A micro-motion control method and system for a port machinery gearbox

Abstract

The present invention relates to a port machinery gearbox micro-motion control method and a control system capable of accurately realizing the gearbox micro-motion control function; activating the upper and lower limit settings of the brake pedal position based on the micro-motion function to ensure that the micro-motion control function matches the vehicle braking system; setting the micro-motion function activation gear limit and vehicle speed limit to ensure the braking performance of the vehicle in a high gear and high speed state; presetting the micro-motion time interval, clutch slip temperature limit and slip time limit to accurately realize the clutch slip control, prevent excessive use of the slip function, avoid clutch damage, improve operating efficiency, and ensure the service life of components.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery gearbox control, and in particular to a port machinery gearbox micro-motion control method and system. Background Art

[0002] Port machinery reach stacker is a container lifting machinery equipment mainly used in ports, terminals, railways and highways. It often requires clamps and box positioning during operation. The vehicle travels at a lower speed and requires the engine to be at a larger throttle opening to provide power for lifting goods.

[0003] At present, the clutch oil pressure is usually controlled by the transmission control unit TCU according to the change of the vehicle's brake pedal position to produce appropriate slippage, and the vehicle speed is slightly controlled through the slippage of the clutch, thereby achieving slow and low-speed driving of the port crane reach crane at a larger engine throttle opening.

[0004] However, excessive slippage of the clutch during the inching control process will cause wear of the friction plate and shorten the life of the clutch. Therefore, designing and developing a safe and reliable transmission inching control method and system to achieve inching driving control while ensuring the safe use of clutch components is of great significance to improving the operating comfort and operating efficiency of the entire machine.

[0005] In the prior art, micro-motion control is achieved by adding a flow control valve and an oil return valve to control the amount of oil entering the torque converter of the gearbox; or micro-motion control is achieved by adding a micro-motion proportional valve in combination with a temperature sensor, and micro-motion protection is achieved by oil temperature monitoring. For port machinery equipped with a power shift gearbox, the prior art solution will add additional control valves and control oil circuits, resulting in increased complexity and cost of the hydraulic system. In addition, it is difficult to identify excessive slip of the clutch through oil temperature protection alone, resulting in problems such as shortened life or sintering of the friction plate. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a port machinery gearbox micro-control method and system, which can accurately realize the gearbox micro-control function, accurately realize clutch slip control, prevent excessive use of the slip function, avoid clutch damage, improve operating efficiency, and ensure the service life of components.

[0007] In a first aspect, the present invention provides a method for micro-motion control of a port machinery gearbox.

[0008] A port machinery gearbox micro-motion control method comprises the following steps:

[0009] Step S1, brake pedal position state judgment: obtain the brake pedal real-time position signal P bp , set the brake pedal position to activate the lower limit value P of the inching function lowand the upper limit P up , when P low ≤P bp ≤P up When , proceed to step S2;

[0010] Step S2, current gear position and vehicle speed status determination: obtain the current gear position G and current vehicle speed v, set the inching function to activate the highest gear position G lmt and maximum speed v lmt , when G≤G lmt And v≤v lmt When , proceed to step S3;

[0011] Step S3, inching time interval timing judgment: according to the last inching control process, determine the time interval t lim , start timing at the end of the last inching control 1 , when t 1 ≥t lim When , proceed to step S4;

[0012] Step S4, inching control process clutch pressure control: Activate the inching control function and adjust the clutch pressure according to the real-time position P of the brake pedal. bp Calculate the clutch filling pressure p, and the clutch performs the action;

[0013] Step S5, clutch temperature calculation and judgment: obtain the real-time clutch sliding temperature T Clu , preset clutch slip temperature limit T lim , when T Clu <T lim When , proceed to step S6;

[0014] Step S6, calculation and judgment of slip time: preset clutch slip time limit t slip , start timing when the inching control function is activated 2 , when t 2 ≤t slip When the current micro-motion control state is maintained, step S4 is repeated;

[0015] Step S7, completing the current micro-motion control, and looping through step S1.

[0016] Optionally, in step S1, when P bp <P low When P bp >P up When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

[0017] Optionally, in step S2, when G>G lmt or v>vlmt When the clutch is in the fully engaged state, the step S7 is executed.

[0018] Optionally, in step S3, when t 1 <t lim When the clutch is in the fully engaged state, the step S7 is executed.

[0019] Optionally, a relationship between the clutch filling pressure p and the brake pedal position P is preset as p=f(P), and the real-time position P of the brake pedal is determined according to the relationship between the clutch filling pressure p and the brake pedal position P. bp The clutch oil filling pressure p is calculated, and the transmission control unit outputs a driving current signal to the clutch solenoid valve control unit, and step S5 is executed.

[0020] Optionally, in step S5, when T Clu ≥T lim When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

[0021] Optionally, in step S6, when t 2 >t slip When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

[0022] Optionally, the time interval t lim The value is the sliding friction work W generated by the last micro-motion process. slip and clutch pack cooling system capacity coefficient α, t lim =f(W slip , α), in the time interval t lim In the transmission, the cooling system reduces the temperature increased by the last slip of the clutch to the transmission cooling oil temperature level.

[0023] Optionally, the friction work W slip According to the clutch input speed n Cin , clutch output speed n Cou 、Oil pressure Clu And the sliding time is calculated.

[0024] Optionally, the clutch input speed n Cin , clutch output speed n Cou According to the input speed n of the gearbox In , gearbox output speed n Ou Obtained by calculation.

[0025] Optionally, the real-time slip temperature of the clutch T Clu According to the gearbox cooling oil temperature T Sump The friction work W of the clutch slip Obtained by calculation.

[0026] In a second aspect, the present invention further provides a port machinery gearbox micro-motion control system.

[0027] A port machinery gearbox micro-motion control system comprises a gearbox control unit, a brake pedal position acquisition unit, a gearbox oil pan temperature acquisition unit, a gearbox output speed acquisition unit, a gearbox input speed acquisition unit, a clutch pressure acquisition unit and a clutch solenoid valve control unit, wherein the brake pedal position acquisition unit, the gearbox oil pan temperature acquisition unit, the gearbox output speed acquisition unit, the gearbox input speed acquisition unit and the clutch pressure acquisition unit are all connected to the gearbox control unit, and a control signal of the gearbox control unit is output to the clutch solenoid valve control unit.

[0028] Optionally, the brake pedal position acquisition unit is used to obtain the brake pedal real-time position signal P bp The gearbox oil pan temperature acquisition unit is used to obtain the gearbox cooling oil temperature signal T Sump The gearbox output speed acquisition unit is used to obtain the gearbox output speed n Ou The gearbox input speed acquisition unit is used to obtain the gearbox input speed n In The clutch pressure acquisition unit is used to obtain the real-time pressure p of the clutch pack. Clu .

[0029] In a third aspect, the present invention also provides a port machinery.

[0030] A port machinery comprises the port machinery gearbox micro-motion control system as described above.

[0031] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: the control method and system of the present invention can accurately realize the micro-motion control function of the gearbox; activate the upper and lower limit settings of the brake pedal position based on the micro-motion function to ensure that the micro-motion control function matches the vehicle braking system; set the micro-motion function activation gear limit and vehicle speed limit to ensure the braking performance of the vehicle in high gear and high speed states; preset the micro-motion time interval, clutch slip temperature limit and slip time limit to accurately realize the clutch slip control, prevent excessive use of the slip function, avoid clutch damage, improve operating efficiency, and ensure the service life of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of the micro-motion control method of the port machinery gearbox of the present invention;

[0033] Figure 2 It is a schematic diagram of the micro-motion control system of the port machinery gearbox of the present invention. DETAILED DESCRIPTION

[0034] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0035] Embodiment 1

[0036] like Figure 1 As shown, a method for micro-motion control of a port machinery gearbox comprises the following steps:

[0037] Step S1, brake pedal position state judgment: obtain the brake pedal real-time position signal P bp , set the brake pedal position to activate the lower limit value P of the inching function low and the upper limit P up , when P low ≤P bp ≤P up When , proceed to step S2;

[0038] Step S2, current gear position and vehicle speed status determination: obtain the current gear position G and current vehicle speed v, set the inching function to activate the highest gear position G lmt and maximum speed v lmt , when G≤G lmt And v≤v lmt When , proceed to step S3;

[0039] Step S3, inching time interval timing judgment: according to the last inching control process, determine the time interval t lim , start timing at the end of the last inching control 1 , when t 1 ≥t lim When , proceed to step S4;

[0040] Step S4, inching control process clutch pressure control: Activate the inching control function and adjust the clutch pressure according to the real-time position P of the brake pedal. bp Calculate the clutch filling pressure p, and the clutch performs the action;

[0041] Step S5, clutch temperature calculation and judgment: obtain the real-time clutch sliding temperature T Clu , preset clutch slip temperature limit T lim , when T Clu <T lim When , proceed to step S6;

[0042] Step S6, calculation and judgment of slip time: preset clutch slip time limit t slip, start timing when the inching control function is activated 2 , when t 2 ≤t slip When the current micro-motion control state is maintained, step S4 is repeated;

[0043] Step S7, completing the current micro-motion control, and looping through step S1.

[0044] More specifically, in step S1, when P bp <P low When P bp >P up When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

[0045] More specifically, in step S2, when G>G lmt or v>v lmt When the clutch is in the fully engaged state, the step S7 is executed.

[0046] More specifically, in step S3, when t 1 <t lim When the clutch is in the fully engaged state, the step S7 is executed.

[0047] More specifically, the relationship between the clutch filling pressure p and the brake pedal position P is preset as p=f(P), and the real-time position of the brake pedal P is calculated based on the relationship between the clutch filling pressure p and the brake pedal position P. bp The clutch oil filling pressure p is calculated, and the transmission control unit outputs a driving current signal to the clutch solenoid valve control unit, and step S5 is executed.

[0048] More specifically, in step S5, when T Clu ≥T lim When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

[0049] More specifically, in step S6, when t 2 >t slip When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

[0050] More specifically, the time interval t lim The value is the sliding friction work W generated by the last micro-motion process. slip and clutch pack cooling system capacity coefficient α, t lim =f(W slip , α), in the time interval t lim In the transmission, the cooling system reduces the temperature increased by the last slip of the clutch to the transmission cooling oil temperature level.

[0051] More specifically, the friction work Wslip According to the clutch input speed n Cin , clutch output speed n Cou 、Oil pressure Clu And the sliding time is calculated.

[0052] More specifically, the clutch input speed n Cin , clutch output speed n Cou According to the input speed n of the gearbox In , gearbox output speed n Ou Obtained by calculation.

[0053] More specifically, the clutch real-time sliding temperature T Clu According to the gearbox cooling oil temperature T Sump The friction work W of the clutch slip Obtained by calculation.

[0054] Embodiment 2

[0055] like Figure 2 As shown, a micro-motion control system for a port machinery gearbox includes a gearbox control unit, a brake pedal position acquisition unit, a gearbox oil pan temperature acquisition unit, a gearbox output speed acquisition unit, a gearbox input speed acquisition unit, a clutch pressure acquisition unit and a clutch solenoid valve control unit. The brake pedal position acquisition unit, the gearbox oil pan temperature acquisition unit, the gearbox output speed acquisition unit, the gearbox input speed acquisition unit and the clutch pressure acquisition unit are all connected to the gearbox control unit, and the control signal of the gearbox control unit is output to the clutch solenoid valve control unit. Among them, the brake pedal position acquisition unit is used to obtain the real-time position signal P of the brake pedal. bp The gearbox oil pan temperature acquisition unit is used to obtain the gearbox cooling oil temperature signal T Sump The gearbox output speed acquisition unit is used to obtain the gearbox output speed n Ou The gearbox input speed acquisition unit is used to obtain the gearbox input speed n In The clutch pressure acquisition unit is used to obtain the real-time pressure p of the clutch pack. Clu .

[0056] Embodiment 3

[0057] A port machinery comprises the above-mentioned port machinery gearbox micro-motion control system.

[0058] Compared with the existing technology, the control method, control system and port machinery of the present invention can accurately realize the micro-motion control function of the gearbox; activate the upper and lower limit settings of the brake pedal position based on the micro-motion function to ensure that the micro-motion control function matches the vehicle braking system; set the micro-motion function activation gear limit and vehicle speed limit to ensure the braking performance of the vehicle in high gear and high speed states; preset the micro-motion time interval, clutch slip temperature limit and slip time limit to accurately realize the clutch slip control, prevent excessive use of the slip function, avoid clutch damage, improve operating efficiency, and ensure the service life of components.

[0059] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0060] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0062] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A port machinery gearbox micro-motion control method, characterized in that: The steps include: Step S1, brake pedal position state judgment: obtain the brake pedal real-time position signal P bp , set the brake pedal position to activate the lower limit value P of the inching function low and the upper limit P up , when P low ≤P bp ≤P up When , proceed to step S2; Step S2, current gear position and vehicle speed status determination: obtain the current gear position G and current vehicle speed v, set the inching function to activate the highest gear position G lmt and maximum speed v lmt , when G≤G lmt And v≤v lmt When , proceed to step S3; Step S3, inching time interval timing judgment: according to the last inching control process, determine the time interval t lim , start timing at the end of the last inching control 1 , when t 1 ≥t lim When , proceed to step S4; when t 1 <t lim When the clutch is fully engaged, the current clutch is kept in a fully engaged state and step S7 is executed; Step S4, inching control process clutch pressure control: Activate the inching control function and adjust the clutch pressure according to the real-time position P of the brake pedal. bp Calculate the clutch filling pressure p, and the clutch performs the action; Step S5, clutch temperature calculation and judgment: obtain the real-time clutch sliding temperature T Clu , preset clutch slip temperature limit T lim , when T Clu <T lim When T Clu ≥T lim When the clutch is directly disengaged, the gearbox enters neutral and step S7 is executed; Step S6, calculation and judgment of slip time: preset clutch slip time limit t slip , start timing when the inching control function is activated 2 , when t 2 ≤t slip When t 2 >t slip When the clutch is directly disengaged, the gearbox enters neutral and step S7 is executed; Step S7, completing the current micro-motion control, and looping through step S1; in, The relationship between the preset clutch filling pressure p and the brake pedal position P is p=f(P), and the real-time position of the brake pedal P is calculated. bp The clutch oil filling pressure p is calculated, and the transmission control unit outputs a driving current signal to the clutch solenoid valve control unit, and step S5 is executed; Time interval t lim The value is the sliding friction work W generated by the last micro-motion process. slip and clutch pack cooling system capacity coefficient α, t lim =f(W slip , α), in the time interval t lim In the cooling system, the temperature of the clutch that was raised during the last slipping friction is reduced to the gearbox cooling oil temperature level; Sliding power W slip According to the clutch input speed n Cin , clutch output speed n Cou 、Oil pressure Clu And the sliding time is calculated; Clutch input speed n Cin , clutch output speed n Cou According to the input speed n of the gearbox In , gearbox output speed n Ou Calculate and obtain; Clutch real-time sliding temperature T Clu According to the gearbox cooling oil temperature T Sump The friction work W of the clutch slip Obtained by calculation.

2. The control method according to claim 1, characterized in that: In step S1, when P bp <P low When P bp >P up When the clutch is directly disengaged, the transmission enters neutral and step S7 is executed.

3. The control method according to claim 1, characterized in that: In step S2, when G>G lmt or v>v lmt When the clutch is in the fully engaged state, the step S7 is executed.

4. A micro-motion control system for a port machinery gearbox, used to implement the control method according to any one of claims 1 to 3, characterized in that: It includes a gearbox control unit, a brake pedal position acquisition unit, a gearbox oil pan temperature acquisition unit, a gearbox output speed acquisition unit, a gearbox input speed acquisition unit, a clutch pressure acquisition unit and a clutch solenoid valve control unit, wherein the brake pedal position acquisition unit, the gearbox oil pan temperature acquisition unit, the gearbox output speed acquisition unit, the gearbox input speed acquisition unit and the clutch pressure acquisition unit are all connected to the gearbox control unit, and a control signal of the gearbox control unit is output to the clutch solenoid valve control unit; The brake pedal position acquisition unit is used to obtain the brake pedal real-time position signal P bp The gearbox oil pan temperature acquisition unit is used to obtain the gearbox cooling oil temperature signal T Sump The gearbox output speed acquisition unit is used to obtain the gearbox output speed n Ou The gearbox input speed acquisition unit is used to obtain the gearbox input speed n In The clutch pressure acquisition unit is used to obtain the real-time pressure p of the clutch pack. Clu .

5. A port machinery, characterized in that: It comprises the port machinery gearbox micro-motion control system as claimed in claim 4.

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