CN116476842B - Method and device for controlling starting of intelligent agricultural machinery and storage medium - Google Patents
Method and device for controlling starting of intelligent agricultural machinery and storage medium Download PDFInfo
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- CN116476842B CN116476842B CN202310513451.4A CN202310513451A CN116476842B CN 116476842 B CN116476842 B CN 116476842B CN 202310513451 A CN202310513451 A CN 202310513451A CN 116476842 B CN116476842 B CN 116476842B
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- 238000000034 method Methods 0.000 title claims abstract description 94
- 238000003860 storage Methods 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 63
- 230000008569 process Effects 0.000 claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims abstract description 26
- 230000007704 transition Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 25
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 4
- 238000002679 ablation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- B60W30/192—Mitigating problems related to power-up or power-down of the driveline, e.g. start-up of a cold engine
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- 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
- B60W30/184—Preventing damage resulting from overload or excessive wear of the driveline
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a starting control method, a device and a storage medium of an intelligent agricultural machine, wherein the method comprises the following steps: judging whether the engine is started for the first time under the current working condition to obtain a first judging result; when the first judgment result is negative, working condition parameters in the last starting process are obtained, and a first torque threshold is calculated according to the working condition parameters; when the first judgment result is yes, executing a pre-starting process to obtain working condition parameters, and calculating a first torque threshold according to the working condition parameters; executing a formal starting flow; the formal starting flow specifically comprises the following steps: controlling the first clutch device to be engaged, and judging whether the torque of the driven disc in the first clutch device reaches a first torque threshold value or not to obtain a second judging result; when the second judgment result is yes, dynamically adjusting the transmission torque of the first clutch device so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value; when the rotating speed of the driving disc in the first clutch device is consistent with the rotating speed of the driven disc, the second clutch device is controlled to operate, and the first clutch device is controlled to be disconnected.
Description
Technical Field
The invention relates to the technical field of agricultural machinery control, in particular to a starting control method and device of an intelligent agricultural machinery and a storage medium.
Background
The current various agricultural machines are widely applied in the agricultural tillage, sowing and harvesting processes, the agricultural machines take a tractor as traction power, compared with a mobile device determined by running working conditions such as automobiles, the agricultural machines have the characteristic of complex application environment, in particular, the agricultural machines are heavy in dead weight and require large starting moment, a traditional friction clutch can generate large heat to cause easy ablation of devices when the machines start, in addition, the existing agricultural machines are generally not considered for driving comfort when being started, the machines are considered for being started with large starting moment due to heavy weight, the machines suddenly move in the starting process, the comfort is poor, a starting control strategy is required to avoid part ablation and improve the driving comfort, in the prior art, a clutch starting control method is disclosed in the patent CN114576284A, the current slope of the wet clutch is adjusted according to starting parameters, the wet clutch is dynamically controlled to improve the comfort of the machines, but for the agricultural machines, a starting parameter cannot be obtained by a control system, the user is often required to measure or estimate the starting parameters, the scheme is difficult to realize stable starting, and the starting is difficult to realize stable, and the starting is difficult to realize in a starting mode of smoothly improving the starting, and has low driving torque.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a starting control method, a device and a storage medium of an intelligent agricultural machine, which can avoid ablation of devices, ensure starting efficiency and ensure starting stability.
The technical scheme is as follows: in order to achieve the above object, the starting control method of the intelligent agricultural machine of the present invention is applied to a power system of the intelligent agricultural machine, the power system includes an engine, a first clutch device, a second clutch device and a gearbox, the engine is capable of outputting power to the gearbox through at least one of the first clutch device and the second clutch device, and the gearbox is connected with a driving wheel of the intelligent agricultural machine; the clutch control system also comprises a control system capable of controlling the operation of the first clutch device and the second clutch device and an operating mechanism connected with the control system; the method comprises the following steps:
judging whether the engine is started for the first time under the current working condition to obtain a first judging result;
when the first judgment result is negative, working condition parameters in the last starting process are obtained, and a first torque threshold is calculated according to the working condition parameters;
when the first judgment result is yes, executing a pre-starting process to obtain working condition parameters, and calculating the first torque threshold according to the working condition parameters;
Executing a formal starting flow;
the formal starting process specifically comprises the following steps:
controlling a first clutch device based on oil film transmission to be engaged, and judging whether the torque of a driven disc in the first clutch device reaches the first torque threshold value or not to obtain a second judgment result;
when the second judgment result is yes, dynamically adjusting the transmission torque of the first clutch device so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value;
and when the rotating speed of the driving disc in the first clutch device is consistent with the rotating speed of the driven disc, controlling the second clutch device to operate, and controlling the first clutch device to be disconnected.
Further, the executing the pre-start-up procedure to obtain a working condition parameter, and calculating the first torque threshold according to the working condition parameter includes:
selecting data lower than a predicted first torque threshold as an initial first torque threshold, and controlling the first clutch to be engaged after the rotating speed of the engine meets the condition;
acquiring torque and rotation speed data of a driven disc in the first clutch device;
when the torque of the driven disc reaches the initial first torque threshold value, dynamically adjusting the transmission torque of the first clutch device to reduce the unit time amplification of the torque of the driven disc;
When the rotating speed of the driven disc is greater than 0, recording torque data of the driven disc, and calculating working condition parameters according to the torque data;
and calculating the first torque threshold according to the working condition parameters.
Further, before the executing the formal start-up procedure, the method further includes:
calculating a second torque threshold according to the first torque threshold, wherein the second torque threshold is obtained by multiplying the first torque threshold by a preset coefficient smaller than 1;
before said dynamically adjusting the transmission torque of the first clutch device such that the operational acceleration of the intelligent agricultural machine does not exceed a first threshold, the method further comprises:
and judging whether the torque of the driven disc is between the second torque threshold value and the first torque threshold value, and if so, dynamically adjusting the transmission torque of the first clutch device so as to ensure that the unit time increment of the torque of the driven disc does not exceed the second threshold value.
Further, the first clutch device is mounted on the first shaft; the second clutch device comprises a plurality of groups of gear sets, and the transmission ratios of the gear sets of each group are different; each set of gear sets has an access gear on a second shaft and an output gear on a third shaft; the second clutch device further comprises a friction clutch arranged corresponding to each group of gear sets; a switching device is arranged between the first shaft and the second shaft, and comprises a first transition gear set, a second transition gear set and a joint mechanism, wherein the joint mechanism can enable one of the two transition gear sets to operate; the transmission ratio of the first transition gear set is consistent with that of the gear set at the highest stage in the second clutch device, and the engagement mechanism enables the first transition gear set to work in an initial state; the transmission ratio of the second transition gear set is between the transmission ratios of the gear sets of the lowest two stages in the second clutch device;
The controlling the second clutch operation includes:
controlling the friction clutch corresponding to the gear set with the highest gear in the second clutch device to be engaged;
after the second clutch device is controlled to operate, the formal starting procedure further includes:
judging whether the manipulation data of the user is within a preset range or not;
when the operation data is within a preset range, sequentially engaging the friction clutches corresponding to the gear sets according to the order of the progression from high to low;
when the manipulation data exceeds the preset range, executing the following steps:
controlling the engagement mechanism to enable the second transition gear set to execute transmission operation;
controlling all the friction clutches in the second clutch device to be disconnected;
controlling the first clutch device to be engaged, and acquiring rotating speed data of the driven disc;
and when the rotating speed of the driven disc of the first clutch device meets the preset requirement, controlling the first clutch device to be disconnected, and controlling the friction clutch corresponding to one of the gear sets of the lowest two stages to be connected.
Further, before the executing the formal start-up procedure, the method further includes:
acquiring target opening data;
Judging whether the target opening data is in a section between a third threshold value and a fourth threshold value, and obtaining a third judging result;
when the third judgment result is yes, the target opening degree data is taken as an execution value;
if the third judgment result is negative, if the target opening data is smaller than the third threshold value, taking the third threshold value as an execution value; and if the target opening data is larger than the fourth threshold value, taking the fourth threshold value as an execution value, and after the execution of the formal starting flow is completed, increasing the actual opening to the target opening data.
Further, the controlling operation of the second clutch device and the controlling the first clutch device to be disengaged comprise:
and controlling the second clutch device to lift the transmission torque, reducing the transmission torque of the first clutch device, and enabling the transmission torque lifted by the second clutch device to be larger than or equal to the transmission torque reduced by the first clutch device.
Further, the value of the first threshold is the product of the acceleration base threshold and the adjustment coefficient;
if the target opening data is smaller than a third threshold value, selecting a value smaller than 1 as the adjustment coefficient;
if the target opening data is larger than a third threshold value and smaller than a fourth threshold value, selecting 1 as the adjustment coefficient;
And when the target opening degree data is larger than a fourth threshold value, selecting a numerical value larger than 1 as the adjustment coefficient.
Further, the method further comprises:
acquiring target gear information;
judging whether the target gear information belongs to an allowed starting gear or not to obtain a fourth judging result;
when the fourth judgment result is negative, executing the formal starting flow with the allowed starting gear, and after the execution of the formal starting flow is completed, lifting the gear to be consistent with the target gear information;
and executing the formal starting flow according to the gear corresponding to the target gear information when the fourth judgment result is yes.
An intelligent agricultural machinery's start control device, it includes:
the first judging module is used for judging whether the first starting is performed under the current working condition or not, and obtaining a first judging result;
the first calculation module is used for acquiring working condition parameters in the last starting process when the first judgment result is negative, and calculating the first torque threshold according to the working condition parameters;
the second calculation module is used for executing a pre-starting process to obtain working condition parameters when the first judgment result is yes, and calculating the first torque threshold according to the working condition parameters;
The starting module is used for executing a formal starting flow;
the starting module comprises:
the second judging unit is used for controlling the first clutch device to be engaged and judging whether the torque of the driven disc in the first clutch device reaches the first torque threshold value or not to obtain a second judging result;
the dynamic adjusting unit is used for dynamically adjusting the transmission torque of the first clutch device when the second judging result is yes, so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value;
and the switching unit is used for controlling the second clutch device to operate and controlling the first clutch device to be disconnected when the rotating speed of the driving disc in the first clutch device is consistent with the rotating speed of the driven disc.
And the storage medium is stored with an executable program, and the executable program is executed by the processor to realize the starting control method of the intelligent agricultural machine.
The beneficial effects are that: the starting control method, the device and the storage medium of the intelligent agricultural machinery have the following beneficial effects:
(1) Through the cooperation operation of first clutch and second clutch, can realize making the moment of torsion of driven plate promote fast through first clutch at the initial stage of starting to whether the driven plate reaches first moment of torsion threshold and carry out dynamic adjustment as the moment of opportunity point in order to control the tool acceleration to first clutch's transmission moment of torsion, promote the start-up travelling comfort when guaranteeing starting efficiency, adopt the second clutch who more conveniently adjusts the gear to take over first clutch after starting to accomplish, can conveniently start and carry out the functioning speed adjustment after accomplishing.
(2) In the acceleration stage, multimode acceleration can be carried out according to the acceleration requirement of a user, the rotating speed is gradually increased through the second clutch device when the acceleration tendency is relatively conservative, the rotating speed is increased through the first clutch device in an override mode by utilizing the characteristic that the torque of the first clutch device is increased rapidly and cannot be ablated when the acceleration tendency is relatively aggressive, and the rotating speed is increased and then is taken over by the second clutch device after the rotating speed is increased, so that the acceleration capacity is increased, the specification of a friction clutch in the second clutch device is not required to be increased, the advantage that the torque is increased linearly by utilizing the first clutch device in the override acceleration process of the first clutch device is utilized, and the driving comfort is ensured.
(3) The driving excitation degree of different users is considered, the allowed starting execution opening degree and the gear are limited, and the starting smoothness and safety are ensured.
Drawings
FIG. 1 is a schematic diagram of a power system of an intelligent agricultural machine;
FIG. 2 is a flow chart of a method of start control of an intelligent agricultural machine;
FIG. 3 is a schematic flow chart of a formal start-up procedure;
FIG. 4 is a schematic diagram of a start control device for an intelligent agricultural machine;
fig. 5 is a schematic diagram of the configuration of the start-up module.
In the figure: 1-an engine; 2-a first clutch device; 21-an active disc; 22-driven disc; 23-a first axis; 3-a second clutch device; 31-a first gear set; 32-a second gear set; 33-a third gear set; 34-a fourth gear set; 35-second axis; 36-a third axis; a 37-friction clutch; 4-a gearbox; 5-driving wheels; 6-a switching mechanism; 61-a first transition gear set; 62-a second transition gear set; 63-engagement mechanism.
Description of the embodiments
The invention will be further described with reference to the accompanying drawings.
The starting control method of the intelligent agricultural machine is applied to a power system of the intelligent agricultural machine, in particular to a power system of a traction machine such as a tractor, and as shown in fig. 1, the power system of the intelligent agricultural machine comprises an engine 1, a first clutch device 2, a second clutch device 3 and a gearbox 4, wherein the engine 1 can output power to the gearbox 4 through at least one of the first clutch device 2 and the second clutch device 3, the gearbox 4 is connected with a driving wheel 5 of the intelligent agricultural machine, and the gearbox 4 is further changed in speed and then outputs the power to the driving wheel 5; the clutch further comprises a control system capable of controlling the operation of the first clutch device 2 and the second clutch device 3 and an operating mechanism connected with the control system, wherein the operating mechanism comprises a pedal and a gear shifting mechanism. The control system can acquire data of the rotational speed of the engine 1, the torque and rotational speed of the driven disc 22 in the first clutch device 2, the transmission torque of the second clutch device 3, and the running acceleration of the machine.
The first clutch device 2 is provided with a driving disc 21 and a driven disc 22, the driving disc 21 and the driven disc 22 are soaked in flowing viscous oil, an oil film capable of transmitting power is arranged between the driving disc 21 and the driven disc 22, the thickness of the oil film is changed, the peak torque which can be transmitted by the first clutch device 2 can be changed, and heat generated by relative friction between the driving disc 21 and the driven disc 22 can be taken away in time by the oil. The first clutch 2 is mounted on a first shaft 23, which first shaft 23 is capable of outputting power to the gearbox 4 when the first clutch 2 is engaged.
The second clutch device 3 comprises a plurality of friction clutches 37 and gear sets, and different gear sets of different groups can work and transmit power flow by engaging different friction clutches 37 so as to realize gear shifting, and more gear adjustment can be realized by being matched with the gearbox 4. Specifically, the second clutch device 3 includes four sets of gear sets, including a first gear set 31, a second gear set 32, a third gear set 33 and a fourth gear set 34, where the gear ratios of the sets are different and are sequentially ordered in a step-by-step manner from high to low, and the higher the gear ratio is, the higher the number of steps is, and the gear ratios of the first to fourth gear sets in the figure are sequentially reduced; each group of gear sets comprises an access gear and an output gear, the access gear is used for accessing the power of the engine 1, the output gear can transmit the power to the gearbox 4, and the input gear and the output gear of each gear set are respectively arranged on the second shaft 35 and the third shaft 36; one of the two gears contained in each gear set is connected to the shaft on which it is located by a friction clutch 37.
A switching mechanism 6 is arranged between the first shaft 23 and the second shaft 35, the switching mechanism 6 comprises a first transition gear set 61 and a second transition gear set 62 which are arranged between the first shaft 23 and the second shaft 35, and a jointing mechanism 63, the jointing mechanism 63 can enable one of the first transition gear set 61 and the second transition gear set 62 to work, and the jointing mechanism 63 is provided with a synchronizer, so that the switching process is smooth; the gear ratio of the first transition gear set 61 is the same as the gear ratio of the first gear set 31, and in the initial state, the engagement mechanism 63 operates the first transition gear set 61; the gear ratio of the second transition gear set 62 is between the gear ratio of the third gear set 33 and the gear ratio of the fourth gear set 34, preferably the median of the gear ratios of the latter two.
Based on the power system, the starting control method of the intelligent agricultural machine is implemented by a control system, as shown in fig. 2, and comprises the following steps S101-S104 (step serial numbers only indicate preferred sequences, and are not used for limiting the execution sequences of the steps):
step S101, judging whether to start for the first time under the current working condition, and obtaining a first judgment result;
in this step, when the intelligent agricultural machine executes a task, the user may input the motion coordinate range information of the task to the control system first, and the control system may determine whether the intelligent agricultural machine is in the same operation according to the GPS position data carried by the intelligent agricultural machine, thereby determining whether the intelligent agricultural machine is in the same working condition. Or, after the user changes the working condition (for example, the condition of the execution part of the intelligent agricultural machine and/or the land of the operation is changed, for example, the seeding module is changed into the fertilizing module), a reset instruction is sent to the control system, the control system can know that the working condition has changed according to the reset instruction, and the control system judges that the intelligent agricultural machine is started for the first time when the intelligent agricultural machine is started next time.
Step S102, when the first judgment result is negative, working condition parameters in the last starting process are obtained, and a first torque threshold is calculated according to the working condition parameters;
step S103, when the first judgment result is yes, executing a pre-starting process to obtain working condition parameters, and calculating the first torque threshold according to the working condition parameters;
step S104, executing a formal starting flow;
as shown in fig. 3, the formal startup procedure specifically includes the following steps S201 to S203:
step S201, controlling the first clutch device 2 based on oil film transmission to be engaged, and judging whether the torque of the driven disc 22 in the first clutch device 2 reaches the first torque threshold value or not to obtain a second judging result;
step S202, when the second judging result is yes, dynamically adjusting the transmission torque of the first clutch device 2 so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value;
in this step, by increasing the oil film thickness, the oil film shearing force, that is, the torque peak that can be transmitted by the first clutch device 2 can be reduced.
In step S203, when the rotation speed of the driving disc 21 in the first clutch device 2 is consistent with the rotation speed of the driven disc 22, the second clutch device 3 is controlled to operate, and the first clutch device 2 is controlled to be disengaged.
In this embodiment, in step S203, the second clutch device 3 is controlled to operate, that is, the friction clutch 37 corresponding to the gear set with the highest gear (i.e., the first gear set 31) in the second clutch device 3 is controlled to be engaged; because the transmission ratio of the first gear set 31 is equal to that of the first transition gear set 61, the first clutch device 2 is disengaged, and after the first gear set 31 is connected, the running speed of the intelligent agricultural machine is not obviously changed, and the butt joint is smooth.
In the step S201, the first clutch device 2 is quickly engaged, and the oil film thickness is minimized, so that the shearing force of the oil film is maximized, and the driving disc 21 can quickly lift the torque of the driven disc 22; in step S202, when the torque of the driven disc 22 reaches the critical value, the control system starts to dynamically regulate the transmission torque of the first clutch device 2, so as to effectively prevent the comfort from being reduced due to the movement of the implement when the implement starts to move. Therefore, the quick lifting of the torque transmitted by the first clutch device 2 can be realized in the process, the dynamic regulation and control can be started in time by utilizing the stepless regulation characteristic of the first clutch device 2, the starting comfort is improved while the starting efficiency is ensured, the second clutch device 3 which is more convenient for adjusting the gear is adopted to replace the first clutch device 2 after the starting is finished, and the running speed can be conveniently adjusted after the starting is finished. In contrast, it is difficult to avoid hard play at the start time when the oil film thickness is dynamically adjusted again after the movement of the machine. In addition, compare in the direct start of utilizing second clutch 3, on the one hand, a large amount of friction heating that produces in this scheme in the earlier stage start-up process can be taken away by the oily that flows, avoids the device to ablate the damage, and on the other hand, the torque peak value of first clutch 2 transmission can electrodeless regulation, and is more linear to the regulation of moment of torsion, can make the implement start more steady, effectively promotes the travelling comfort. Compared with a motion device with more definite starting working conditions such as an automobile, the application sets the preposed process of determining the first torque threshold value, and effectively solves the problems of uncertain starting parameters and the like caused by the diversity of intelligent agricultural machinery loads and the complex variability of the working environment.
Preferably, the executing the pre-start-up procedure in the step S103 to obtain a working condition parameter, and calculating the first torque threshold according to the working condition parameter includes the following steps S401 to S405:
step S401, selecting data lower than a predicted first torque threshold value as an initial first torque threshold value, and controlling the first clutch device 2 to be engaged after the rotating speed of the engine 1 meets the condition;
in this step, the first clutch device 2 is rapidly engaged and the oil film thickness is minimized to maximize the oil film shearing force, and the driving disc 21 can rapidly raise the torque of the driven disc 22. The working condition parameters are represented by F, f=mf, where M is the total weight of the implement and the driver, and F is the resistance parameter. Wherein M is a known quantity, the control system can pre-store resistance parameters corresponding to various working conditions, a user can predict which working condition corresponds to according to the current field working condition, and select the resistance parameters corresponding to the working condition one or two steps lower than the predicted working condition (the lower the level is, the smaller the resistance parameters are), so as to calculate a first torque threshold value, and the initial first torque threshold value is obviously smaller than the actual first torque threshold value.
Step S402, acquiring torque and rotation speed data of the driven disc 22 in the first clutch device 2;
Step S403, when the torque of the driven disc 22 reaches the initial first torque threshold, dynamically adjusting the transmission torque of the first clutch device 2 to reduce the unit time increase of the torque of the driven disc 22;
step S404, when the rotation speed of the driven disc 22 is greater than 0, recording torque data of the driven disc 22, and calculating working condition parameters according to the torque data; in addition, after the rotation speed of the driven disc 22 is greater than 0, the engine 1 is stopped to operate, or the first clutch device 2 is disengaged, so that data acquisition is completed;
in the step, working condition parameters are calculated through a formula f0=t0i0η/gR; wherein F0 is a working condition parameter obtained by a pre-starting process; t0 is the torque of the driven disc 22, i0 is the transmission ratio of the system, eta is the transmission efficiency of the system, g is a gravity parameter, and R is the radius of the driving wheel 5.
Step S405, calculating the first torque threshold according to the working condition parameter.
In this step, a first torque threshold is calculated according to the formula t1=f0gr/i1η, T1 is a first torque threshold for the first start under the current working condition, and i1 is a transmission ratio of the system at the first start under the current working condition.
In the above process, by selecting a value obviously smaller than the actual first torque threshold as the initial first torque threshold, the time point for dynamically adjusting the oil film thickness can come in advance, and by dynamically adjusting the oil film thickness subsequently to change the unit time amplification of the torque of the driven disc 22, the machine tool can not rapidly and forwards move when reaching the actual first torque threshold, and discomfort and mechanical impact caused by sudden start and stop in the data acquisition process can be prevented.
In addition, in step S102, the obtaining the working condition parameter in the last starting process, and calculating the first torque threshold according to the working condition parameter is specifically: and calculating a first torque threshold according to a formula Tk=Fk-1 gR/ikη, wherein Tk and ik are respectively the transmission ratio of the first torque threshold started for the kth time under the current working condition to the system. Fk-1 is the working condition parameter of the system obtained during k-1 times of starting.
Preferably, the actual first torque threshold value of the current starting is recorded in each starting process of the system, and working condition parameters are calculated for the next starting.
Preferably, before executing the formal start-up procedure, the method further includes:
calculating a second torque threshold according to the first torque threshold, wherein the second torque threshold is obtained by multiplying the first torque threshold by a preset coefficient (such as 0.8) smaller than 1;
before the dynamic adjustment of the transmission torque of the first clutch device 2 in step S202 so that the running acceleration of the intelligent agricultural machine does not exceed the first threshold value, the method further comprises:
and judging whether the torque of the driven disc 22 is between the second torque threshold value and the first torque threshold value, and if so, dynamically adjusting the transmission torque of the first clutch device 2 so that the unit time increment of the torque of the driven disc 22 does not exceed the second threshold value.
In the above process, by amplifying the unit time of the torque of the driven disc 22, when the torque of the driven disc 22 reaches the first torque threshold, the subsequent torque change is smoother, and the starting comfort is further improved.
After the second clutch device is controlled in the step S203, the formal start-up procedure further includes the following steps S501 to S503:
step S501, judging whether the manipulation data of the user is within a preset range;
in the step, the manipulation data comprise target opening data and target gear data of the throttle; from the steering data, it is known whether the acceleration tendency of the user is aggressive or conservative.
Step S502, when the manipulation data is within the preset range (i.e. the acceleration tendency of the user is conservative), sequentially engaging the friction clutches 37 corresponding to the gear sets according to the order from the high to the low of the progression; in this embodiment, the friction clutches 37 corresponding to the first, second, third and fourth gear sets are sequentially engaged, and the friction clutch 37 corresponding to the gear set of the higher stage is disengaged while the gear set of the lower stage is engaged through the corresponding friction clutch 37;
in step S503, when the manipulation data exceeds the preset range (i.e. the acceleration tendency of the user is conservative), the following steps A1-A4 are performed:
Step A1, controlling the engagement mechanism 63 to enable the second transition gear set 62 to perform transmission operation; at this time, the first clutch device 2 is in the off state; after the second transition gear set 62 is engaged, the drive disk 21 is rapidly accelerated to a value matching the gear ratio of the second transition gear set 62;
step A2 of controlling all of the friction clutches 37 in the second clutch device 3 to be disconnected;
step A3, controlling the first clutch device 2 to be engaged, and acquiring the rotating speed data of the driven disc;
and step A4, when the rotation speed of the driven disc of the first clutch device 2 meets the preset requirement, controlling the first clutch device 2 to be disconnected and controlling the friction clutch 37 corresponding to one of the gear sets of the lowest two stages to be connected.
After the above steps A2-A3 are implemented, the driving disc 21 rapidly increases the rotation speed of the driven disc 22, so that the rotation speed of the driven disc 22 can be increased in a step-by-step manner, namely, the rotation speed reached by the third gear set 33 can be the third rotation speed, the rotation speed reached by the third shaft 36 can be the fourth rotation speed by the fourth gear set 34, and the rotation speed of the driven disc 22 can be increased to be between the third rotation speed and the fourth rotation speed at most, so that the rotation speed can be increased in a step-by-step manner (the rotation speed reached by the third shaft 36 can be obtained by passing through the second gear set 32 and the third gear set 33) by utilizing the characteristics of the first clutch device 2. The predetermined requirement in step A4 may be that the rotational speed of the driven disc 22 reaches the third rotational speed, in which case the first clutch device 2 is disengaged and then engaged by the corresponding friction clutch 37 of the third gear set 33. The predetermined requirement in step A4 may also be that the rotational speed of the driven disc 22 corresponds to the rotational speed of the driving disc 21, in which case the first clutch device 2 is engaged by the corresponding friction clutch 37 of the fourth gear set 34 after being disengaged, and the rotational speed of the input shaft of the gearbox 4 is continued to be raised after the fourth gear set 34 is engaged. The above process can promote accelerating ability, and the specification of the friction clutch 37 in the second clutch device 3 is not required to be promoted, and the advantage that the torque is relatively linear by the first clutch device 2 is utilized in the process of exceeding the speed of the first clutch device 2, so that the driving comfort is ensured.
Preferably, before executing the formal startup procedure in the step S104, the method further includes the following step S601:
step S601, acquiring target opening data;
step S602, determining whether the target opening data is within a range between a third threshold (e.g. 20%) and a fourth threshold (e.g. 40%), to obtain a third determination result; the preset range of the opening data in the step S501 is between the third threshold value and the fourth threshold value;
step S603, when the third determination result is yes, taking the target opening data as an execution value;
step S604, when the third determination result is no, if the target opening data is smaller than the third threshold, taking the third threshold as an execution value; and if the target opening data is larger than the fourth threshold value, taking the fourth threshold value as an execution value, and after the execution of the formal starting flow is completed, increasing the actual opening to the target opening data.
In the actual execution process, the throttle structure of the machine tool can be modified, the actual throttle of the machine tool is driven to operate by an executing mechanism such as an electric cylinder connected with a control system, the pedal is a movable plate capable of elastically and self-resetting relative to the machine body, a rotation angle sensor is arranged between the movable plate and the machine body, and target opening data are acquired by the rotation angle sensor; therefore, the control system can clearly know the requirement of a driver on one hand, can prevent the driver from stepping too shallow to cause frequent flameout and starting, and can prevent the driver from stepping too deep to cause too fast starting of the engine 1 to cause uncomfortable starting of the machine tool, when the driver steps deeper, the machine tool can take the fourth threshold value as an execution value, and after the machine tool is started, the speed of the machine tool is gradually increased to be consistent with the target opening data, so that the driving comfort can be effectively improved.
Preferably, controlling the engagement of the second clutch device 3 and the disengagement of the first clutch device 2 in the step S203 includes:
and controlling the second clutch device 3 to gradually increase the transmission torque, gradually reduce the transmission torque of the first clutch device 2, and enabling the transmission torque increased by the second clutch device 3 to be greater than or equal to the transmission torque reduced by the first clutch device 2.
Specifically, the control system may determine whether the target opening degree data is greater than a fifth threshold value (e.g., 40%), if so, the transmission torque (abbreviated as "lifting torque") lifted by the second clutch device 3 is equal to the transmission torque (abbreviated as "reducing torque") reduced by the first clutch device 2, otherwise, the lifting torque is slightly greater than the reducing torque, and if so, a coefficient obtained by multiplying the reducing torque by greater than 1 is equal to the lifting torque. By adopting the method, the power waste caused by reverse transmission of the power transmitted by the first clutch device 2 to the second clutch device 3 when the opening degree data is large can be effectively avoided.
Preferably, the value of the first threshold in step S202 is the product of the acceleration base threshold and the adjustment coefficient; if the target opening data is smaller than a third threshold value, selecting a value smaller than 1 as the adjustment coefficient; if the target opening data is larger than a third threshold value and smaller than a fourth threshold value, selecting 1 as the adjustment coefficient; and when the target opening degree data is larger than a fourth threshold value, selecting a numerical value larger than 1 as the adjustment coefficient. By adopting the method, the intelligent agricultural machinery can adapt to the acceleration requirements of different drivers.
Preferably, the method further comprises the following steps S701-S704:
step S701, obtaining target gear information;
step S702, judging whether the target gear information belongs to an allowed starting gear, and obtaining a fourth judgment result;
step S703, when the fourth determination result is no, executing the formal start-up procedure with the allowed start-up gear, and after the execution of the formal start-up procedure is completed, lifting the gear to be consistent with the target gear information;
and step S704, when the fourth determination result is yes, executing the formal starting procedure according to the gear corresponding to the target gear information.
In actual use, the gear shifting mechanism in the control mechanism is only used for collecting the gear shifting intention of a user, and the actual gear shifting is automatically carried out by the control system aiming at the gearbox 4, so that the target gear information can be effectively obtained, and when the target gear is higher, the target gear is started with the allowed starting gear, and then the target gear is gradually lifted to the target gear, so that the driving experience is improved.
The present invention also provides a start control device 800 of an intelligent agricultural machine, where the start control device 800 may include or be divided into one or more program modules, and the one or more program modules are stored in a storage medium and executed by one or more processors to complete the present invention and implement the start control method described above. Program modules or program elements of the embodiments of the present invention may be referred to as a series of computer program instruction segments capable of performing particular functions, and are more suitable than programs themselves for describing the execution of the start control method in a storage medium. The following description will specifically describe functions of the program modules of the present embodiment, including:
A first judging module 810, configured to judge whether to start for the first time under the current working condition, so as to obtain a first judging result;
a first calculation module 820, configured to obtain a working condition parameter in a last starting process when the first determination result is no, and calculate the first torque threshold according to the working condition parameter;
the second calculating module 830 is configured to execute a pre-start procedure when the first determination result is yes, obtain a working condition parameter, and calculate the first torque threshold according to the working condition parameter;
a start-up module 840 for executing a formal start-up procedure;
the start module 840 includes:
a second judging unit 841 for controlling the engagement of the first clutch device and judging whether the torque of the driven disc 22 in the first clutch device reaches the first torque threshold value, so as to obtain a second judging result;
a dynamic adjustment unit 842, configured to dynamically adjust the transmission torque of the first clutch device so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value when the second determination result is yes;
and a switching unit 843 for controlling the operation of the second clutch device and controlling the disengagement of the first clutch device when the rotation speed of the driving disc 21 is identical to the rotation speed of the driven disc 22 in the first clutch device.
Other contents of implementing the above-mentioned start control method based on the start control device 800 are described in detail in the previous embodiments, and reference may be made to corresponding contents in the previous embodiments, which are not described herein.
The present embodiment also provides a computer-readable storage medium such as a flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, etc., in which an executable program is stored, which is executed by a processor to implement the above-described start-up control method.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (9)
1. The starting control method of the intelligent agricultural machine is characterized by being applied to a power system of the intelligent agricultural machine, wherein the power system comprises an engine, a first clutch device, a second clutch device and a gearbox, the engine can output power to the gearbox through at least one of the first clutch device and the second clutch device, and the gearbox is connected with driving wheels of the intelligent agricultural machine; the clutch control system also comprises a control system capable of controlling the operation of the first clutch device and the second clutch device and an operating mechanism connected with the control system; the method comprises the following steps:
Judging whether the engine is started for the first time under the current working condition to obtain a first judging result;
when the first judgment result is negative, working condition parameters in the last starting process are obtained, and a first torque threshold is calculated according to the working condition parameters; the method comprises the following steps: according to formula T k =F k-1 gR/i k Eta calculates a first torque threshold, T k 、i k The transmission ratio of the first torque threshold value started for the kth time under the current working condition and the system is respectively set; f (F) k-1 The working condition parameters of the system are obtained during the k-1 times of starting; g is a gravity parameter, R is the radius of a driving wheel, and eta is the transmission efficiency of the system;
when the first judgment result is yes, executing a pre-starting process to obtain working condition parameters, and calculating the first torque threshold according to the working condition parameters;
executing a formal starting flow;
the formal starting process specifically comprises the following steps:
controlling a first clutch device based on oil film transmission to be engaged, and judging whether the torque of a driven disc in the first clutch device reaches the first torque threshold value or not to obtain a second judgment result;
when the second judgment result is yes, dynamically adjusting the transmission torque of the first clutch device so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value;
when the rotating speed of the driving disc in the first clutch device is consistent with the rotating speed of the driven disc, controlling the second clutch device to operate, and controlling the first clutch device to be disconnected;
The executing the pre-starting process to obtain working condition parameters, and calculating the first torque threshold according to the working condition parameters includes:
selecting data lower than a predicted first torque threshold as an initial first torque threshold, and controlling the first clutch to be engaged after the rotating speed of the engine meets the condition; the predicted first torque threshold is obtained by selecting a resistance parameter corresponding to a working condition one or two steps lower than the predicted working condition by a user according to the predicted working condition; the control system pre-stores resistance parameters corresponding to various operation conditions;
acquiring torque and rotation speed data of a driven disc in the first clutch device;
when the torque of the driven disc reaches the initial first torque threshold value, dynamically adjusting the transmission torque of the first clutch device to reduce the unit time amplification of the torque of the driven disc;
when the rotating speed of the driven disc is greater than 0, recording torque data of the driven disc, and calculating working condition parameters according to the torque data; by formula F 0 =T 0 i 0 Calculating working condition parameters by eta/gR; wherein F is 0 Working condition parameters obtained for a pre-starting process; t (T) 0 I is the torque of the driven disc 0 Is the transmission ratio of the system;
calculating the first torque threshold according to the working condition parameters; by formula T 1 =F 0 gR/i 1 Eta calculates a first torque threshold, T 1 I is a first torque threshold value of first starting under the current working condition 1 Is the transmission ratio of the system when the system is started for the first time under the current working condition.
2. The method for controlling the start-up of an intelligent agricultural machine according to claim 1, wherein before the executing of the formal start-up procedure, the method further comprises:
calculating a second torque threshold according to the first torque threshold, wherein the second torque threshold is obtained by multiplying the first torque threshold by a preset coefficient smaller than 1;
before said dynamically adjusting the transmission torque of the first clutch device such that the operational acceleration of the intelligent agricultural machine does not exceed a first threshold, the method further comprises:
and judging whether the torque of the driven disc is between the second torque threshold value and the first torque threshold value, and if so, dynamically adjusting the transmission torque of the first clutch device so as to ensure that the unit time increment of the torque of the driven disc does not exceed the second threshold value.
3. The method of controlling the start-up of an intelligent agricultural machine of claim 1, wherein the first clutch device is mounted on a first shaft; the second clutch device comprises a plurality of groups of gear sets, and the transmission ratios of the gear sets of each group are different; each set of gear sets has an access gear on a second shaft and an output gear on a third shaft; the second clutch device further comprises a friction clutch arranged corresponding to each group of gear sets; a switching device is arranged between the first shaft and the second shaft, and comprises a first transition gear set, a second transition gear set and a joint mechanism, wherein the joint mechanism can enable one of the two transition gear sets to operate; the transmission ratio of the first transition gear set is consistent with that of the gear set at the highest stage in the second clutch device, and the engagement mechanism enables the first transition gear set to work in an initial state; the transmission ratio of the second transition gear set is between the transmission ratios of the gear sets of the lowest two stages in the second clutch device;
The controlling the second clutch operation includes:
controlling the friction clutch corresponding to the gear set with the highest gear in the second clutch device to be engaged;
after the second clutch device is controlled to operate, the formal starting procedure further includes:
judging whether the manipulation data of the user is within a preset range or not;
when the operation data is within a preset range, sequentially engaging the friction clutches corresponding to the gear sets according to the order of the progression from high to low;
when the manipulation data exceeds the preset range, executing the following steps:
controlling the engagement mechanism to enable the second transition gear set to execute transmission operation;
controlling all the friction clutches in the second clutch device to be disconnected;
controlling the first clutch device to be engaged, and acquiring rotating speed data of the driven disc;
and when the rotating speed of the driven disc of the first clutch device meets the preset requirement, controlling the first clutch device to be disconnected, and controlling the friction clutch corresponding to one of the gear sets of the lowest two stages to be connected.
4. The method for controlling the start-up of an intelligent agricultural machine according to claim 1, wherein before the executing of the formal start-up procedure, the method further comprises:
Acquiring target opening data;
judging whether the target opening data is in a section between a third threshold value and a fourth threshold value, and obtaining a third judging result;
when the third judgment result is yes, the target opening degree data is taken as an execution value;
if the third judgment result is negative, if the target opening data is smaller than the third threshold value, taking the third threshold value as an execution value; and if the target opening data is larger than the fourth threshold value, taking the fourth threshold value as an execution value, and after the execution of the formal starting flow is completed, increasing the actual opening to the target opening data.
5. The method of claim 1, wherein controlling operation of the second clutch device and controlling disengagement of the first clutch device comprises:
and controlling the second clutch device to lift the transmission torque, reducing the transmission torque of the first clutch device, and enabling the transmission torque lifted by the second clutch device to be larger than or equal to the transmission torque reduced by the first clutch device.
6. The method for controlling the starting of an intelligent agricultural machine of claim 4, wherein the value of the first threshold is a product of an acceleration base threshold and an adjustment coefficient;
If the target opening data is smaller than a third threshold value, selecting a value smaller than 1 as the adjustment coefficient;
if the target opening data is larger than a third threshold value and smaller than a fourth threshold value, selecting 1 as the adjustment coefficient;
and when the target opening degree data is larger than a fourth threshold value, selecting a numerical value larger than 1 as the adjustment coefficient.
7. The method for controlling the start-up of an intelligent agricultural machine of claim 1, further comprising:
acquiring target gear information;
judging whether the target gear information belongs to an allowed starting gear or not to obtain a fourth judging result;
when the fourth judgment result is negative, executing the formal starting flow with the allowed starting gear, and after the execution of the formal starting flow is completed, lifting the gear to be consistent with the target gear information;
and executing the formal starting flow according to the gear corresponding to the target gear information when the fourth judgment result is yes.
8. Start control device of intelligent agricultural machinery, its characterized in that includes:
the first judging module is used for judging whether the first starting is performed under the current working condition or not, and obtaining a first judging result;
the first calculation module is used for acquiring working condition parameters in the last starting process when the first judgment result is negative, and calculating a first torque threshold according to the working condition parameters; the method comprises the following steps: according to formula T k =F k-1 gR/i k Eta calculates a first torque threshold, T k 、i k The transmission ratio of the first torque threshold value started for the kth time under the current working condition and the system is respectively set; f (F) k-1 The working condition parameters of the system are obtained during the k-1 times of starting; g is a gravity parameter, R is the radius of a driving wheel, and eta is the transmission efficiency of the system;
the second calculation module is used for executing a pre-starting process to obtain working condition parameters when the first judgment result is yes, and calculating the first torque threshold according to the working condition parameters;
the starting module is used for executing a formal starting flow;
the starting module comprises:
the second judging unit is used for controlling the first clutch device to be engaged and judging whether the torque of the driven disc in the first clutch device reaches the first torque threshold value or not to obtain a second judging result;
the dynamic adjusting unit is used for dynamically adjusting the transmission torque of the first clutch device when the second judging result is yes, so that the running acceleration of the intelligent agricultural machine does not exceed a first threshold value;
a switching unit for controlling the operation of the second clutch device and controlling the disengagement of the first clutch device when the rotation speed of the driving disc is consistent with the rotation speed of the driven disc in the first clutch device;
The executing the pre-starting process to obtain working condition parameters, and calculating the first torque threshold according to the working condition parameters includes:
selecting data lower than a predicted first torque threshold as an initial first torque threshold, and controlling the first clutch to be engaged after the rotating speed of the engine meets the condition; the predicted first torque threshold is obtained by selecting a resistance parameter corresponding to a working condition one or two steps lower than the predicted working condition by a user according to the predicted working condition; the control system pre-stores resistance parameters corresponding to various operation conditions;
acquiring torque and rotation speed data of a driven disc in the first clutch device;
when the torque of the driven disc reaches the initial first torque threshold value, dynamically adjusting the transmission torque of the first clutch device to reduce the unit time amplification of the torque of the driven disc;
when the rotating speed of the driven disc is greater than 0, recording torque data of the driven disc, and calculating working condition parameters according to the torque data; by formula F 0 =T 0 i 0 Calculating working condition parameters by eta/gR; wherein F is 0 Working condition parameters obtained for a pre-starting process; t (T) 0 I is the torque of the driven disc 0 Is the transmission ratio of the system;
calculating the first according to the working condition parameters A torque threshold; by formula T 1 =F 0 gR/i 1 Eta calculates a first torque threshold, T 1 I is a first torque threshold value of first starting under the current working condition 1 Is the transmission ratio of the system when the system is started for the first time under the current working condition.
9. A storage medium having stored therein an executable program that is executed by a processor to implement the start control method of an intelligent agricultural machine according to any one of claims 1 to 7.
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