WO2012152165A1 - 工程机械换档的控制方法、控制装置及具有该控制装置的平地机 - Google Patents

工程机械换档的控制方法、控制装置及具有该控制装置的平地机 Download PDF

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Publication number
WO2012152165A1
WO2012152165A1 PCT/CN2012/073882 CN2012073882W WO2012152165A1 WO 2012152165 A1 WO2012152165 A1 WO 2012152165A1 CN 2012073882 W CN2012073882 W CN 2012073882W WO 2012152165 A1 WO2012152165 A1 WO 2012152165A1
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WIPO (PCT)
Prior art keywords
grader
gear
speed
ratio
shift
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PCT/CN2012/073882
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English (en)
French (fr)
Inventor
周风华
王海涛
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
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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 WO2012152165A1 publication Critical patent/WO2012152165A1/zh

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Classifications

    • 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
    • E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
    • 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
    • E02F9/202—Mechanical transmission, e.g. clutches, gears
    • 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
    • F16H61/02—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 characterised by the signals used
    • F16H61/0202—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 characterised by the signals used the signals being electric
    • F16H61/0204—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 characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—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 characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift 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
    • 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
    • F16H61/02—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 characterised by the signals used
    • F16H61/0202—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 characterised by the signals used the signals being electric
    • F16H61/0204—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 characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—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 characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
    • F16H2061/0216—Calculation or estimation of post shift values for different gear ratios, e.g. by using engine performance tables
    • 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 present invention relates to the field of construction machinery, and in particular to a shift control method and a control device. Furthermore, it relates to a grader having the above-described shift control device.
  • the mechanical grader gear handle it must be shifted from low to high, so that when the grader has a certain initial speed and is engaged from the neutral gear, it cannot enter the matching according to the initial speed.
  • the gear position will cause a relatively large impact on the engine and drive train of the grader, shorten the life of the vehicle, and cause the driver to feel uncomfortable, and may also cause damage to the road surface.
  • the object of the present invention is to provide a shift control method, a control device and a grader having the same, which can solve the problem that the motor and the transmission system are caused when the grader has a certain initial speed and is engaged from the neutral gear.
  • Technical problems of impact are to provide a shift control method, a control device and a grader having the same, which can solve the problem that the motor and the transmission system are caused when the grader has a certain initial speed and is engaged from the neutral gear.
  • a shift control method comprising: receiving a shift operation signal; if it is determined according to a shift operation signal that a gear position is switched from a neutral neutral to a running gear, : determining whether the running speed of the grader is non-zero at this time, and if so, estimating the first running speed after the shift is completed, calculating the ratio of the engine speed of the grader to the first traveling speed, and finally determining the gear ratio and the The driving gear matching the ratio is used as the target driving gear.
  • determining the driving ratio that matches the gear ratio to the ratio as the target line includes: determining the ratio of the gear ratios of the two driving gears; selecting the upper limit gear ratio of the interval according to the trend of the ratio or The driving gear corresponding to the lower limit transmission ratio is used as the target driving gear.
  • the driving gear corresponding to the upper limit gear ratio or the lower limit gear ratio of the interval according to the change trend of the ratio is used as the target driving gear includes: when the running acceleration of the grader is positive,
  • a shift control device including: a shift operating mechanism for transmitting a shift operation signal; a speed detecting sensor for detecting a traveling speed of the grader; a controller, and a change
  • the gear operating mechanism and the speed sensor signal are connected, and when the grader is switched from neutral to the driving gear, it is used to determine whether the traveling speed of the grader is non-zero at this time, and if so, the first driving speed after the completion of the shift is estimated Then, calculate the ratio of the engine speed of the grader to the first travel speed, and finally determine the drive gear whose gear ratio matches the ratio as the target drive gear.
  • the shift control device provided by the present invention further includes an acceleration sensor connected to the controller for detecting the running acceleration of the grader.
  • a motor machine having the above shift control device is also provided.
  • the shift control method and the control device provided by the invention can make the grader no longer rely on the operation of the operator to prevent the impact when performing the shifting, simulate the position of the micro-motion pedal only by the shift operation signal, and actively realize the target driving by the control program.
  • the matching of the gear position and the speed of the grader effectively prevents the impact of the engine and the transmission system, improves the life of the grader and reduces the damage to the road surface, and also reduces the driver's work intensity and improves the operation. Comfort.
  • FIG. 1 is a schematic diagram of a control method of a preferred embodiment of the present invention.
  • FIG. 2 is a schematic view showing the structure of a grader according to a preferred embodiment of the present invention.
  • the present invention provides a shift control method for a grader, which comprises the following steps:
  • Step S 01 receiving a shift operation signal
  • Step S 02 If it is determined according to the shift operation signal that the gear position is switched from neutral to the driving gear, proceed to step S03: determine whether the traveling speed of the grader is non-zero at this time, and if yes, proceed to step S04: The first driving speed after the completion of the shift is estimated, and the ratio of the engine speed of the motor grader to the first traveling speed is calculated, and finally the driving gear whose gear ratio matches the ratio is determined as the target driving gear.
  • the above judging process can be performed by the controller when the operator performs the shifting operation.
  • the controller detects the shift operation signal sent by the shifter of the grader and after the above judgment process, the gear of the grader can be automatically switched from the neutral to the target according to the real-time running speed of the grader.
  • the gear position makes the real-time running speed of the grader close to the driving speed corresponding to the target driving gear, and prevents the impact on the engine and the transmission system due to improper shifting. If the controller determines that it is not switched from the neutral to the drive according to the shift operation signal, it can be directly switched from the current drive to the target drive without further judgment.
  • the controller judges that the shifting operation is switched from the neutral to the driving gear according to the shifting operation signal, after calculation or measurement, it is found that the traveling speed of the grader is zero at this time, that is, the grader at this time There is no initial speed, so there is no need to make subsequent judgments, but directly switch from neutral to target driving.
  • a the acceleration of the grader
  • T the response time of the corresponding equipment after the shift operation signal is detected.
  • the controller can continuously detect the shift operation information according to a certain cycle period, and record the traveling speed of the grader at each detection.
  • the traveling speed V at the time of the previous shift operation signal detection can be employed.
  • the running acceleration a of the grader can be calculated by a certain formula, or can be directly detected by an independent acceleration sensor.
  • the acceleration of the grader can be obtained by the acceleration sensor and the acceleration is also calculated.
  • the mechanism that performs the shifting action receives the controller
  • the response time from the start of the shift control signal to the completion of the shifting operation requires a certain response time T, such as control delay, solenoid valve response delay, clutch operating time, etc. These response times are usually inherent parameters of these actuators, It is stored in advance in the memory, so that the controller can extract it when calculating the first travel time.
  • the ratio of the engine speed of the grader to the estimated first speed can be calculated (since the engine speed is controlled by the throttle and the rate of change is slower than the shift rate, the engine speed can be measured using the current period without considering the change value).
  • the ratio is H
  • the driving range in which the gear ratio matches the ratio H is determined as the target driving range based on the ratio H. It is assumed that there are five gear positions in the running gear of the grader, and the gear ratios corresponding to each gear are A, B, C, D, and F respectively. After calculation, it is assumed that the ratio H is between B and C, that is, H is a ratio within the ratio interval formed by B and C.
  • the gear ratio is larger, the gear position is lower, that is, the gear ratio B of the second gear is greater than the gear ratio C of the third gear. If the ratio H develops toward a larger trend, the ratio can be developed toward the upper limit value B in the interval. At this time, the second gear corresponding to the gear ratio B can be selected as the target driving range; on the contrary, if the ratio is When H develops toward a smaller trend, the ratio can be developed toward the lower limit value C in the interval.
  • the third gear corresponding to the transmission ratio C can be selected as the target driving range; in addition, the change in the ratio H There is another situation in the trend, that is, there is no change in the ratio H. Then, the ratio H can be compared with the upper limit value B and the lower limit value C of the interval, respectively, and the difference between the two limits and the ratio C The smaller one of the corresponding driving gears is used as the target driving gear.
  • the traveling speed is closer to the traveling speed corresponding to the target driving position, and the shifting impact is small.
  • the change trend of the ratio H can be judged according to the running acceleration a of the grader:
  • the present invention further provides a shift control device, comprising: a shift operating mechanism 10, such as a gear handle, for transmitting a shift operation signal; and a speed detecting sensor 20 for detecting a grader
  • the driving speed; the controller 30 is connected to the shift operating mechanism 10 and the speed detecting sensor 20, and when the operator manipulates the shift operating mechanism to switch from neutral to the running gear, the controller 30 It can be used to determine the target driving range based on the received shifting operation signal and the traveling speed of the grader.
  • the controller determines the target driving range based on the estimated first traveling speed.
  • the shift control apparatus provided by the present invention may further comprise an acceleration sensor.
  • the controller 30 is further configured to estimate the first traveling speed, calculate a ratio of the engine speed of the motor grader to the first traveling speed, and finally determine a driving range whose gear ratio matches the ratio as the target driving speed.
  • the controller 30 is further operable to determine, based on the speed sensor 20, whether the grader has a non-zero initial speed after receiving the shift operation signal.
  • the present invention also provides a grader comprising the above shift control device.
  • the grader includes a front steering wheel 50, a cab 70, a blade 60 disposed between the front steering wheel 50 and the cab 70, and the shift operating mechanism 10 and the controller 30 are disposed within the cab 70.
  • the motor grader also includes an engine 80 disposed behind the cab 70, a gearbox 40 coupled to the engine 80, and a rear drive wheel 90 coupled to the gearbox 40.
  • the grader can achieve a smooth transition when it has a certain initial speed and is switched from neutral to driving.
  • the engine and transmission system are subjected to less impact, reducing the damage of the blade to the road surface, improving its service life and working efficiency. .

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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)
  • Control Of Transmission Device (AREA)

Description

工程机械换档的控制方法、 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 201110117904. 9、 发明名称为 "工程积 换档的控制方法、 装置和控制系 统" 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
本发明涉及工程机械领域， 特别地， 涉及一种换档控制方法、 控制装 置。 此外， 还涉及一种具有上述换档控制装置的平地机。
背景技术
目前， 根据机械式平地机档位手柄的特性， 必须由低到高， 顺序换档， 因此在平地机具备一定初始速度， 并从空档挂入行驶档的时候， 不能根据 初始速度进入匹配的档位， 会对平地机的发动机及传动系造成比较大的冲 击， 缩短整车寿命， 并会使驾驶员感觉不适， 而且还可能对路面造成损坏。
发明内容
本发明目的在于提供一种换档控制方法、 控制装置及具有该控制装置 的平地机， 以解决平地机具备一定初始速度并从空档挂入行驶档的时候， 对发动机及传动系统造成较大冲击的技术问题。
为解决上述技术问题， 根据本发明的一个方面， 提供了一种换档控制 方法， 包括： 接收换档操作信号； 如果根据换档操作信号确定档位由空档 空档切换到行驶档， 则： 确定此时平地机的行驶速度是否为非零， 若是， 则预估换档完成后的第一行驶速度， 再计算平地机的发动机转速与第一行 驶速度的比值，最后确定传动比与该比值相匹配的行驶档作为目标行驶档。
进一步地， 预估换档完成后的第一行驶速度根据如下公式进行： Vi=V。+axT， 其中， V，代表第一行驶速度， V。代表前一次换档操作信号检 测时的车速， a 代表平地机的加速度， T 代表检测到换档操作信号后相应 设备的响应时间。
进一步地， 确定传动比与比值相匹配的行驶档作为目标行^ _档包括： 确定比值处于哪两个行驶档的传动比所构成的区间内； 根据比值的变化趋 势选择区间的上限传动比或下限传动比相对应的行驶档作为目标行驶档。
进一步地， 根据比值的变化趋势选择区间的上限传动比或下限传动比 相对应的行驶档作为目标行驶档包括： 当平地机的行驶加速度为正时， 选
1
替换页 （细则第 26条 当平地机的行驶加速度为零时， 选择与比值的差值较小的上限传动比或下 限传动比相对应的行驶档作为目标行驶档。
根据本发明的另一方面， 还提供了一种换档控制装置， 包括： 换档操 作机构， 用于发送换档操作信号； 测速传感器， 用于检测平地机的行驶速 度； 控制器， 与换档操作机构及测速传感器信号连接， 当平地机从空档切 换到行驶档时， 用于确定此时平地机的行驶速度是否为非零， 若是， 则预 估换档完成后的第一行驶速度， 再计算平地机的发动机转速与第一行驶速 度的比值， 最后确定传动比与比值相匹配的行驶档作为目标行驶档。
进一步地， 本发明提供的换档控制装置还包括加速度传感器， 与控制 器信号连接， 用于检测平地机的行驶加速度。
根据本发明的又一个方面， 还提供了一种具有上述换档控制装置的平 地机。
本发明具有以下有益效果：
本发明提供的换档控制方法及控制装置可以使平地机在进行换档时不 再依赖操作者的操作来防止冲击，仅通过换档操作信号模拟微动踏板位置， 由控制程序主动实现目标行驶档位与平地机行驶速度的匹配， 有效防止了 发动机及传动系统的冲击， 提高了平地机整车寿命， 并降低了对路面造成 的损坏， 同时还减轻了驾驶员的工作强度， 提高了操作舒适性。
除了上面所描述的目的、 特征和优点之外， 本发明还有其它的目的、 特征和优点。 下面将参照图， 对本发明作进一步详细的说明。
附图说明
构成本申请的一部分的附图用来提供对本发明的进一步理解， 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是本发明优选实施例的控制方法示意图； 以及
图 2是本发明优选实施例的平地机结构示意图。
具体实施方式
以下结合附图对本发明的实施例进行详细说明， 但是本发明可以由权 利要求限定和覆盖的多种不同方式实施。
如图 1所示， 本发明提供了一种用于平地机的换档控制方法， 其包括 如下步骤：
步骤 S 01 : 接收换档操作信号；
步骤 S 02 : 如果根据换档操作信号确定档位由空档切换到行驶档， 则进入到步骤 S 03 : 确定此时平地机的行驶速度是否为非零， 若是， 则进入到步骤 S 04 : 预估换档完成后的第一行驶速度， 再计算 平地机的发动机转速与第一行驶速度的比值， 最后确定传动比与该比值相 匹配的行驶档作为目标行驶档。
上述判断过程， 可以在操作人员进行换档操作时， 由控制器执行。 当控制器检测到由平地机的换档器发出的换档操作信号， 并经过上述 判断过程之后， 就能够根据平地机的实时行驶速度自动地将平地机的档位 从空档切换到目标行驶档位， 使平地机的实时行驶速度与目标行驶档位所 对应的行驶速度相接近， 防止由于换档不当而对发动机及传动系统造成的 冲击。 如果控制器根据换档操作信号判断不是由空档切换到行驶档， 则可 以直接由当前的行驶档切换到目标行驶档， 而无需再进行后续判断。 进一 步地， 即使控制器根据换档操作信号判断得出换档操作是由空档切换到行 驶档， 但是， 经过计算或测量后得出此时平地机的行驶速度为零， 即此时 平地机没有初始速度， 那么也不需要再进行后续判断， 而直接由空档切换 到目标行驶档。
在上述判断过程中， 可以通过下述方法预估换档完成后平地机的第一 行驶速度 V1 = V0+a xT , 其中， V。为前一次换档操作信号检测时的车速， a为平地机的加速度， T为检测到换档操作信号后相应设备的响应时间。 控制器可以按照一定的循环周期不间断地检测换档操作信息， 并记录每次 检测时平地机的行驶速度。
在本实施例中， 可以采用前一次换档操作信号检测时的行驶速度 V。作 为预估第一行驶速度的参数之一。 平地机的行驶加速度 a可以通过一定的 公式计算得出， 也可以由独立的加速度传感器直接检测出来， 在本实施例 中， 可以通过加速度传感器获得平地机的行驶加速度 a并将该加速度也作 为计算第一行驶速度的参数之一。 执行换档动作的机构在接收到控制器发 出的换档控制信号开始到完成换档动作都需要一定的响应时间 T , 例如控 制延迟、 电磁阀响应延迟、 离合器的动作时间等， 这些响应时间通常都是 这些执行设备的固有参数， 只需预先存储在存储器中， 以备控制器在计算 第一行驶时间时提取即可。
可以计算平地机的发动机转速与预估的第一行驶速度的比值（由于发 动机转速受油门控制， 且变化速率较换档速率慢， 发动机转速可以采用当 前周期检测值， 而无需考虑变化值）， 假设该比值为 H , 根据该比值 H确定 传动比与比值 H相匹配的行驶档作为目标行驶档。 现假设平地机的行驶档 共有五个档位， 每个档位对应的传动比分别为 A、 B、 C、 D , 以及 F , 经过 计算后， 假设比值 H位于 B与 C之间， 也就是 H是 B与 C构成的比值区间 内的一个比值。 那么此时， 就要根据比值 H的变化趋势判断其向 B发展还 是向 C发展。 由于传动比越大， 档位越低， 也就是说， 第二档的传动比 B 大于第三档的传动比 C。 如果比值 H向着变大的趋势发展， 就可以得到比 值向着区间内的区间上限值 B发展， 此时， 就可以选择与传动比 B相对应 的第二档作为目标行驶档； 相反， 如果比值 H向着变小的趋势发展， 就可 以得到比值向着区间内的区间下限值 C发展， 此时， 就可以选择与传动比 C相对应的第三档作为目标行驶档； 此外， 比值 H的变化趋势还有一种情 况存在， 即比值 H无变化， 那么此时， 就可以将比值 H分别与区间上限值 B和区间下限值 C进行比较， 将两个限值中与比值 C的差值较小的一个所 对应的行驶档作为目标行驶档。 当平地机从空档切换到通过上述方式确定 的目标行驶档位后，其行驶速度与目标行驶档位所对应的行驶速度较接近， 换档冲击小。
比值 H的变化趋势， 可以根据平地机的行驶加速度 a进行判断：
当 a为正时， 可以确定比值 H向着变小的趋势变化；
当 a为负时， 可以确定比值 H向着变大的趋势变化；
当 a为零时， 可以确定比值 H无变化。
如图 2所示， 本发明还提供了一种换档控制装置， 其包括： 换档操作 机构 1 0 , 如档位手柄， 用于发送换档操作信号； 测速传感器 20 , 用于检测 平地机的行驶速度； 控制器 30 , 与换档操作机构 1 0及测速传感器 2 0信号 连接， 当操作人员操纵换档操作机构从空档切换到行驶档时， 控制器 30 可以用于根据接收到的换档操作信号及平地机的行驶速度确定目标行驶 档。 通过上面对换档控制方法的描述， 可以知道， 控制器根据预估的第一 行驶速度确定目标行驶档。
测速传感器 20与平地机的变速箱 40的输出轴相连， 可以直接检测到 变速箱的输出转速， 而变速箱的输出转速 =轮速 =平地机的行驶速度。
为了测量平地机的行驶加速度， 本发明提供的换档控制装置还可以包 括一个加速度传感器。
优选地，控制器 30还可以用于预估上述第一行驶速度，再计算平地机 的发动机转速与第一行驶速度的比值， 最后确定传动比与该比值相匹配的 行驶档作为目标行驶档。
优选地， 控制器 30还可以用于根据测速传感器 20判断在接收到换档 操作信号之后平地机是否具有非零的初始速度。
最后， 本发明还提供了一种包括上述换档控制装置的平地机。 该平地 机包括前转向轮 50、 驾驶室 70 ,设置在前转向轮 50与驾驶室 70之间的铲 刀 60 , 换档操作机构 10与控制器 30设置在驾驶室 70内。 该平地机还包 括设置在驾驶室 70后方的发动机 80、与发动机 80相连的变速箱 40 , 以及 与变速箱 40相连的后驱动轮 90。 该平地机能够在具有一定初始速度并由 空档切换到行驶档时， 实现平緩过渡，发动机及传递系统受到较小的冲击， 减小铲刀对路面的破坏， 提高自身的使用寿命及工作效率。
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
1.一种换档控制方法， 其特征在于， 包括：
接收换档操作信号；
如果根据所述换档操作信号确定档位由空档切换到行驶档， 则： 确定 此时平地机的行驶速度是否为非零，
若是， 则预估换档完成后的第一行驶速度， 再计算所述平地机的发动 机转速与所述第一行驶速度的比值， 最后确定传动比与所述比值相匹配的 行驶档作为目标行驶档。
2. 根据权利要求 1所述的换档控制方法， 其特征在于， 所述预估换档 完成后的第一行驶速度根据如下公式进行：
V1 =V0+a x T 其中，
Vi代表第一行驶速度，
V。代表前一次换档操作信号检测时的车速，
a 代表所述平地机的加速度，
代表检测到所述换档操作信号后相应设备的响应时间。
3. 根据权利要求 2所述的换档控制方法， 其特征在于， 所述确定传动 比与
Figure imgf000008_0001
对应的行驶档作为目标行驶档。
4.根据权利要求 3所述的换档控制方法， 其特征在于， 所述根据所述 作为目标行驶档包括：
当所述平地机的行驶加速度为正时， 选择与所述区间的上限传动比相 对应的行驶档作为目标行驶档；
当所述平地机的行驶加速度为负时， 选择与所述区间的下限传动比相 对应的行驶档作为目标行驶档；
当所述平地机的行驶加速度为零时， 选择与所述比值的差值较小的上
5.—种换档控制装置， 其特征在于， 包括：
换档操作机构， 用于发送换档操作信号；
测速传感器， 用于检测所述平地机的行驶速度；
控制器， 与所述换档操作机构及所述测速传感器信号连接， 当所述平地机从空档切换到行驶档时， 用于确定此时所述平地机的行 驶速度是否为非零， 若是， 则预估换档完成后的第一行驶速度， 再计算所 述平地机的发动机转速与所述第一行驶速度的比值， 最后确定传动比与所 述比值相匹配的行驶档作为目标行驶档。
6.根据权利要求 5所述的换档控制装置， 其特征在于， 还包括加速度 传感器， 与所述控制器信号连接， 用于检测所述平地机的行驶加速度。
7.—种平地机， 其特征在于， 包括权利要求 5或 6所述的换档控制装 置。
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