the ith gear shifting, and recording the intersection point of two adjacent fitting curves as P 1i And P 2i Thereby obtaining three position intervals D in the ith gear shifting 1i (Area 1 ，P 1i )、D 2i (P 1i ，P 2i ) And D 3i (P 2i ，Area 3 )；
Let three position intervals D at the time of ith shift 1i 、D 2i 、D 3i The corresponding voltage interval is denoted as Q 1i 、Q 2i ，Q 3i ；
Step 5, average value
Figure FDA0004024261420000013
And &>
Figure FDA0004024261420000014
Judging the state of the position interval and the voltage interval in the ith gear shifting, and if the average value is greater than or equal to>
Figure FDA0004024261420000015
And &>
Figure FDA0004024261420000016
If any one of the voltage values reaches the marking voltage value and keeps stable, executing step 6; otherwise, executing step 7;
step 6, outputting voltage values V according to the three Hall chips during the ith gear shifting 1i 、V 2i And V 3i Determining the position of a shifting fork during the ith gear shifting by referring to respective fitted curves, thereby determining the current gear;
and 7, assigning i +1 to i, judging whether i > n is true, if so, reporting an error, otherwise, returning to the step 2 to execute in sequence, wherein n represents the maximum gear shifting times.
2. The method of determining a shift fork position according to claim 1, wherein the method of determining the position section and the voltage section in step 4 is performed by:
let any Hall chip output voltage value on PCB board be V Area The lowest output voltage is V min An output voltage at the intersection of V P ；
When in use
Figure FDA0004024261420000021
Figure FDA0004024261420000022
At V min The gear shifting fork is kept stable, and the gear shifting fork is positioned in a position interval D 1i And corresponds to gear 1;
when the temperature is higher than the set temperature
Figure FDA0004024261420000023
Then it means that the shift fork is in the position interval D 2 And corresponds to gear 2;
when in use
Figure FDA0004024261420000024
At V min Is kept stable for>
Figure FDA0004024261420000025
Then it means that the shift fork is in the position interval D 3 And corresponds to gear 3./>
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