CN116638967A - Crawler power transmission matching device and intelligent control system thereof - Google Patents

Crawler power transmission matching device and intelligent control system thereof Download PDF

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Publication number
CN116638967A
CN116638967A CN202310815826.2A CN202310815826A CN116638967A CN 116638967 A CN116638967 A CN 116638967A CN 202310815826 A CN202310815826 A CN 202310815826A CN 116638967 A CN116638967 A CN 116638967A
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CN
China
Prior art keywords
hydraulic motor
hydraulic
row
power transmission
sun gear
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Pending
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CN202310815826.2A
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Chinese (zh)
Inventor
刘洋
刘丽芳
沈宏继
蔡磊
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63963 TROOPS PLA
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63963 TROOPS PLA
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Priority to CN202310815826.2A priority Critical patent/CN116638967A/en
Publication of CN116638967A publication Critical patent/CN116638967A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • 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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/22—Endless track steering being effected by deflecting endless track rollers or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/18—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by power transmitting means
    • 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
    • B60W2300/44—Tracked vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

The invention discloses a power transmission matching device of a tracked vehicle and an intelligent control system thereof, and belongs to the technical field of artificial intelligence. The intelligent control system comprises a first rotating speed sensor, a second rotating speed sensor and an AI module, wherein the first rotating speed sensor is used for detecting the rotating speed sequence of the first hydraulic motor, the second rotating speed sensor is used for detecting the rotating speed sequence of the second hydraulic motor, and the AI module acquires the next control signals of the first hydraulic motor and the second hydraulic motor according to the rotating speed sequence of the first hydraulic motor and the rotating speed sequence of the second hydraulic motor. The invention can realize stepless steering of vehicles with different radiuses, and has flexible and reliable steering and more compact power transmission structure.

Description

Crawler power transmission matching device and intelligent control system thereof
Technical Field
The invention belongs to the technical field of artificial intelligence, and particularly relates to a power transmission matching device for a tracked vehicle.
Background
A tracked vehicle is a vehicle in which a tracked running gear is used instead of a wheel running gear. The vehicle has small unit pressure to the ground, small subsidence, strong adhesion capability and strong running passing capability. The cab, cargo bed or wagon is then substantially identical to a conventional wheeled vehicle. The structure of the running system can be divided into a half crawler type with a sled mounted on a front axle (driven axle) or a crawler mounted on a rear axle, and a full crawler type with the crawler mounted on the front axle and the rear axle and a wheel-crawler type with wheels and crawler interchangeably used.
The existing vehicles running by using tracks control the steering of the vehicles through a hydraulic steering system, and the hydraulic steering system generally adopts a single hydraulic driving component to realize the steering of the vehicles, so that a complex hydraulic system is required to be arranged for realizing the flexible steering of the vehicles, and the complex system is easy to fail and is inconvenient to maintain. In addition, crawler vehicles often need to travel on relatively complex roads, and the inconsistent ground resistance experienced by the left and right side tracks can result in unstable hydraulic drive motor performance when fed back to the hydraulic drive motor.
Disclosure of Invention
The invention aims to provide a power transmission matching device of a tracked vehicle and a control system thereof, which are used for simplifying the internal transmission structure of the tracked vehicle and ensuring the stability of the vehicle on the premise of flexible steering of the vehicle.
In order to achieve the above object, the present invention provides the following technical solutions:
a tracked vehicle power transmission matching device comprising:
the speed change mechanism comprises an input end, a first auxiliary power output end, a second auxiliary power output end and a main power output end which are connected with the engine;
the first independent steering mechanism comprises a first hydraulic booster pump, a first hydraulic motor and a first planet row, wherein the power input end of the first hydraulic booster pump is connected with the first booster power output end, the first hydraulic booster pump is connected with the first hydraulic motor, and the first hydraulic motor is connected with a first sun gear of the first planet row;
the second independent steering mechanism comprises a second hydraulic booster pump, a second hydraulic motor and a second planetary gear set, wherein the power input end of the second hydraulic booster pump is connected with the second booster power output end, the second hydraulic booster pump is connected with the second hydraulic motor, and the second hydraulic motor is connected with a second sun gear of the second planetary gear set;
the main power output end of the speed change mechanism drives the gear ring of the first planetary gear row and the gear ring of the second planetary gear row to synchronously rotate, and the first planet carrier of the first planetary gear row and the second planet carrier of the second planetary gear row are used for driving the vehicle crawler belt to run.
The first planet carrier is externally provided with a first driving wheel used for being connected with a first crawler belt, and the first planet carrier is in transmission connection with the first crawler belt through the first driving wheel;
the second planet carrier is externally provided with a second driving wheel used for being connected with a second crawler belt, and the second planet carrier is in transmission connection with the second crawler belt through the second driving wheel.
A first speed reducer is arranged between the first hydraulic motor and a first sun gear of the first planet row, and the first hydraulic motor is connected with the first sun gear through the first speed reducer;
a second speed reducer is arranged between the second hydraulic motor and a second sun gear of the second planetary gear set, and the second hydraulic motor is connected with the second sun gear through the second speed reducer.
When the vehicle runs straight, the first hydraulic motor locks the first sun gear, and the second hydraulic motor locks the second sun gear.
When the vehicle turns, the first hydraulic motor drives the first sun gear to rotate; and or the second hydraulic motor drives the second sun gear to rotate.
When the vehicle is traveling straight:
the first hydraulic booster pump and the second hydraulic booster pump have no output, the displacement is zero, the first hydraulic motor and the second hydraulic motor keep static, the first sun gear and the second sun gear are respectively locked by the first hydraulic motor and the second hydraulic motor, the gear ring of the first planetary gear row and the gear ring of the second planetary gear row input the power of the speed change mechanism, and the first planet carrier of the first planetary gear row and the second planet carrier of the second planetary gear row drive the vehicle to run in a straight line.
When the vehicle center turns:
the gear rings of the first planetary row and the gear rings of the second planetary row are locked, and the first hydraulic motor and the second hydraulic motor respectively drive a first driving wheel connected with the first planetary frame and a second driving wheel connected with the second planetary frame to mutually reverse.
The tracked vehicle power transmission matching device further comprises a first track and a second track, wherein the first track is connected with the first driving wheel, and the second track is connected with the second driving wheel.
The tracked vehicle power transmission matching device further comprises a power component, and the power component is in transmission connection with the speed change mechanism;
the power component is an engine or an electric motor.
The invention also provides an intelligent control system of the tracked vehicle power transmission matching device, which is characterized in that: the AI module obtains control signals of the first hydraulic motor and the second hydraulic motor next time according to the rotating speed sequence of the first hydraulic motor and the rotating speed sequence of the second hydraulic motor, and comprises an input layer, an hidden layer and an output layer, wherein the input layer inputs the current rotating speed omega of the first hydraulic motor 1 (n) the current secondary rotational speed ω of the second hydraulic motor 2 (n) the difference Deltaω between the current rotation speed and the previous rotation speed of the first hydraulic motor 1 (n) and the difference Deltaω between the current rotational speed and the previous rotational speed of the second hydraulic motor 2 (n) the hidden layer comprises a first hidden sub-layer, a second hidden sub-layer and a third hidden sub-layer, wherein the first hidden sub-layer comprises I neurons, and the current output of the ith neurons is
Wherein x is n i ＝[ω 1 (n),ω 2 (n),△ω 1 (n),△ω 2 (n)],S i Bandwidth as gaussian function, M i Is the center of the gaussian function; u (u) n-1 i The previous output of the ith neuron; alpha is an adjustment coefficient;
the second hidden sublayer includes I neurons, the output of which is:
wherein, beta is a constant;
the third hidden sublayer includes K neurons, the output of the kth neuron being:
wherein w is ki Weights between the second implicit sub-layer and the third implicit sub-layer;
the next control signals of the first hydraulic motor and the second hydraulic motor output by the output layer are as follows:
wherein w is ka Is the firstWeights between the three hidden sublayers and the output layer, a=1, 2.
Compared with the prior art, in the power transmission matching device for the tracked vehicle, the first hydraulic booster pump, the second hydraulic booster pump and the vehicle tracks are respectively provided with power through the speed change mechanism, the rotating speeds of the tracks at two ends of the vehicle are respectively adjusted through the first independent steering mechanism and the second independent steering mechanism, the turning purpose of the vehicle is achieved, and the rotating speeds of the tracks at one end are independently driven and controlled by the first hydraulic booster pump and the second hydraulic booster pump, so that the power transmission matching device has good maneuvering and accompanying capabilities, stepless steering of different radiuses of the vehicle can be achieved, steering is flexible and reliable, and the power transmission structure is simpler and more compact.
Compared with the prior art, the control system of the power transmission matching device for the tracked vehicle acquires the control signals according to the rotating speeds before the first liquid and the second hydraulic motor, so that stepless steering of vehicles with different radiuses can be realized, steering is flexible and reliable, and locking is prevented.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a track vehicle power transmission mating device of the present invention;
FIG. 2 is a schematic structural view of another embodiment of a tracked vehicle power transmission matching device of the present invention;
FIG. 3 is a block diagram of the intelligent control system of the tracked vehicle power transmission matching device.
Reference numeral 1, a speed change mechanism; 11. a first auxiliary power output end; 12. a second auxiliary power output end; 13. a main power output; 21. a first hydraulic booster pump; 22. a first hydraulic motor; 31. a first sun gear; 32. a first ring gear; 33. a first planetary gear; 34. a first planet carrier; 4. a first drive wheel; 51. a second hydraulic booster pump; 52. a second hydraulic motor; 61. a second sun gear; 62. a second carrier; 63. a second planetary gear; 64. a second ring gear; 7. a second driving wheel; 8. a first decelerator; 9. and a second decelerator.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention will now be described in further detail with reference to specific examples, which are intended to illustrate, but not to limit, the invention.
Referring to fig. 1, there is shown a schematic overall construction of a tracked vehicle power transmission matching device of the present invention, which includes a speed change mechanism 1, a first independent steering mechanism, and a second independent steering mechanism.
The above-described transmission mechanism 1 includes an input end connected to the engine, a first assist power output end 11, a second assist power output end 12, and a main power output end 13, which power the first hydraulic assist pump 21, the second hydraulic assist pump 51, and the vehicle crawler, respectively.
The first independent steering mechanism comprises a first hydraulic booster pump 21, a first hydraulic motor 22 and a first planet row, wherein the power input end of the first hydraulic booster pump 21 is connected with the first booster power output end 11, the first hydraulic booster pump 21 is connected with the first hydraulic motor 22, and the first hydraulic motor 22 is connected with the first sun gear 31 of the first planet row. The second independent steering mechanism comprises a second hydraulic booster pump 51, a second hydraulic motor and a second planetary gear set, wherein the power input end of the second hydraulic booster pump 51 is connected with the second booster power output end 12, the second hydraulic booster pump 51 is connected with the second hydraulic motor, and the second hydraulic motor is connected with the second sun gear 61 of the second planetary gear set.
The first independent steering mechanism is used for controlling the rotation speed of the first driving wheel 4, the second independent steering mechanism is used for controlling the rotation speed of the second driving wheel 7, and after the first independent steering mechanism and the second independent steering mechanism are mutually matched, the purpose of adjusting the steering of the tracked vehicle can be achieved by adjusting the rotation speed difference between the first driving wheel 4 and the second driving wheel 7.
Wherein, when the vehicle is traveling straight:
the first hydraulic booster pump and the second hydraulic booster pump have no output, the displacement is zero, the first hydraulic motor and the second hydraulic motor keep static, the first sun gear and the second sun gear are respectively locked by the first hydraulic motor and the second hydraulic motor, the gear ring of the first planetary gear row and the gear ring of the second planetary gear row input the power of the speed change mechanism, and the first planet carrier of the first planetary gear row and the second planet carrier of the second planetary gear row drive the vehicle to run in a straight line.
When the vehicle is traveling straight, the first hydraulic motor 22 locks the first sun gear 31, and the second hydraulic motor 52 locks the second sun gear 61. The primary power output 13 simultaneously rotates the first ring gear 32 of the first planetary gear set and the second ring gear 64 of the second planetary gear set in synchronization. The first gear ring 32 rotates to drive the first planetary gears 33 to rotate, the first planetary gears 33 drive the first planet carrier 34 to rotate, and the first planet carrier 34 drives the first driving wheel 4 to rotate. The second gear ring 64 rotates to drive the second planetary gears 63 to rotate, the second planetary gears 63 drive the second planet carrier 62 to rotate, and the second planet carrier 62 drives the second driving wheel 7 to rotate. The first carrier 34 is in driving connection with the first track via the first driving wheel 4. The second planet carrier 62 is in driving connection with the second track via a second driving wheel 7.
Since the first sun gear 31 and the second sun gear 61 need to be locked frequently, a first speed reducer 8 can be arranged between the first hydraulic motor 22 and the first sun gear 31, the first sun gear 31 is locked through the self-locking function of the first speed reducer 8, and the first speed reducer 8 is automatically locked when stopping working and is not interfered by external force. Of course, a second speed reducer 9 is also arranged between the second hydraulic motor 52 and the second sun gear 61, the second sun gear 61 is locked by the self-locking function of the second speed reducer 9, and the second speed reducer 9 is automatically locked when the operation is stopped and is not interfered by external force.
When the vehicle turns, the first hydraulic motor 22 drives the first sun gear 31 to rotate; and or the second hydraulic motor drives the second sun gear 61 to rotate.
When the vehicle needs to rotate to the left in fig. 2, the second hydraulic motor 52 drives the second sun gear 61 to accelerate forward rotation along the stress direction of the second sun gear 61. At this time, the rotational speeds of the second planetary gears 63 and the second carrier 62 are increased due to the acceleration of the second sun gear 61 rotating forward. The rotation speed of the first driving wheel 4 is then lower than that of the second driving wheel 7 on the right side, so that the purpose of rotation to the left in fig. 2 is achieved.
When the vehicle needs to rotate in the right direction in fig. 2, the principle is similar to the above principle, and will not be described here.
When the vehicle center turns:
the gear rings of the first planetary row and the gear rings of the second planetary row are locked, and the first hydraulic motor and the second hydraulic motor respectively drive a first driving wheel connected with the first planetary frame and a second driving wheel connected with the second planetary frame to mutually reverse.
When the vehicle requires center steering, the first ring gear 32 and the second ring gear 64 on the left and right sides are locked. The first hydraulic motor 22 and the second hydraulic motor 52 rotate forward and reverse to drive the first crawler belt and the second crawler belt on two sides of the vehicle to rotate reversely, so that the purpose of in-situ steering of the vehicle is achieved. And because the first hydraulic motor 22 and the second hydraulic motor 52 are two independent executing components, the speeds of the two independent executing components are respectively adjustable, and compared with the existing tracked vehicle using the differential mechanism, the stepless steering of the vehicle with different radiuses can be realized.
In summary, in the power transmission matching device for the tracked vehicle, the speed change mechanism is used for respectively providing power for the first hydraulic booster pump, the second hydraulic booster pump and the vehicle tracks, the rotating speeds of the tracks at two ends of the vehicle are respectively adjusted through the first independent steering mechanism and the second independent steering mechanism, the turning purpose of the vehicle is achieved, and the first hydraulic booster pump and the second hydraulic booster pump are used for independently driving and controlling the rotating speeds of the tracks at one end, so that the power transmission matching device has good maneuvering and accompanying capabilities, stepless steering of different radiuses of the vehicle can be achieved, steering is flexible and reliable, and the power transmission structure is simpler.
As shown in FIG. 3, the invention also provides a tracked vehicleIntelligent control system of force transmission matching device, its characterized in that: the AI module obtains control signals of the first hydraulic motor and the second hydraulic motor next time according to the rotating speed sequence of the first hydraulic motor and the rotating speed sequence of the second hydraulic motor, and comprises an input layer, an hidden layer and an output layer, wherein the input layer inputs the current rotating speed omega of the first hydraulic motor 1 (n) the current secondary rotational speed ω of the second hydraulic motor 2 (n) the difference Deltaω between the current rotation speed and the previous rotation speed of the first hydraulic motor 1 (n) and the difference Deltaω between the current rotational speed and the previous rotational speed of the second hydraulic motor 2 (n) the hidden layer comprises a first hidden sub-layer, a second hidden sub-layer and a third hidden sub-layer, wherein the first hidden sub-layer comprises I neurons, and the current output of the ith neurons is
Wherein x is n i ＝[ω 1 (n),ω 2 (n),△ω 1 (n),△ω 2 (n)],S i Bandwidth as gaussian function, M i Is the center of the gaussian function; u (u) n-1 i The previous output of the ith neuron; alpha is an adjustment coefficient;
the second hidden sublayer includes I neurons, the output of which is:
wherein, beta is a constant;
the third hidden sublayer includes K neurons, the output of the kth neuron being:
wherein w is ki Weights between the second implicit sub-layer and the third implicit sub-layer;
the next control signals of the first hydraulic motor and the second hydraulic motor output by the output layer are as follows:
wherein w is ka A=1, 2, which is the weight between the third hidden sub-layer and the output layer.
The control system of the power transmission matching device for the tracked vehicle acquires the control signals according to the rotating speeds before the first liquid and the second hydraulic motor, so that stepless steering of vehicles with different radiuses can be realized, the steering is flexible and reliable, and locking is prevented.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A tracked vehicle power transmission matching device, comprising:
the speed change mechanism comprises an input end, a first auxiliary power output end, a second auxiliary power output end and a main power output end which are connected with the engine;
the first independent steering mechanism comprises a first hydraulic booster pump, a first hydraulic motor and a first planet row, wherein the power input end of the first hydraulic booster pump is connected with the first booster power output end, the first hydraulic booster pump is connected with the first hydraulic motor, and the first hydraulic motor is connected with a first sun gear of the first planet row;
the second independent steering mechanism comprises a second hydraulic booster pump, a second hydraulic motor and a second planetary gear set, wherein the power input end of the second hydraulic booster pump is connected with the second booster power output end, the second hydraulic booster pump is connected with the second hydraulic motor, and the second hydraulic motor is connected with a second sun gear of the second planetary gear set;
the main power output end of the speed change mechanism drives the gear ring of the first planetary gear row and the gear ring of the second planetary gear row to synchronously rotate, and the first planet carrier of the first planetary gear row and the second planet carrier of the second planetary gear row are used for driving the vehicle crawler belt to run.
2. The tracked vehicle power transmission matching device according to claim 1, wherein a first driving wheel for connecting with a first track is arranged outside the first planet carrier, and the first planet carrier is in transmission connection with the first track through the first driving wheel;
the second planet carrier is externally provided with a second driving wheel used for being connected with a second crawler belt, and the second planet carrier is in transmission connection with the second crawler belt through the second driving wheel.
3. The tracked vehicle power transmission matching device according to claim 1, wherein a first speed reducer is provided between the first hydraulic motor and a first sun gear of the first planetary row, the first hydraulic motor being connected to the first sun gear through the first speed reducer;
a second speed reducer is arranged between the second hydraulic motor and a second sun gear of the second planetary gear set, and the second hydraulic motor is connected with the second sun gear through the second speed reducer.
4. The tracked vehicle power transmission matching device according to claim 3, wherein the first hydraulic motor locks the first sun gear and the second hydraulic motor locks the second sun gear when the vehicle is traveling straight.
5. The tracked vehicle power transmission matching device according to claim 3, wherein a first hydraulic motor rotates the first sun gear when the vehicle turns; and or the second hydraulic motor drives the second sun gear to rotate.
6. The tracked vehicle power transmission matching device according to claim 1, wherein when the vehicle is traveling straight:
the first hydraulic booster pump and the second hydraulic booster pump have no output, the displacement is zero, the first hydraulic motor and the second hydraulic motor keep static, the first sun gear and the second sun gear are respectively locked by the first hydraulic motor and the second hydraulic motor, the gear ring of the first planetary gear row and the gear ring of the second planetary gear row input the power of the speed change mechanism, and the first planet carrier of the first planetary gear row and the second planet carrier of the second planetary gear row drive the vehicle to run in a straight line.
7. The tracked vehicle power transmission matching device according to claim 1, wherein when the vehicle center turns:
the gear rings of the first planetary row and the gear rings of the second planetary row are locked, and the first hydraulic motor and the second hydraulic motor respectively drive a first driving wheel connected with the first planetary frame and a second driving wheel connected with the second planetary frame to mutually reverse.
8. The tracked vehicle power transmission matching device according to claim 7, further comprising a first track and a second track, the first track being connected to the first drive wheel and the second track being connected to the second drive wheel.
9. The tracked vehicle power transmission matching device according to claim 1, further comprising a power component in driving connection with the speed change mechanism; the power component is an engine or an electric motor.
10. An intelligent control system for a tracked vehicle power transmission matching device according to any one of claims 1-9, characterized by: comprising a first rotational speed sensor for detecting a first hydraulic motor, a second rotational speed sensor and an AI moduleThe AI module obtains the next control signals of the first hydraulic motor and the second hydraulic motor according to the rotational speed sequence of the first hydraulic motor and the rotational speed sequence of the second hydraulic motor, and comprises an input layer, an hidden layer and an output layer, wherein the input layer inputs the current rotational speed omega of the first hydraulic motor 1 (n) the current secondary rotational speed ω of the second hydraulic motor 2 (n) the difference Deltaω between the current rotation speed and the previous rotation speed of the first hydraulic motor 1 (n) and the difference Deltaω between the current rotational speed and the previous rotational speed of the second hydraulic motor 2 (n) the hidden layer comprises a first hidden sub-layer, a second hidden sub-layer and a third hidden sub-layer, wherein the first hidden sub-layer comprises I neurons, and the current output of the ith neurons is
Wherein x is n i ＝[ω 1 (n),ω 2 (n),△ω 1 (n),△ω 2 (n)],S i Bandwidth as gaussian function, M i Is the center of the gaussian function; u (u) n-1 i The previous output of the ith neuron; alpha is an adjustment coefficient;
the second hidden sublayer includes I neurons, the output of which is:
wherein, beta is a constant;
the third hidden sublayer includes K neurons, the output of the kth neuron being:
wherein w is ki For the second hidden sub-layer and the third hidden sub-layerWeights between sub-layers;
the next control signals of the first hydraulic motor and the second hydraulic motor output by the output layer are as follows:
wherein w is ka A=1, 2, which is the weight between the third hidden sub-layer and the output layer.
CN202310815826.2A 2023-07-05 2023-07-05 Crawler power transmission matching device and intelligent control system thereof Pending CN116638967A (en)

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CN202310815826.2A CN116638967A (en) 2023-07-05 2023-07-05 Crawler power transmission matching device and intelligent control system thereof

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JP2005013239A (en) * 2004-09-29 2005-01-20 Yanmar Agricult Equip Co Ltd Power transmission device of combine harvester
CN104235302A (en) * 2014-09-04 2014-12-24 江苏大学 Hydraulic mechanical double-flow transmission device for slide moving steering type vehicle
CN104859714A (en) * 2014-12-15 2015-08-26 湖南农夫机电有限公司 Planetary steering mechanism of caterpillar tractor
CN204755824U (en) * 2015-06-29 2015-11-11 湖南省农友机械集团有限公司 Drive mechanism of crawler -type machines
CN110239638A (en) * 2019-04-30 2019-09-17 长沙桑铼特农业机械设备有限公司 A kind of two track drive tractor proportion expressions steering drive method
CN110405757A (en) * 2019-07-06 2019-11-05 大国重器自动化设备(山东)股份有限公司 A kind of intelligent robot neural network based
CN209870494U (en) * 2019-04-08 2019-12-31 浙江万里扬新能源驱动科技有限公司 Novel tracked vehicle transmission structure
CN210734282U (en) * 2019-07-24 2020-06-12 星光农机股份有限公司 Hydraulic transmission device convenient for reversing and steering of tracked vehicle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2540058A1 (en) * 1983-01-28 1984-08-03 Soma Europ Transmissions Drive and steering control unit for a vehicle having non-guiding right-left rolling members
JP2005013239A (en) * 2004-09-29 2005-01-20 Yanmar Agricult Equip Co Ltd Power transmission device of combine harvester
CN104235302A (en) * 2014-09-04 2014-12-24 江苏大学 Hydraulic mechanical double-flow transmission device for slide moving steering type vehicle
CN104859714A (en) * 2014-12-15 2015-08-26 湖南农夫机电有限公司 Planetary steering mechanism of caterpillar tractor
CN204755824U (en) * 2015-06-29 2015-11-11 湖南省农友机械集团有限公司 Drive mechanism of crawler -type machines
CN209870494U (en) * 2019-04-08 2019-12-31 浙江万里扬新能源驱动科技有限公司 Novel tracked vehicle transmission structure
CN110239638A (en) * 2019-04-30 2019-09-17 长沙桑铼特农业机械设备有限公司 A kind of two track drive tractor proportion expressions steering drive method
CN110405757A (en) * 2019-07-06 2019-11-05 大国重器自动化设备(山东)股份有限公司 A kind of intelligent robot neural network based
CN210734282U (en) * 2019-07-24 2020-06-12 星光农机股份有限公司 Hydraulic transmission device convenient for reversing and steering of tracked vehicle

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