A vibration engagement control method and storage medium for a pure electric dump truck power take-off

Abstract

The present invention discloses a control method and a storage medium for the jitter engagement of a power take-off of a pure electric dump truck. The control program period of the vehicle controller VCU is defined as t0, and within the period of [0, 1 / 2t d , the drive motor drives and outputs according to a positive constant torque F d . Within the period of [1 / 2t d , t d , the drive motor drives and outputs according to a negative constant torque -F d , forming a positive and negative alternating torque output according to the period t d to achieve the purpose of jittering the drive shaft. The present invention divides the engagement process of the power take-off into 6 states. When there is a problem in the engagement, by implementing a periodic alternating torque to jitter the drive shaft, the gear can be quickly and slightly jittered to achieve smooth engagement of the power take-off, reducing the engagement time compared with speed control; through torque control, the force on the gear is small, reducing the damage to the gear due to force; the two-way control method greatly improves the success rate of the combination of the power take-off.

Description

Technical Field

[0001] The invention relates to a vibration engagement control method and a storage medium for a power take-off of a pure electric dump truck, belonging to the technical field of engineering machinery and mining dump trucks. Background Art

[0002] As a power take-off device for the upper loading of dump trucks, the power take-off device is frequently used in actual working conditions and plays a key role in realizing the upper loading action. Usually, for the traditional mechanical transmission power take-off device, to realize the power take-off action, it is necessary to cooperate with the clutch pedal action to realize the power take-off of the power take-off device. However, most of the models used in the market are AMT automatic transmissions. The AMT automatic transmission has its own clutch and clutch control mechanism. When taking power, the vehicle controller does not need to consider the clutch action, but only needs to consider the action of the power take-off solenoid valve and the up and down solenoid valve.

[0003] During the engagement process of the power take-off, the vehicle's air control valve controls the operating mechanism to achieve the engagement of the transmission gear and the power take-off gear. During the engagement process, there is a certain probability that problems such as gear hitting or failure to engage may occur.

[0004] In the existing control method, constant speed and low speed control are adopted, and the motor rotates in one direction without considering the force on the gear. If the flatness of the gear end face is not high and there is a top tooth, forced unidirectional drive may generate a large torque, damage the gear, and reduce the gear life. In addition, constant speed control requires the motor to run at a lower speed. The control accuracy of the motor in the low speed zone is low, and it is difficult to achieve the desired effect. The rotation time of constant low speed control will also be longer, and there will be no high dynamic characteristics. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a pure electric dump truck power take-off jitter engagement control method and storage medium, which divides the power take-off engagement process into 6 states. When there is a problem with the engagement, the drive shaft is jittered with a fixed-period alternating torque, so that the gears can be quickly and slightly jittered to achieve smooth engagement of the power take-off with a short engagement time; through torque control, the gears are subjected to less force, reducing the force damage to the gears; the two-way control method greatly improves the success rate of the power take-off engagement.

[0006] To achieve the above object, the present invention provides a pure electric dump truck power take-off jitter engagement control method, comprising:

[0007] Step 1: After the vehicle controller VCU is powered on, determine the enabling state of the power take-off solenoid valve;

[0008] If the power take-off solenoid valve enabling state is the power take-off solenoid valve enabling signal, and the state machine of the pure electric dump truck is in power take-off combination, then go to step 2;

[0009] Step 2: If the acquired power take-off engagement state of the power take-off gear transmission system is power take-off engagement, the vehicle controller VCU determines that the state machine of the pure electric dump truck is power take-off engagement, and proceeds to step 3;

[0010] If the power take-off state of the power take-off gear transmission system is not engaged, and the duration of the power take-off not engaged exceeds the set engagement time t m , the vehicle controller VCU determines that the power take-off gear transmission system is not engaged successfully, and determines that the state machine of the pure electric dump truck is a power take-off failure, and enters step 4;

[0011] Step 3: If the power take-off solenoid valve enable signal is disconnected, the vehicle controller VCU determines that the state machine of the pure electric dump truck is in power take-off disengagement;

[0012] If the power take-off solenoid valve enable signal is disconnected, and the acquired power take-off gear transmission system state is disconnected and engaged, the vehicle controller VCU determines that the state machine of the pure electric dump truck is power take-off disengaged;

[0013] If the power take-off solenoid valve enable signal is disconnected and the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again, the duration t of the process in which the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again after the power take-off solenoid valve enable signal is disconnected is less than the set duration t i , and the power take-off combination state of the power take-off gear transmission system is power take-off meshing, then the vehicle controller VCU determines that the state machine of the pure electric dump truck is power take-off combination;

[0014] If the power take-off solenoid valve enable signal is disconnected and the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again, the duration of this process t>t i Or if the power take-off combination state of the power take-off gear transmission system is power take-off engagement, the vehicle controller VCU determines that the state machine of the pure electric dump truck is a power take-off fault;

[0015] Step 4, set the eigenvalue F to 1;

[0016] The drive motor enables the drive;

[0017] Define the control program cycle of the vehicle controller VCU as t0, and define the cycle t d =λt0, λ is the alternating torque control period adjustment coefficient;

[0018] In [0,1 / 2t d ] The motor is driven according to the positive constant torque F d Drive output, at [1 / 2t d , t d ] The drive motor is driven according to the negative constant torque -F d Drive output, forming a period t d The output positive and negative alternating torque.

[0019] Preferably, in step 1, after the vehicle controller VCU is powered on, the enabling state of the power take-off solenoid valve is determined, which is achieved by the following steps:

[0020] The vehicle controller VCU determines whether the pure electric dump truck meets the set conditions. If the pure electric dump truck meets the set conditions, it sends a power take-off solenoid valve enable signal to the power take-off solenoid valve enable state, otherwise it sends a power take-off solenoid valve disable signal to the power take-off solenoid valve enable state.

[0021] Preferably, the setting conditions include whether the power take-off rocker switch is turned on, whether the gearbox is in N gear, whether the parking handle is pulled up, whether the vehicle speed is zero, whether the vehicle is in Ready state, and whether the vehicle has no faults above level 2;

[0022] Meeting the set conditions includes the power take-off rocker switch being turned on, the transmission gear being in N gear, the parking handle being pulled up, the vehicle speed being zero, the vehicle being in Ready state, and the vehicle having no level 2 or higher faults.

[0023] Preferentially, in step 1, if the power take-off solenoid valve enable state is the power take-off solenoid valve disenable signal, and the acquired power take-off engagement state of the power take-off gear transmission system is power take-off engagement, then the state machine of the pure electric dump truck is determined to be in a power take-off fault state, otherwise the state machine of the pure electric dump truck is determined to be in a power take-off disengagement state.

[0024] Preferably, step 4, according to the period t d After the positive and negative alternating torque is output, when the set time t c If it is detected that the power take-off engagement state of the power take-off gear transmission system is power take-off meshing, it is determined that the meshing is successful, and the state machine controlling the pure electric dump truck is power take-off engagement; otherwise, the state machine controlling the pure electric dump truck is power take-off failure.

[0025] Preferably, the state machine of the pure electric dump truck includes power take-off disengaged, power take-off engaged, power take-off engaged, power take-off disengaged, power take-off failure and power take-off fault.

[0026] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0027] A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program implements the steps of any of the above methods when executed by a processor.

[0028] The beneficial effects achieved by the present invention are:

[0029] (1) The present invention proposes a pure electric dump truck power take-off jitter engagement control method, which divides the power take-off engagement process into 6 states. When there is a problem with the engagement, the drive shaft is jittered with a fixed-cycle alternating torque, so that the gears can be quickly and slightly jittered to achieve smooth engagement of the power take-off with a short engagement time.

[0030] (2) The present invention adopts vibration control for the power take-off, which reduces the force on the gears, reduces the force damage to the gears, avoids excessive force on the gears caused by the unidirectional rotation of the drive shaft, and prolongs the life of the gears;

[0031] (3) The present invention adopts bidirectional control on the power take-off, which greatly improves the meshing success rate of the power take-off. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a cross-sectional view of a gear transmission system of a power take-off in the prior art;

[0033] Figure 2 It is the top tooth misalignment diagram;

[0034] FIG3 is a diagram of a power take-off system assembly in the prior art;

[0035] FIG. 4 is a flow chart of the power take-off engagement control in the present invention.

[0036] Meaning of the reference numerals: 1 - meshing gear sleeve; 2 - hollow shaft; 3 - extended intermediate shaft; 4 - flange; 5 - output gear shaft; 6 - input gear. DETAILED DESCRIPTION

[0037] The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and are not intended to limit the protection scope of the present invention.

[0038] like Figure 3 As shown, the present invention proposes a pure electric dump truck power take-off jitter engagement control method, including a power take-off gear transmission system, a drive motor, an AMT gearbox, a vehicle controller VCU, a drive motor controller MCU, a gearbox controller TCU, a power take-off solenoid valve, an air reservoir and a lift pump. The installation and connection relationship between the power take-off gear transmission system, the drive motor, the AMT gearbox, the vehicle controller VCU, the drive motor controller MCU, the gearbox controller TCU, the power take-off solenoid valve, the air reservoir and the lift pump is the prior art and will not be elaborated in detail in the present invention.

[0039] The vehicle controller VCU communicates with the transmission controller TCU and the drive motor controller MCU through the CAN bus. Figure 1 As shown, the power take-off inputs power through the extended intermediate shaft 3 of the gearbox, and the extended intermediate shaft 3 meshes with the input gear 6 through the meshing gear sleeve 1 to achieve power transmission. Figure 2As shown, the meshing gear sleeve 1 and the input gear 6 are meshed in the axial direction;

[0040] When the internal teeth of the meshing gear sleeve 1 and the external teeth of the input gear 6 are meshed, Figure 2 The top teeth are misaligned. If the meshing sleeve 1 is rotated counterclockwise, the speed control needs to rotate more than 1 tooth pitch to achieve meshing. The meshing method of fixed-cycle positive and negative alternating torque control can make the meshing sleeve 1 have good flutter characteristics and a small dynamic amplitude. The meshing of the meshing sleeve 1 and the input gear 6 can be quickly achieved when rotating clockwise.

[0041] like Figure 4 As shown, a method for controlling the jitter engagement of a power take-off of a pure electric dump truck comprises:

[0042] Step 1: After the vehicle controller VCU is powered on, determine the enable status of the power take-off solenoid valve:

[0043] The vehicle controller VCU determines whether the power take-off rocker switch is turned on, whether the gearbox is in N gear, whether the parking handle is pulled up, whether the vehicle speed is zero, whether the vehicle is in Ready state, and whether there are no faults above level 2 in the vehicle.

[0044] If the power take-off rocker switch is turned on, the gearbox is in N gear, the parking handle is pulled up, the vehicle speed is zero, the vehicle is in Ready state, and the vehicle has no faults above level 2, then a power take-off solenoid valve enable signal is sent to the power take-off solenoid valve enable state, otherwise a power take-off solenoid valve disable signal is sent to the power take-off solenoid valve enable state;

[0045] If the power take-off solenoid valve enabling state is the power take-off solenoid valve enabling signal, and the state machine of the pure electric dump truck is in power take-off combination, then go to step 2;

[0046] If the power take-off solenoid valve enabling state is a power take-off solenoid valve disabling signal, and the power take-off engagement state of the power take-off gear transmission system obtained by the sensor is power take-off engagement, then the state machine of the pure electric dump truck is determined to be in a power take-off fault state, otherwise, the state machine of the pure electric dump truck is determined to be in a power take-off disengagement state;

[0047] Step 2: If the power take-off engagement state of the power take-off gear transmission system obtained by the sensor is power take-off engagement, the control program determines that the state machine of the pure electric dump truck is power take-off engagement, and enters step 3;

[0048] If the power take-off engagement state of the power take-off gear transmission system obtained by the sensor is that the power take-off is not engaged and the duration of the power take-off not engaging exceeds the set engagement time t m , the control program determines that the power take-off gear transmission system is not meshed successfully, and the control program determines that the state machine of the pure electric dump truck is a power take-off failure, and enters step 4;

[0049] Step 3: If the power take-off solenoid valve enable signal is disconnected, the control program determines that the state machine of the pure electric dump truck is in power take-off disengagement;

[0050] If the power take-off solenoid valve enable signal is disconnected and the power take-off gear transmission system state obtained by the sensor is disconnected and engaged, the control program determines that the state machine of the pure electric dump truck is power take-off disengaged;

[0051] If the power take-off solenoid valve enable signal is disconnected and the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again, the duration t of the process in which the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again after the power take-off solenoid valve enable signal is disconnected is less than the set duration t i , and the power take-off combination state of the power take-off gear transmission system is power take-off meshing, then the control program determines that the state machine of the pure electric dump truck is power take-off combination;

[0052] If the power take-off solenoid valve enable signal is disconnected and the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again, the duration of this process t>t i Or if the power take-off combination state of the power take-off gear transmission system is power take-off meshing, then the state machine of the pure electric dump truck is determined to be a power take-off failure;

[0053] Step 4: Set the characteristic value F to 1; enable the drive motor; define the control program cycle of the vehicle controller VCU as t0, and define the cycle t d =λt0, λ is the alternating torque control period adjustment coefficient; in [0,1 / 2t d ] The motor is driven according to the positive constant torque F d Drive output, at [1 / 2t d , t d ] The drive motor is driven according to the negative constant torque -F d Drive output, forming a period t d The output positive and negative alternating torque achieves the purpose of shaking the drive shaft.

[0054] When setting the duration t c If the power take-off combination state of the power take-off gear transmission system is detected to be power take-off meshing, it is determined that the meshing is successful, and the state machine controlling the pure electric dump truck is power take-off combination, otherwise the state machine controlling the pure electric dump truck is power take-off failure;

[0055] A state machine for judging the pure electric dump truck according to the power take-off solenoid valve enable signal and the power take-off combination state of the power take-off gear transmission system fed back by the power take-off sensor;

[0056] The state machine of the pure electric dump truck includes power take-off disengaged, power take-off engaged, power take-off engaged, power take-off disengaged, power take-off failure and power take-off fault.

[0057] The present invention divides the meshing process of the power take-off into 6 states. When there is a problem with the meshing, the drive shaft is shaken by a fixed-period alternating torque, so that the gears can be quickly and slightly shaken to achieve smooth meshing of the power take-off, which reduces the meshing time compared to speed control. Through torque control, the force on the gears is small, reducing the force damage to the gears. The two-way control method greatly improves the success rate of the power take-off engagement.

[0058] The jitter engagement control method provided by the present invention is only a preferred embodiment. Any control method that can achieve jitter engagement by changing the jitter period or adjustment coefficient or other methods should all be within the protection scope of the present invention.

[0059] The present invention may also be applied to other products having a power take-off engagement function.

[0060] There are many models of power take-off gear transmission system, drive motor, AMT gearbox, vehicle controller VCU, drive motor controller MCU, gearbox controller TCU, power take-off solenoid valve, air reservoir, lifting pump, meshing gear sleeve 1, hollow shaft 2, extended intermediate shaft 3, flange 4, output gear shaft 5 and input gear 6. Those skilled in the art can choose appropriate models according to actual needs, and this embodiment will not give examples one by one.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the vibration engagement of a power take-off of a pure electric dump truck, characterized in that: include: Step 1: After the vehicle controller VCU is powered on, determine the enabling state of the power take-off solenoid valve; If the power take-off solenoid valve enabling state is the power take-off solenoid valve enabling signal, and the state machine of the pure electric dump truck is in power take-off combination, then go to step 2; Step 2: If the acquired power take-off engagement state of the power take-off gear transmission system is power take-off engagement, the vehicle controller VCU determines that the state machine of the pure electric dump truck is power take-off engagement, and proceeds to step 3; If the power take-off state of the power take-off gear transmission system is not engaged, and the duration of the power take-off not engaged exceeds the set engagement time t m , the vehicle controller VCU determines that the power take-off gear transmission system is not engaged successfully, and determines that the state machine of the pure electric dump truck is a power take-off failure, and enters step 4; Step 3: If the power take-off solenoid valve enable signal is disconnected, the vehicle controller VCU determines that the state machine of the pure electric dump truck is in power take-off disengagement; If the power take-off solenoid valve enable signal is disconnected, and the acquired power take-off gear transmission system state is disconnected and engaged, the vehicle controller VCU determines that the state machine of the pure electric dump truck is power take-off disengaged; If the power take-off solenoid valve enable signal is disconnected and the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again, the duration t of the process in which the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again after the power take-off solenoid valve enable signal is disconnected is less than the set duration t i , and the power take-off combination state of the power take-off gear transmission system is power take-off meshing, then the vehicle controller VCU determines that the state machine of the pure electric dump truck is power take-off combination; If the power take-off solenoid valve enable signal is disconnected and the power take-off solenoid valve enable state is changed to the power take-off solenoid valve enable signal again, the duration of this process t>t i Or if the power take-off combination state of the power take-off gear transmission system is power take-off engagement, the vehicle controller VCU determines that the state machine of the pure electric dump truck is a power take-off fault; Step 4, set the eigenvalue F to 1; The drive motor enables the drive; Define the control program cycle of the vehicle controller VCU as t0, and define the cycle t d =λt0, λ is the alternating torque control period adjustment coefficient; In [0,1 / 2t d ] The motor is driven according to the positive constant torque F d Drive output, at [1 / 2t d , t d ] The drive motor follows the negative constant torque -F d Drive output, forming a period t d The output positive and negative alternating torque.

2. A pure electric dump truck power take-off vibration engagement control method according to claim 1, characterized in that: Step 1: After the vehicle controller VCU is powered on, determine the enable status of the power take-off solenoid valve, which can be achieved through the following steps: The vehicle controller VCU determines whether the pure electric dump truck meets the set conditions. If the pure electric dump truck meets the set conditions, it sends a power take-off solenoid valve enable signal to the power take-off solenoid valve enable state, otherwise it sends a power take-off solenoid valve disable signal to the power take-off solenoid valve enable state.

3. A pure electric dump truck power take-off vibration engagement control method according to claim 2, characterized in that: The setting conditions include whether the power take-off rocker switch is turned on, whether the gearbox is in N gear, whether the parking handle is pulled up, whether the vehicle speed is zero, whether the vehicle is in Ready state, and whether the vehicle has no faults above level 2; Meeting the set conditions includes the power take-off rocker switch being turned on, the transmission gear being in N gear, the parking handle being pulled up, the vehicle speed being zero, the vehicle being in Ready state, and the vehicle having no level 2 or higher faults.

4. A pure electric dump truck power take-off vibration engagement control method according to claim 2, characterized in that: In step 1, if the power take-off solenoid valve enable state is the power take-off solenoid valve disable signal, and the acquired power take-off engagement state of the power take-off gear transmission system is power take-off engagement, then the state machine of the pure electric dump truck is determined to be in a power take-off fault state, otherwise the state machine of the pure electric dump truck is determined to be in a power take-off disengagement state.

5. The method for controlling the jitter engagement of a power take-off of a pure electric dump truck according to claim 1, characterized in that: Step 4: According to the period t d After the positive and negative alternating torque is output, when the set time t c If it is detected that the power take-off engagement state of the power take-off gear transmission system is power take-off meshing, it is determined that the meshing is successful, and the state machine controlling the pure electric dump truck is power take-off engagement; otherwise, the state machine controlling the pure electric dump truck is power take-off failure.

6. A pure electric dump truck power take-off vibration engagement control method according to claim 1, characterized in that: The state machine of the pure electric dump truck includes power take-off disengaged, power take-off engaged, power take-off engaged, power take-off disengaged, power take-off failure and power take-off fault.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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