WO2012149859A1

WO2012149859A1 - Gear shifting control method, control device and grader having same

Info

Publication number: WO2012149859A1
Application number: PCT/CN2012/073850
Authority: WO
Inventors: 王海涛; 周风华; 李航洋
Original assignee: 湖南三一智能控制设备有限公司; 三一重工股份有限公司
Priority date: 2011-05-04
Filing date: 2012-04-11
Publication date: 2012-11-08
Also published as: CN102182211A; WO2012149859A9; CN102182211B

Abstract

Disclosed is a gear shifting control method for engineering machinery, comprising the following steps: determining a speed difference between the input shaft of the gear box and the motor, when the clutch of the engineering machinery is critically engaged; comparing the speed difference with a preset value, and increasing the current in a solenoid valve coil of the clutch when the speed difference is greater than the preset value so as to bring about further engagement of the clutch. A gear shifting control device (30) for engineering machinery and a control system are also disclosed. The gear shifting control method for the engineering machinery, the gear shifting control device (30) and the control system thereof can facilitate gear shift without impacts, protect gear box parts effectively, retard torque impact on the clutch and prolong the service life thereof, meanwhile they can lighten the working burden of the driver and improve the operating comfort.

Description

Shift control method, control device and grader having the same The present application is submitted to the Chinese Patent Office on May 06, 2011, and the application number is 201110114578. The invention name is "shift control method, control device and has The priority of the Chinese patent application of the present application is incorporated herein by reference.

Technical field

The invention relates to a control method, device and control system for engineering machinery shifting.

Background technique

The mechanical grader is a widely used construction machine. The basic structure of the transmission system is shown in Figure 1. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1A is a schematic view showing the basic structure of a mechanical grader transmission system relating to the present invention. In Fig. 1A, 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, and 17 is the gearbox.

The mechanical grader is powered by the engine 16 and is transmitted to the rear drive wheel 19 via the electrohydraulic control gearbox 17 and the rear axle reduction mechanism. The gearbox is in a normally engaged rigid connection and the shift is accomplished by an electro-hydraulic control clutch. 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.

In the shifting process of the mechanical grader, 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.

In the prior art, the clutch combination control method of the mechanical grader has a large impact on the gearbox, and an effective solution has not been proposed for this problem.

Summary of the invention

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.

In order to achieve the above object, according to an aspect of the present invention, 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.

Further, before determining the difference in rotational speed between the input shaft of the transmission and the engine, 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.

Further, before determining the difference between the speed of the input shaft of the transmission and the engine, 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.

Further, 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.

Further, after the determining the difference in the 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.

Further, after the increasing the solenoid valve line current, 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.

Further, the increasing the clutch solenoid valve line current includes: according to the formula Ι^Ιο+Κ χ

Δ V x n changes the current of the clutch solenoid valve, where I. Indicates that the solenoid valve line 圏 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, Δ ν represents the speed difference, and η represents the number of times the calculation program of the clutch solenoid valve line current increase is performed.

Further, the construction machine is a grader, a loader, or an off-road crane. According to another aspect of the present invention, 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.

Further, the 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.

Further, the 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.

Further, 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.

Further, 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.

According to another aspect of the present invention, 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 圏 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 outputting based on the received information for controlling the clutch Control information of the solenoid valve line current.

According to the technical solution of the present invention, 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. In addition, 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.

DRAWINGS

The drawings are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

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. Flowchart of the main steps of the shift control method;

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.

detailed description

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

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. The technical solutions of the embodiments of the present invention are described in detail below.

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. In this step, 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 可以 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.

In this step, 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 S211: Increasing the clutch solenoid valve line current increases the current to increase the valve opening degree, thereby increasing the liquid pressure, which in turn increases the clutch coupling pressure. In this step, the clutch solenoid valve line current can be changed according to the formula AVxn, where I. Indicates the solenoid valve line current when the clutch is zero-bound, and L is at I. Based on the increased clutch solenoid valve line current, Κ represents a preset adjustment factor, Δν represents the speed difference, and η represents the number of times the calculation program of the clutch solenoid valve line current increase is performed.

Step S213: Quickly combine the clutch with maximum current or pressure. In this step, the quick combination of the clutch is realized by directly giving the maximum value of the clutch solenoid valve 圏 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.

The control device for the construction machinery shifting of the present embodiment will be described below. The device can be implemented by computer software and installed in the controller of the construction machine. Figure 3 is an embodiment of the present invention Schematic diagram of the basic structure of the control device for engineering machinery shifting. As shown in FIG. 3, 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. For this purpose, 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 圏 current value that causes the clutch to quickly engage if the rotational speed difference is less than the predetermined value.

The control system of the engineering machinery shifting of the present embodiment will be described below. 4A and 4B are schematic illustrations of two basic structures of a control system for a construction machine shift according to an embodiment of the present invention. As shown in Fig. 4A, 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. As shown in FIG. 4B, 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 gear positioner 41 is configured to input the target gear position information when the engineering machinery shifts to the controller 45; the transmission speed detecting device 42 is configured to detect the transmission speed of the construction machine and transmit the information of the rotational speed to the controller 45. The engine speed detecting device 43 is configured to detect the engine speed of the construction machine and send the speed information to the controller 45; the speed detecting device 44 is configured to detect the traveling speed of the construction machine and send the speed information to the controller 45; Clutch pressure detection Set 46A is used to detect the clutch pressure of the construction machine and send the pressure information to the controller 45; the clutch solenoid valve line current detecting device 46B is used to detect the clutch solenoid line current of the construction machine and send the current information The controller 45 is configured to perform calculation based on the received information and output control information for controlling the current of the clutch solenoid valve.

According to the technical solution of the embodiment of the present invention, 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. In addition, 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.

Obviously, those skilled in the art should understand that the above 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.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

Rights request

A control method for shifting of a construction machine, characterized in that it comprises:

Determining a difference in rotational speed between the input shaft of the transmission and the engine when the clutch of the construction machine is combined;

Comparing the rotation speed difference with a preset value, if the rotation speed difference is greater than the preset value, increasing a clutch solenoid valve line current, so that the clutch is further combined.

The method according to claim 1, wherein before determining the difference in rotational speed between the input shaft of the transmission and the engine, the method further comprises: detecting a clutch engagement pressure, and confirming the clutch of the construction machine according to the detected value in a preset interval. Zero bound.

The method according to claim 1, wherein before determining the difference in speed between the input shaft of the transmission and the engine, the method further comprises: detecting a current of the solenoid valve of the clutch, and confirming the engineering according to the detected value being greater than a preset value. The mechanical clutch is combined with zero boundaries.

The method according to claim 1, wherein determining a difference in rotational speed between the input shaft of the transmission and the engine comprises: calculating a rotational speed of the input shaft of the transmission according to the traveling speed of the construction machine and the target gear ratio Comparing the rotational speed of the transmission input shaft with the current engine speed to obtain a rotational speed difference between the input shaft of the transmission and the engine.

The method according to claim 1, wherein after determining the difference in rotational speed between the input shaft of the transmission and the engine, the method further comprises: making the clutch fast if the difference in rotational speed is less than a preset value Combine.

The method according to claim 1, wherein the increasing the solenoid valve solenoid current further comprises:

Step A: determining the difference in rotational speed between the input shaft of the transmission and the engine;

Step B: increasing the clutch solenoid valve line current when the speed difference is greater than a preset value, so that the clutch is further combined;

After step B, it is judged whether the rotational 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 method according to any one of claims 1 to 6, wherein the increasing the clutch solenoid valve 圏 current comprises: changing the clutch electromagnetic according to a formula Ι1=Ι0+Κ Δ Δ ν χ η The valve line 圏 current, where 10 is the solenoid valve line 圏 current when the clutch zero boundary is combined, II is the increased clutch solenoid valve line 圏 current based on 10, Κ indicates the preset adjustment coefficient, ΔV represents the difference in rotational speed, and n represents the number of times the calculation program of the clutch solenoid valve line current increase is performed.

The method according to any one of claims 1 to 6, wherein the construction machine is a grader, a loader, or an off-road crane.

A control device for shifting a construction machine, comprising:

a determining module, configured to determine a difference in rotational speed between the transmission input shaft and the engine when the clutch zero boundary of the construction machine is combined;

a comparison module, configured to compare the rotation speed difference and a preset value;

And an adjustment module, configured to calculate a clutch solenoid valve current value that further combines the clutch when the rotation speed difference is greater than the preset value.

The control device according to claim 9, further comprising a pressure judging module, configured to compare the detected value of the clutch zero boundary combined pressure with a preset value, and when the detected value is greater than the preset value, confirm the The combination of the clutch zero of the construction machinery.

The control device according to claim 9, further comprising a current judging module, configured to compare the detected value and the preset value of the current of the clutch solenoid valve, and confirm when the detected value is greater than the preset value. The clutch of the construction machine is combined with zero boundary.

The control device according to claim 9, wherein the determining module is further configured to:

Calculating the rotational speed of the input shaft of the transmission according to the traveling speed of the construction machine and the target gear ratio;

Comparing the rotational speed of the input shaft of the transmission with the current engine speed results in a difference in rotational speed between the input shaft of the transmission and the engine.

The control device according to claim 9, wherein the adjustment module is further configured to calculate a clutch solenoid valve current that causes the clutch to quickly combine if the rotation speed difference is less than the preset value value.

14. A control system for engineering machinery shifting, comprising: a gear positioner, a transmission speed detecting device, an engine speed detecting device, a speed detecting device, and a controller, and wherein the control system further includes clutch pressure detecting Device or clutch solenoid valve line current detecting device, wherein: The gear positioner is configured to input target gear position information when the engineering machinery shifts to the controller;

The transmission speed detecting device is configured to detect a transmission speed of the construction machine and send the information of the rotation speed to the controller;

An engine speed detecting device, configured to detect an engine speed of the construction machine and send the speed information to the controller;

a speed detecting device, configured to detect a traveling speed of the construction machine and send the speed information to the controller;

a clutch pressure detecting device, configured to detect a clutch pressure of the construction machine and send the pressure information to the controller;

a clutch solenoid valve line current detecting device, configured to detect a clutch solenoid valve line current of the construction machine and send the current information to the controller;

And a controller configured to perform calculation based on the received information and output control information for controlling the current of the clutch solenoid valve.