WO2012149859A1 - 换档控制方法、控制装置及具有该控制装置的平地机 - Google Patents

换档控制方法、控制装置及具有该控制装置的平地机 Download PDF

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Publication number
WO2012149859A1
WO2012149859A1 PCT/CN2012/073850 CN2012073850W WO2012149859A1 WO 2012149859 A1 WO2012149859 A1 WO 2012149859A1 CN 2012073850 W CN2012073850 W CN 2012073850W WO 2012149859 A1 WO2012149859 A1 WO 2012149859A1
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WO
WIPO (PCT)
Prior art keywords
clutch
speed
current
solenoid valve
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2012/073850
Other languages
English (en)
French (fr)
Other versions
WO2012149859A9 (zh
Inventor
王海涛
周风华
李航洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
Original Assignee
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hunan Sany Intelligent Control Equipment Co Ltd, Sany Heavy Industry Co Ltd filed Critical Hunan Sany Intelligent Control Equipment Co Ltd
Publication of WO2012149859A1 publication Critical patent/WO2012149859A1/zh
Publication of WO2012149859A9 publication Critical patent/WO2012149859A9/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7663—Graders with the scraper blade mounted under a frame supported by wheels, or the like
    • E02F3/7668—Graders with the scraper blade mounted under a frame supported by wheels, or the like with the scraper blade being pivotable about a vertical axis
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2079—Control of mechanical transmission
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0437—Smoothing ratio shift by using electrical signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/11—Application
    • F16D2500/1107—Vehicles
    • F16D2500/1112—Heavy vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/31—Signal inputs from the vehicle
    • F16D2500/3108—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/506—Relating the transmission
    • F16D2500/50607—Facilitating engagement of a dog clutches, e.g. preventing of gear butting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/706—Strategy of control
    • F16D2500/70657—Predictor methods
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H2061/0488—Smoothing ratio shift during range shift from neutral (N) to drive (D)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed, e.g. the vehicle speed

Definitions

  • the invention relates to a control method, device and control system for engineering machinery shifting.
  • FIG. 1A is a schematic view showing the basic structure of a mechanical grader transmission system relating to the present invention.
  • 11 is the front steering wheel
  • 19 is the rear drive wheel
  • 12 is the blade
  • 13 is the cab
  • 14 is the gear handle
  • 15 is the controller
  • 16 is the engine
  • 17 is the gearbox.
  • Fig. 1B is a schematic view showing the connection mode of the construction machinery shifting related device according to the prior art. As shown in Fig. 1B, the gear positioner is connected to the controller for the direction of travel of the grader (forward, reverse, neutral or parking) and the target gear corresponding to the travel speed.
  • the controller is connected with 8 electro-hydraulic proportional pressure regulating valves (the electro-hydraulic proportional pressure regulating valves A to H are shown) and the parking brake valve are connected, each electro-hydraulic proportional pressure regulating valve and a clutch (shown in the figure)
  • the clutches K1 to K8 are connected, the clutch is located in the transmission, and the brake clutch is also included in the transmission.
  • the gearbox transmission ratio changes stepwise.
  • the usual clutch combination control method is combined with fixed delay or constant pressure.
  • the life of the related components such as the driven engine under this control mode In addition, it is also easy to cause damage to the road surface and give the driver a feeling of discomfort.
  • the main object of the present invention is to provide a control method, device and control system for engineering machinery shifting, so as to solve the clutch combination control method of the mechanical grader in the prior art, which will be the gearbox The problem that caused a big impact.
  • a control method of a construction machinery shift is provided.
  • the control method for engineering machinery shifting of the present invention comprises: determining a difference in rotational speed between a transmission input shaft and an engine when the clutch zero boundary of the construction machine is combined; comparing the rotational speed difference with a preset value, When the speed difference is greater than the preset value, the clutch solenoid valve line current is increased to further combine the clutch.
  • the method further comprises: detecting a clutch engagement pressure, and confirming a clutch zero boundary combination of the construction machine according to the detected value in a preset interval.
  • the method further comprises: detecting a current of the clutch solenoid valve line, and confirming that the clutch of the construction machine is zero-bound according to the detected value being greater than a preset value.
  • determining a speed difference between the input shaft of the transmission and the engine includes: calculating a rotation speed of the input shaft of the transmission according to the traveling speed of the construction machine and the target gear ratio; and rotating the input shaft of the transmission with the current The engine speed comparison results in a difference in rotational speed between the input shaft of the transmission and the engine.
  • the method further comprises: rapidly coupling the clutch if the difference in the rotational speed is less than a preset value.
  • the method further comprises: Step A: determining a speed difference between the input shaft of the transmission and the engine; Step B: increasing the speed difference is greater than a preset value
  • the large clutch solenoid valve line current causes the clutch to be further combined; after step B, it is judged whether the speed difference is greater than a preset value, and if so, steps A and B are repeatedly performed in sequence, otherwise the clutch is quickly engaged.
  • the increasing the clutch solenoid valve line current includes: according to the formula ⁇ + ⁇ ⁇
  • ⁇ V x n changes the current of the clutch solenoid valve, where I. Indicates that the solenoid valve line ⁇ current when the clutch zero boundary is combined, and L is at I. Based on the increased clutch solenoid valve line current, K represents a preset adjustment factor, ⁇ ⁇ represents the speed difference, and ⁇ represents the number of times the calculation program of the clutch solenoid valve line current increase is performed.
  • the construction machine is a grader, a loader, or an off-road crane.
  • a control device for engineering machinery shifting is provided.
  • the control device for engineering machinery shifting of the present invention comprises: a determining module for determining a difference in rotational speed between a transmission input shaft and an engine when the clutch zero boundary of the construction machine is combined; a comparison module, for comparing the And a preset value; and an adjustment module, configured to calculate a clutch solenoid valve current value for further combining the clutch when the rotation speed difference is greater than the preset value.
  • control device for engineering machinery shifting of the present invention further includes a pressure judging module for comparing the detected value of the clutch zero boundary combined pressure with a preset value, and confirming the construction machine when the detected value is greater than the preset value The clutch is zero bound.
  • control device for engineering machinery shifting of the present invention further includes a current judging module for comparing the detected value and the preset value of the current of the clutch solenoid valve, and confirming the engineering when the detected value is greater than the preset value.
  • the mechanical clutch is combined with zero boundaries.
  • the determining module is further configured to: calculate a rotation speed of the input shaft of the transmission according to the traveling speed of the construction machine and the target gear ratio; and compare the rotation speed of the input shaft of the transmission with the current engine speed to obtain the The difference in rotational speed between the input shaft of the transmission and the engine.
  • the adjustment module is further configured to calculate a clutch solenoid valve current value that causes the clutch to quickly combine if the rotation speed difference is less than the preset value.
  • a control system for engineering machinery shifting is provided.
  • the control system for engineering machinery shifting of the present invention comprises: a gear positioner, a transmission speed detecting device, an engine speed detecting device, a speed detecting device, and a controller, and the control system further includes a clutch pressure detecting device or a clutch electromagnetic a valve line ⁇ current detecting device, wherein: the gear position device is configured to input target gear position information when the engineering machinery shifts to the controller; and the gearbox rotation speed detecting device is configured to detect the engineering a mechanical gear speed and transmitting the speed information to the controller; an engine speed detecting device, configured to detect an engine speed of the construction machine and transmit the speed information to the controller; Detecting a running speed of the construction machine and transmitting information of the speed to the controller; a clutch pressure detecting device, configured to detect a clutch pressure of the construction machine and send information of the pressure to the controller Clutch solenoid valve line current detecting device for detecting the separation of the construction machine a solenoid valve line current and transmitting information of the current to the controller; a controller for calculating and
  • the clutch solenoid valve line current is adjusted according to the difference between the transmission input shaft and the engine obtained in real time, and the clutch pressure can be adjusted in real time, thereby obtaining the following beneficial effects: Block, effectively protect the gearbox parts; reduce clutch torque shock, extend service life; reduce driver's work intensity and improve operating comfort.
  • the control scheme in the embodiment of the present invention can be implemented by using the existing on-board controller of the machine without additional cost.
  • FIG. 1A is a schematic view showing the basic structure of a mechanical grader transmission system according to the present invention
  • FIG. 1B is a schematic view showing a connection mode of a construction machinery shift-related apparatus according to the prior art
  • FIG. 2 is a construction machine according to an embodiment of the present invention.
  • Figure 3 is a schematic view showing the basic structure of a control device for shifting of a construction machine according to an embodiment of the present invention
  • 4A and 4B are schematic views of two basic structures of a control system for a construction machinery shift according to an embodiment of the present invention.
  • the technical solution of the embodiment can be used for the control of the shifting of the engineering machinery, determining the difference in the rotational speed between the input shaft of the transmission and the engine when the clutch zero boundary of the engineering machine is combined, and then comparing the rotational speed difference with the preset value, if When the rotation speed difference is greater than the preset value, the clutch solenoid valve line current is increased, and the clutch is further combined.
  • FIG. 2 is a flow chart showing the main steps of a control method for a shift of a construction machine according to an embodiment of the present invention. As shown in FIG. 2, the method may include the following steps:
  • Step S201 Acquire operation information of the clutch.
  • the operation information of the clutch in this step may be a clutch engagement pressure or a clutch solenoid valve line current. While this step is being executed, The construction machinery has entered the target gear combination process, and the clutch solenoid valve current continues to increase in a preset manner.
  • Step S203 It is judged according to the operation information whether the clutch is zero-bound, and if so, the process proceeds to step S205, otherwise, the process returns to step S201.
  • the clutch zero boundary combination can be confirmed according to the clutch engagement pressure in the preset interval, or the clutch zero boundary combination can be confirmed according to the clutch solenoid valve line current greater than the preset value.
  • the preset interval for the clutch engagement pressure and the preset value of the clutch solenoid valve line ⁇ can be predetermined by experiment.
  • Step S205 Acquire engineering machinery operation information.
  • the engineering machinery operation information in this step is mainly the driving speed of the construction machinery, the target gear ratio, the engine speed and the speed of the transmission input shaft.
  • Step S207 Determine a difference in rotational speed between the rotational speed of the input shaft of the transmission and the current engine speed.
  • the rotation speed of the input shaft of the transmission can be calculated according to the traveling speed of the construction machine and the target gear ratio; comparing the rotation speed of the input shaft of the transmission with the current engine speed to obtain the input shaft of the transmission and the engine The difference in speed.
  • Step S209 It is judged whether the rotation speed difference is greater than the rotation speed difference setting value, and if yes, the process goes to step S211, otherwise the process goes to step S213.
  • Step S213 Quickly combine the clutch with maximum current or pressure.
  • the quick combination of the clutch is realized by directly giving the maximum value of the clutch solenoid valve ⁇ current, that is, the maximum pressure of the clutch is obtained, so that the clutch friction plate is completely fitted and synchronously rotated.
  • Step S211 may be followed by step S207, and the subsequent steps are performed again in sequence until step S213 is reached to complete the shifting process.
  • FIG. 3 is an embodiment of the present invention Schematic diagram of the basic structure of the control device for engineering machinery shifting.
  • the shift control device 30 mainly includes:
  • a determining module 31 configured to determine a speed difference between the input shaft of the transmission and the engine when the clutch zero of the construction machine is combined; a comparison module 32, configured to compare the speed difference and a preset value; and an adjustment module 33, configured to When the above-mentioned rotational speed difference is greater than the above-mentioned preset value, the clutch solenoid valve line current value for further coupling the clutch is calculated.
  • the shift control device 30 may also have a function of confirming whether the clutch of the construction machine is zero-bound.
  • the shift control device 30 may further include a pressure judging module or may further include a current judging module (not shown).
  • the pressure judging module is configured to compare the detected value of the clutch zero boundary combined pressure with a preset value. When the detected value is greater than the preset value, the clutch zero boundary of the construction machine is confirmed, and the current judging module is used to compare the clutch solenoid valve line.
  • the detected value of the current and the preset value when the detected value is greater than the preset value, confirm the clutch zero boundary combination of the construction machine.
  • the determining module 31 is further configured to: calculate a rotational speed of the input shaft of the transmission according to the traveling speed of the construction machine and the target gear ratio; and compare the rotational speed of the input shaft of the transmission with the current engine speed to obtain the input shaft of the transmission and the engine The difference in speed.
  • the adjustment module 33 can also be used to calculate a clutch solenoid valve ⁇ current value that causes the clutch to quickly engage if the rotational speed difference is less than the predetermined value.
  • the construction machinery shift control system 4 OA mainly includes a shifter 41, a transmission rotational speed detecting device 42, an engine rotational speed detecting device 43, a speed detecting device 44, a controller 45, and a clutch pressure detecting device 46A.
  • the construction machinery shift control system 40B mainly includes a gear positioner 41, a transmission speed detecting device 42, an engine speed detecting device 43, a speed detecting device 44, a controller 45, and a clutch solenoid valve line current detecting. Device 46B.
  • the clutch solenoid valve line current is adjusted according to the difference between the transmission input shaft and the engine obtained in real time, and the clutch pressure can be adjusted in real time, thereby obtaining the following beneficial effects:
  • the shift gear is used to effectively protect the gearbox parts; the clutch torque shock is reduced, the service life is shortened; the driver's working intensity is reduced, and the operation comfort is improved.
  • the control scheme in the embodiment of the present invention can be implemented by using the existing on-board controller of the machine without additional cost.
  • This technical solution can be used in construction machinery with electro-hydraulic shifting gearboxes, such as graders, loaders, and off-road cranes.
  • modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Transmission Device (AREA)

Description

换档控制方法、 控制装置及具有该控制装置的平地机 本申请要求于 2011 年 05 月 06 日提交中国专利局、 申请号为 201110114578. 6、 发明名称为 "换档控制方法、 控制装置及具有该控制装 置的平地机" 的中国专利申请的优先权， 其全部内容通过引用结合在本申 请中。
技术领域
本发明涉及一种工程机械换档的控制方法、 装置和控制系统。
背景技术
机械式平地机是一种应用广泛的工程机械， 其传动系统基本结构如图 1所示。图 1A是与本发明有关的机械式平地机传动系统基本结构的示意图。 图 1A中， 11为前转向轮、 19为后驱动轮、 12为铲刀、 13为驾驶室、 14 为档位手柄、 15为控制器、 16为发动机、 17为变速箱。
机械式平地机的动力由发动机 16输出， 经电液控制变速箱 17和后桥 减速机构传递到后驱动轮 19。 变速箱齿轮处于常啮合刚性连接状态， 换挡 由电液控制离合器完成。图 1B是根据现有技术中工程机械换档相关装置的 连接方式示意图。 如图 1B所示， 档位器与控制器连接， 用于给定平地机的 运行方向 （前进、 后退、 空档或驻车）和行驶速度对应的目标档位。 控制 器与 8个电液比例调压阀 （图中示出了电液比例调压阀 A至 H ) 以及停车 制动阀连接， 每个电液比例调压阀与一个离合器 （图中示出了离合器 K1 至 K8 )连接， 离合器位于变速箱内， 该变速箱内还包含有制动离合器。
在机械式平地机换挡过程中变速箱传动比发生阶跃式改变， 通常的离 合器结合控制方法是按固定延时结合或者定压结合， 这种控制方式下的离 动机等相关零部件的寿命， 另外也容易对路面造成损坏， 以及给驾驶员带 来不适的感觉。
在现有技术中， 机械式平地机的离合器结合控制方法会对变速箱造成 较大的沖击， 对于该问题， 目前尚未提出有效解决方案。
发明内容
本发明的主要目的是提供一种工程机械换档的控制方法、 装置和控制 系统， 以解决现有技术中机械式平地机的离合器结合控制方法会对变速箱 造成较大的沖击的问题。
为了实现上述目的， 根据本发明的一个方面， 提供了一种工程机械换 档的控制方法。
本发明的工程机械换档的控制方法包括： 在所述工程机械的离合器零 界结合时， 确定变速箱输入轴与发动机之间的转速差； 比较所述转速差与 预设值， 在所述转速差大于所述预设值的情况下， 增大离合器电磁阀线圏 电流， 使离合器进一步结合。
进一步地， 确定变速箱输入轴与发动机之间的转速差之前还包括： 检 测离合器结合压力， 根据检测值处于预设区间确认所述工程机械的离合器 零界结合。
进一步地， 确定变速箱输入轴与发动机之间的转速差之前还包括： 检 测离合器电磁阀线圏电流， 根据检测值大于预设值确认所述工程机械的离 合器零界结合。
进一步地， 确定变速箱输入轴与发动机之间的转速差包括： 根据所述 工程机械的行驶速度和目标档位传动比计算变速箱输入轴的转速； 将所述 变速箱输入轴的转速与当前发动机转速比较得到所述变速箱输入轴与发动 机之间的转速差。
进一步地， 在所述确定变速箱输入轴与发动机之间的转速差之后， 还 包括： 在所述转速差小于预设值的情况下使离合器快速结合。
进一步地， 所述增大离合器电磁阀线圏电流之后还包括： 步骤 A: 确 定变速箱输入轴与发动机之间的转速差； 步骤 B: 在所述转速差大于预设 值的情况下， 增大离合器电磁阀线圏电流， 使离合器进一步结合； 在步骤 B之后， 判断所述转速差是否大于预设值， 若是， 则依次重复执行步骤 A 和步骤 B, 否则使离合器快速结合。
进一步地， 所述增大离合器电磁阀线圏电流包括： 根据公式 Ι^Ιο+Κ χ
△ V x n改变所述离合器电磁阀线圏电流，其中 I。表示离合器零界结合时电 磁阀线圏电流， L表示在 I。的基础上增大后的离合器电磁阀线圏电流， K 表示预设的调节系数， Δ ν表示所述转速差， η表示离合器电磁阀线圏电流 增幅的计算程序执行的次数。
进一步地， 所述工程机械为平地机、 装载机、 或越野起重机。 根据本发明的另一方面， 提供了一种工程机械换档的控制装置。
本发明的工程机械换档的控制装置包括： 确定模块， 用于在所述工程 机械的离合器零界结合时， 确定变速箱输入轴与发动机之间的转速差； 比 较模块， 用于比较所述转速差和预设值； 调节模块， 用于在所述转速差大 于所述预设值的情况下， 计算使离合器进一步结合的离合器电磁阀线圏电 流值。
进一步地， 本发明的工程机械换档的控制装置还包括压力判断模块， 用于比较离合器零界结合压力的检测值和预设值， 当该检测值大于该预设 值时确认所述工程机械的离合器零界结合。
进一步地， 本发明的工程机械换档的控制装置还包括电流判断模块， 用于比较离合器电磁阀线圏电流的检测值和预设值， 当该检测值大于该预 设值时确认所述工程机械的离合器零界结合。
进一步地， 所述确定模块还用于： 根据所述工程机械的行驶速度和目 标档位传动比计算变速箱输入轴的转速； 将所述变速箱输入轴的转速与当 前发动机转速比较得到所述变速箱输入轴与发动机之间的转速差。
进一步地， 所述调节模块还用于在所述转速差小于所述预设值的情况 下， 计算使离合器快速结合的离合器电磁阀线圏电流值。
根据本发明的另一方面， 提供了一种工程机械换档的控制系统。
本发明的工程机械换档的控制系统包括： 包括档位器、 变速箱转速检 测装置、 发动机转速检测装置、 速度检测装置、 以及控制器， 并且所述控 制系统还包括离合器压力检测装置或者离合器电磁阀线圏电流检测装置， 其中： 所述档位器， 用于向所述控制器输入所述工程机械换档时的目标档 位信息； 所述变速箱转速检测装置， 用于检测所述工程机械的变速箱转速 并将该转速的信息发送给所述控制器； 发动机转速检测装置， 用于检测所 述工程机械的发动机转速并将该转速的信息发送给所述控制器； 速度检测 装置， 用于检测所述工程机械的行驶速度并将该速度的信息发送给所述控 制器； 离合器压力检测装置， 用于检测所述工程机械的离合器压力并将该 压力的信息发送给所述控制器； 离合器电磁阀线圏电流检测装置， 用于检 测所述工程机械的离合器电磁阀线圏电流并将该电流的信息发送给所述控 制器； 控制器， 用于根据接收的信息进行计算并输出用于控制所述离合器 电磁阀线圏电流的控制信息。
根据本发明的技术方案， 根据实时计算得到的变速箱输入轴与发动机 之间的转速差调节离合器电磁阀线圏电流， 能够实时调整离合器的结合压 力， 从而获得以下有益效果： 实现无沖击换挡， 有效保护变速箱零件； 减 緩离合器扭矩沖击， 延长使用寿命； 减轻驾驶员工作强度， 提高操作舒适 性。 此外， 本发明实施例中的控制方案可以利用机器已有的车载控制器实 现， 无需额外增加成本。
附图说明
说明书附图用来提供对本发明的进一步理解， 构成本申请的一部分， 本发明的示意性实施例及其说明用于解释本发明， 并不构成对本发明的不 当限定。 在附图中：
图 1 A是与本发明有关的机械式平地机传动系统基本结构的示意图； 图 1B是根据现有技术中工程机械换档相关装置的连接方式示意图； 图 2是根据本发明实施例的工程机械换档的控制方法的主要步骤的流 程图；
图 3是根据本发明实施例的工程机械换档的控制装置基本结构的示意 图；
图 4A和图 4B是根据本发明实施例的工程机械换档的控制系统的两种 基本结构的示意图。
具体实施方式
需要说明的是， 在不沖突的情况下， 本申请中的实施例及实施例中的 特征可以相互组合。 下面将参考附图并结合实施例来详细说明本发明。
本实施例的技术方案可用于工程机械换档的控制， 在工程机械的离合 器零界结合时确定变速箱输入轴与发动机之间的转速差， 然后将该转速差 与预设值进行比较， 如果该转速差大于该预设值则增大离合器电磁阀线圏 电流，使离合器进一步结合。 以下对本发明实施例的技术方案作详细说明。
图 2是根据本发明实施例的工程机械换档的控制方法的主要步骤的流 程图， 如图 2所示， 该方法可包括如下步骤：
步骤 S201 : 获取离合器的运行信息。 本步骤中的离合器的运行信息可 以是离合器结合压力或者离合器电磁阀线圏电流。 在本步骤执行的同时， 工程机械已进入目标档结合过程， 此时离合器电磁阀电流按照预设的方式 持续增大。
步骤 S203: 根据运行信息判断离合器是否零界结合， 若是， 进入步骤 S205, 否则返回步骤 S201。 本步骤中可以根据离合器结合压力处于预设区 间确认离合器零界结合， 也可以根据离合器电磁阀线圏电流大于预设值确 认离合器零界结合。 关于离合器结合压力的预设区间以及离合器电磁阀线 圏的预设值可以通过试验预先确定。
步骤 S205: 获取工程机械运行信息。 本步骤中的工程机械运行信息主 要是工程机械的行驶速度、 目标档位传动比、 发动机转速以及变速箱输入 轴的转速。
步骤 S207: 确定变速箱输入轴的转速与当前发动机转速之间的转速 差。
在本步骤中可以根据工程机械的行驶速度和目标档位传动比计算变速 箱输入轴的转速； 将所述变速箱输入轴的转速与当前发动机转速比较得到 所述变速箱输入轴与发动机之间的转速差。
步骤 S209: 判断转速差是否大于转速差设定值， 若是， 则进入步骤 S211, 否则进入步骤 S213。
步骤 S211: 增大离合器电磁阀线圏电流增大该电流就使阀门开度增 加， 从而液体压力增加， 继而使离合器结合压力增大。 本步骤中， 可以根 据公式 AVxn改变所述离合器电磁阀线圏电流， 其中 I。表示离 合器零界结合时电磁阀线圏电流， L表示在 I。的基础上增大后的离合器电 磁阀线圏电流， Κ表示预设的调节系数， Δν表示所述转速差， η表示离合 器电磁阀线圏电流增幅的计算程序执行的次数。
步骤 S213: 使离合器以最大电流或压力快速结合。 本步骤中， 使离合 器快速结合的实现方式是直接给定离合器电磁阀线圏电流最大值， 即离合 器获得最大的压力， 使离合器摩擦片完全贴合， 同步转动。
步骤 S211之后可以返回步骤 S207, 并依次再次执行后续步骤， 直到 进入步骤 S213, 完成换档过程。
以下对本实施例的工程机械换档的控制装置作出说明。 该装置可以由 计算机软件实现， 安装在工程机械的控制器中。 图 3是根据本发明实施例 的工程机械换档的控制装置基本结构的示意图。 如图 3所示， 换档控制装 置 30主要包括：
确定模块 31 , 用于在工程机械的离合器零界结合时， 确定变速箱输入 轴与发动机之间的转速差； 比较模块 32 , 用于比较上述转速差和预设值； 调节模块 33 , 用于在上述转速差大于上述预设值的情况下， 计算使离合器 进一步结合的离合器电磁阀线圏电流值。
换档控制装置 30 还可以具有确认工程机械的离合器是否零界结合的 功能， 为此，换档控制装置 30中还可以包括压力判断模块或者还可以包括 电流判断模块（图中未示出 ),其中压力判断模块用于比较离合器零界结合 压力的检测值和预设值， 当该检测值大于该预设值时确认工程机械的离合 器零界结合， 电流判断模块用于比较离合器电磁阀线圏电流的检测值和预 设值， 当该检测值大于该预设值时确认工程机械的离合器零界结合。
确定模块 31还可用于：根据工程机械的行驶速度和目标档位传动比计 算变速箱输入轴的转速； 将变速箱输入轴的转速与当前发动机转速比较得 到所述变速箱输入轴与发动机之间的转速差。
调节模块 33还可用于在上述转速差小于所述预设值的情况下，计算使 离合器快速结合的离合器电磁阀线圏电流值。
以下再对本实施例的工程机械换档的控制系统作出说明。 图 4A 和图 4B 是根据本发明实施例的工程机械换档的控制系统的两种基本结构的示 意图。 如图 4A所示， 工程机械换档的控制系统 4 OA主要包括档位器 41、 变速箱转速检测装置 42、 发动机转速检测装置 43、 速度检测装置 44、 控 制器 45以及离合器压力检测装置 46A。 如图 4B所示， 工程机械换档的控 制系统 40B主要包括档位器 41、 变速箱转速检测装置 42、发动机转速检测 装置 43、 速度检测装置 44、 控制器 45以及离合器电磁阀线圏电流检测装 置 46B。
档位器 41用于向控制器 45输入工程机械换档时的目标档位信息； 变 速箱转速检测装置 42 用于检测所述工程机械的变速箱转速并将该转速的 信息发送给控制器 45 ; 发动机转速检测装置 43用于检测工程机械的发动 机转速并将该转速的信息发送给控制器 45 ; 速度检测装置 44用于检测工 程机械的行驶速度并将该速度的信息发送给控制器 45 ; 离合器压力检测装 置 46A 用于检测工程机械的离合器压力并将该压力的信息发送给控制器 45 ; 离合器电磁阀线圏电流检测装置 46B用于检测工程机械的离合器电磁 阀线圏电流并将该电流的信息发送给控制器 45 ; 控制器 45用于根据接收 的信息进行计算并输出用于控制离合器电磁阀线圏电流的控制信息。
根据本发明实施例的技术方案， 根据实时计算得到的变速箱输入轴与 发动机之间的转速差调节离合器电磁阀线圏电流， 能够实时调整离合器的 结合压力， 从而获得以下有益效果： 实现无沖击换挡， 有效保护变速箱零 件； 减緩离合器扭矩沖击， 延长使用寿命； 减轻驾驶员工作强度， 提高操 作舒适性。 此外， 本发明实施例中的控制方案可以利用机器已有的车载控 制器实现， 无需额外增加成本。 带有电液换挡机构变速箱的工程机械都可 以使用本技术方案， 如平地机、 装载机、 越野起重机等。
显然， 本领域的技术人员应该明白， 上述的本发明的各模块或各步骤 可以用通用的计算装置来实现， 它们可以集中在单个的计算装置上， 或者 分布在多个计算装置所组成的网络上， 可选地， 它们可以用计算装置可执 行的程序代码来实现， 从而， 可以将它们存储在存储装置中由计算装置来 执行， 或者将它们分别制作成各个集成电路模块， 或者将它们中的多个模 块或步骤制作成单个集成电路模块来实现。 这样， 本发明不限制于任何特 定的硬件和软件结合。
以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于 本领域的技术人员来说， 本发明可以有各种更改和变化。 凡在本发明的精 神和原则之内， 所作的任何修改、 等同替换、 改进等， 均应包含在本发明 的保护范围之内。

Claims

权 利 要 求
1.一种工程机械换档的控制方法， 其特征在于， 包括：
在所述工程机械的离合器零界结合时， 确定变速箱输入轴与发动机之 间的转速差；
比较所述转速差与预设值， 在所述转速差大于所述预设值的情况下， 增大离合器电磁阀线圏电流， 使离合器进一步结合。
2.根据权利要求 1所述的方法， 其特征在于， 确定变速箱输入轴与发 动机之间的转速差之前还包括： 检测离合器结合压力， 根据检测值处于预 设区间确认所述工程机械的离合器零界结合。
3.根据权利要求 1所述的方法， 其特征在于， 确定变速箱输入轴与发 动机之间的转速差之前还包括： 检测离合器电磁阀线圏电流， 根据检测值 大于预设值确认所述工程机械的离合器零界结合。
4.根据权利要求 1所述的方法， 其特征在于， 确定变速箱输入轴与发 动机之间的转速差包括： 根据所述工程机械的行驶速度和目标档位传动比 计算变速箱输入轴的转速； 将所述变速箱输入轴的转速与当前发动机转速 比较得到所述变速箱输入轴与发动机之间的转速差。
5.根据权利要求 1所述的方法， 其特征在于， 在所述确定变速箱输入 轴与发动机之间的转速差之后， 还包括： 在所述转速差小于预设值的情况 下使离合器快速结合。
6.根据权利要求 1所述的方法， 其特征在于， 所述增大离合器电磁阀 线圏电流之后还包括：
步骤 A: 确定变速箱输入轴与发动机之间的转速差；
步骤 B: 在所述转速差大于预设值的情况下， 增大离合器电磁阀线圏 电流， 使离合器进一步结合；
在步骤 B之后， 判断所述转速差是否大于预设值， 若是， 则依次重复 执行步骤 A和步骤 B, 否则使离合器快速结合。
7.根据权利要求 1至 6中任一项所述的方法， 其特征在于， 所述增大 离合器电磁阀线圏电流包括： 根据公式 Ι1=Ι0+Κ χ Δ ν χ η改变所述离合器 电磁阀线圏电流， 其中 10表示离合器零界结合时电磁阀线圏电流， II表 示在 10的基础上增大后的离合器电磁阀线圏电流， Κ表示预设的调节系数， △ V表示所述转速差， n表示离合器电磁阀线圏电流增幅的计算程序执行 的次数。
8.根据权利要求 1至 6中任一项所述的方法， 其特征在于， 所述工程 机械为平地机、 装载机、 或越野起重机。
9.一种工程机械换档的控制装置， 其特征在于， 包括：
确定模块， 用于在所述工程机械的离合器零界结合时， 确定变速箱输 入轴与发动机之间的转速差；
比较模块， 用于比较所述转速差和预设值；
调节模块， 用于在所述转速差大于所述预设值的情况下， 计算使离合 器进一步结合的离合器电磁阀线圏电流值。
10.根据权利要求 9所述的控制装置， 其特征在于， 还包括压力判断模 块， 用于比较离合器零界结合压力的检测值和预设值， 当该检测值大于该 预设值时确认所述工程机械的离合器零界结合。
11.根据权利要求 9所述的控制装置， 其特征在于， 还包括电流判断模 块， 用于比较离合器电磁阀线圏电流的检测值和预设值， 当该检测值大于 该预设值时确认所述工程机械的离合器零界结合。
12.根据权利要求 9所述的控制装置， 其特征在于， 所述确定模块还用 于：
根据所述工程机械的行驶速度和目标档位传动比计算变速箱输入轴的 转速；
将所述变速箱输入轴的转速与当前发动机转速比较得到所述变速箱输 入轴与发动机之间的转速差。
13.根据权利要求 9所述的控制装置， 其特征在于， 所述调节模块还用 于在所述转速差小于所述预设值的情况下， 计算使离合器快速结合的离合 器电磁阀线圏电流值。
14.一种工程机械换档的控制系统， 其特征在于， 包括档位器、 变速箱 转速检测装置、 发动机转速检测装置、 速度检测装置、 以及控制器， 并且 所述控制系统还包括离合器压力检测装置或者离合器电磁阀线圏电流检测 装置， 其中： 所述档位器， 用于向所述控制器输入所述工程机械换档时的目标档位 信息；
所述变速箱转速检测装置， 用于检测所述工程机械的变速箱转速并将 该转速的信息发送给所述控制器；
发动机转速检测装置， 用于检测所述工程机械的发动机转速并将该转 速的信息发送给所述控制器；
速度检测装置， 用于检测所述工程机械的行驶速度并将该速度的信息 发送给所述控制器；
离合器压力检测装置， 用于检测所述工程机械的离合器压力并将该压 力的信息发送给所述控制器；
离合器电磁阀线圏电流检测装置， 用于检测所述工程机械的离合器电 磁阀线圏电流并将该电流的信息发送给所述控制器；
控制器， 用于根据接收的信息进行计算并输出用于控制所述离合器电 磁阀线圏电流的控制信息。
PCT/CN2012/073850 2011-05-04 2012-04-11 换档控制方法、控制装置及具有该控制装置的平地机 Ceased WO2012149859A1 (zh)

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