WO2012149859A1 - Procédé de commande de changement de rapport, dispositif de commande et niveleuse utilisant ce dispositif - Google Patents

Procédé de commande de changement de rapport, dispositif de commande et niveleuse utilisant ce dispositif 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
Authority
WO
WIPO (PCT)
Prior art keywords
clutch
speed
current
solenoid valve
transmission
Prior art date
Application number
PCT/CN2012/073850
Other languages
English (en)
Chinese (zh)
Other versions
WO2012149859A9 (fr
Inventor
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 (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 湖南三一智能控制设备有限公司, 三一重工股份有限公司 filed Critical 湖南三一智能控制设备有限公司
Publication of WO2012149859A1 publication Critical patent/WO2012149859A1/fr
Publication of WO2012149859A9 publication Critical patent/WO2012149859A9/fr

Links

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 of the machine, e.g. the vehicle

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)

Abstract

L'invention porte sur un procédé de commande du changement de rapport pour un équipement de chantier qui comprend les étapes suivantes : détermination d'une différence de vitesse entre l'arbre d'entrée de la boîte de vitesses et le moteur, lorsque l'embrayage de l'équipement de chantier est embrayé à un point critique; comparaison de la différence de vitesse à une valeur prédéterminée, et accroissement du courant dans la bobine d'une électrovanne de l'embrayage lorsque la différence de vitesse est supérieure à la valeur prédéterminée, de manière à obtenir un plus fort serrage de l'embrayage. L'invention porte aussi sur un dispositif de commande de changement de rapport (30) pour un équipement de chantier, et sur un système de commande. Le procédé de commande de changement de rapport pour un équipement de chantier, le dispositif de commande de changement de rapport (30) et le système de commande pour ce dispositif peuvent faciliter le changement de rapport sans chocs, protéger efficacement les éléments de la boîte de vitesses, ralentir l'impact de couple sur l'embrayage et prolonger la durée de service de celui-ci; en même temps, ils peuvent alléger le travail du conducteur et améliorer le confort de conduite.
PCT/CN2012/073850 2011-05-04 2012-04-11 Procédé de commande de changement de rapport, dispositif de commande et niveleuse utilisant ce dispositif WO2012149859A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110114578.6 2011-05-04
CN 201110114578 CN102182211B (zh) 2011-05-04 2011-05-04 换档控制方法、控制装置及具有该控制装置的平地机

Publications (2)

Publication Number Publication Date
WO2012149859A1 true WO2012149859A1 (fr) 2012-11-08
WO2012149859A9 WO2012149859A9 (fr) 2013-03-07

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WO (1) WO2012149859A1 (fr)

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CN102226468B (zh) * 2011-05-06 2014-08-13 三一重工股份有限公司 工程机械换档的控制方法、装置和控制系统
CN102887148B (zh) * 2012-09-25 2016-07-13 三一重工股份有限公司 电控液压换向方法、系统及工程机械
CN103075507B (zh) * 2013-01-18 2016-03-30 浙江吉利汽车研究院有限公司杭州分公司 一种车辆行驶中自动变速器切换空档的控制方法
CN105889494A (zh) * 2016-05-25 2016-08-24 广西柳工机械股份有限公司 行星变速箱控制方法及控制系统
CN110375053A (zh) * 2019-08-19 2019-10-25 三一汽车制造有限公司 平地机
CN114151537B (zh) * 2021-12-07 2023-06-13 中通客车股份有限公司 一种常规车智能换挡控制方法及系统

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WO2012149859A9 (fr) 2013-03-07
CN102182211A (zh) 2011-09-14
CN102182211B (zh) 2013-03-20

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