A tractor efficiency and torque monitoring method, device, equipment and medium

Abstract

The application relates to the field of tractor transmission monitoring technology and provides a tractor efficiency and torque monitoring method, device, equipment and medium, which comprises the following steps: acquiring engine output parameters, part design parameters, system transmission paths, gear information and working condition parameters of a tractor; establishing a gear transmission model and a bearing transmission model according to the system transmission paths of the tractor, and determining a tractor system transmission model according to the gear transmission model and the bearing transmission model; inputting the engine output parameters, the part design parameters and the gear information into the tractor system transmission model to obtain gear transmission target rotating speed and bearing transmission target torque; coupling the target rotating speed and the bearing transmission target torque with the tractor system transmission model to obtain a tractor transmission efficiency analysis model, and inputting working condition information into the tractor efficiency analysis model to monitor the distribution of the transmission system efficiency, gear rotating speed and transmission shaft torque of the tractor, so that the calculation time is shortened and the calculation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of tractor transmission monitoring technology, specifically to a method, device, equipment, and medium for monitoring tractor efficiency and torque. Background Technology

[0002] As the core of agricultural equipment, the technological development level of tractors reflects a country's level of agricultural mechanization and modernization. With my country's rapid urbanization, the migration of rural labor, increasing energy scarcity, and worsening environmental pollution, the demand for intelligent, low-carbon agricultural machinery in modern agriculture is constantly rising.

[0003] Since agricultural tractors, in addition to their walking function, also need to haul and drive other supporting agricultural implements, using a reasonable power distribution strategy under different operating conditions will optimize tractor efficiency and reduce energy consumption, thus achieving low-carbon tractor operation. Currently, the detection of tractor power flow and efficiency parameters suffers from problems such as being unmeasurable, inaccurate, and operating under limited conditions. This restricts the development of tractor power distribution strategies and the optimization design of tractors.

[0004] Therefore, how to accurately monitor tractor efficiency under different operating conditions is an urgent problem to be solved. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a method, device, equipment and medium for monitoring tractor efficiency and torque, so as to solve the problem of how to accurately monitor tractor efficiency under different working conditions in the prior art.

[0006] To achieve the above and other related objectives, this application provides a method for monitoring tractor efficiency and torque, the method comprising:

[0007] Obtain the tractor's engine output parameters, component design parameters, system transmission path, gear information, and operating parameters;

[0008] Based on the transmission path of the tractor system, a gear transmission model and a bearing transmission model are established, and the transmission model of the tractor system is determined based on the gear transmission model and the bearing transmission model.

[0009] The engine output parameters, component design parameters, and gear information are input into the tractor system transmission model to obtain the target speed of gear transmission and the target torque of bearing transmission.

[0010] The target speed and bearing transmission target torque are coupled with the tractor system transmission model to obtain the tractor transmission efficiency analysis model. The operating condition information is then input into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque.

[0011] In one embodiment of this application, the part design parameters include the tractor part inertia and / or the tractor part stiffness;

[0012] The gear information includes the number of driving gears and driven gears corresponding to different gears;

[0013] The operating condition information includes the speed and torque of the drive gear.

[0014] In one embodiment of this application, the operating condition information is input into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque, including:

[0015] The current speed and torque of the tractor's drive gear are input into the tractor efficiency analysis model, and the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque within a preset time period are monitored based on the current speed and torque of the drive gear; or,

[0016] The real-time speed and torque of the tractor's drive gear are input into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque in real time.

[0017] In one embodiment of this application, the tractor system transmission path includes a driving gear and a driven gear;

[0018] The gear transmission model includes a first fixed-axis gear transmission model and a second fixed-axis gear transmission model.

[0019] The representation of the first fixed-axis gear transmission model includes: Wherein, ω1 is the angular velocity of the shaft when the active transmission gear rotates, ω2 is the angular velocity of the shaft when the passive transmission gear rotates, T1 is the torque output when the active transmission gear rotates, T2 is the torque output when the passive transmission gear rotates, R is the radius of the active transmission gear, F is the meshing force at the meshing point of the active transmission gear, and V is the velocity at the meshing point of the active transmission gear.

[0020] The representation methods of the second fixed-axis gear transmission model include:

[0021] In one embodiment of this application, the gear transmission model includes a planetary gear train transmission model, and the representation of the planetary gear train transmission model includes:

[0022] Where, ω c ω is the rotational speed of the planetary carrier. r ω is the rotational speed of the gear ring. sR is the rotational speed of the sun gear, R is the radius of the ring gear, r is the radius of the sun gear, and T is the rotational speed of the sun gear. c For planetary carrier torque, T r T is the gear ring torque. s This refers to the torque of the sun gear.

[0023] In one embodiment of this application, the bearing transmission model is represented in the following ways:

[0024] Where T sc K is the static friction torque. visc is the coefficient of viscous friction.

[0025] In one embodiment of this application, after coupling the target rotational speed and bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, the method further includes:

[0026] The tractor transmission efficiency analysis model is transmitted to the visualization interface module through a pre-configured model interface;

[0027] The visualization interface module is used to visualize and display the tractor transmission efficiency analysis model and initialize its parameters to obtain the initial tractor transmission efficiency analysis model.

[0028] The initial tractor transmission efficiency analysis model is used to monitor the distribution of tractor transmission system efficiency, gear speed and drive shaft torque after obtaining the operating condition information, and to visualize the detection results.

[0029] In one embodiment of this application, a tractor efficiency and torque monitoring device is also provided, the device comprising:

[0030] The information acquisition module is used to acquire the tractor's engine output parameters, part design parameters, system transmission path, gear information, and operating parameters.

[0031] The tractor system transmission model construction module is used to establish a gear transmission model and a bearing transmission model based on the transmission path of the tractor system, and to determine the tractor system transmission model based on the gear transmission model and the bearing transmission model.

[0032] The target data determination module is used to input the engine output parameters, component design parameters and gear information into the tractor system transmission model to obtain the target speed of gear transmission and the target torque of bearing transmission.

[0033] The monitoring module is used to couple the target speed and bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, and input the operating condition information into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed and drive shaft torque.

[0034] In one embodiment of this application, an electronic device is also provided, the electronic device comprising:

[0035] One or more processors;

[0036] A storage device for storing one or more programs, which, when executed by one or more processors, enable the electronic device to implement the tractor efficiency and torque monitoring method as described above.

[0037] In one embodiment of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a computer's processor, causes the computer to perform the tractor efficiency and torque monitoring method as described above.

[0038] The beneficial effects of this invention are:

[0039] First, the engine output parameters, component design parameters, system transmission path, gear information, and operating condition parameters of the tractor are obtained. Then, based on the tractor system transmission path, a gear transmission model and a bearing transmission model are established, and the tractor system transmission model is determined based on the gear transmission model and the bearing transmission model. Next, the engine output parameters, component design parameters, and gear information are input into the tractor system transmission model to obtain the target speed of the gear transmission and the target torque of the bearing transmission. Finally, the target speed and the target torque of the bearing transmission are coupled with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, and the operating condition information is input into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque. In this invention, the transmission methods of force, energy, and power between parts in a traditional tractor transmission system are abstracted into gear transmission and bearing transmission models through the system transmission path. The target speed of gear transmission and the target torque of bearing transmission are combined with the tractor system transmission model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque. This simplifies the calculation process of the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque, shortens the calculation time, and improves the calculation efficiency. In addition, by monitoring the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque through operating condition information, the accuracy of the monitoring results is improved.

[0040] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0042] Figure 1 This is a schematic diagram illustrating the implementation environment of a tractor efficiency and torque monitoring method, as shown in an exemplary embodiment of this application.

[0043] Figure 2 This is a flowchart illustrating a tractor efficiency and torque monitoring method according to an exemplary embodiment of this application;

[0044] Figure 3 This is a schematic diagram of a first fixed-axis gear transmission model shown in an exemplary embodiment of this application;

[0045] Figure 4 This is a schematic diagram of a second fixed-axis gear transmission model shown in an exemplary embodiment of this application;

[0046] Figure 5 This is a schematic diagram of a classic planetary gear train model illustrated in an exemplary embodiment of this application;

[0047] Figure 6 This is a schematic diagram illustrating the visual interface development process of an exemplary embodiment of this application;

[0048] Figure 7 This is a schematic diagram illustrating a data packaging process in an exemplary embodiment of this application;

[0049] Figure 8 This is a block diagram illustrating a tractor efficiency and torque monitoring device as shown in an exemplary embodiment of this application;

[0050] Figure 9 A schematic diagram of the structure of a computer system suitable for an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0051] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0053] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0054] First, it should be noted that agricultural tractors, as the most important type of agricultural power machinery, face a variety of operations, including towing, suspending, and driving various supporting agricultural implements to complete a wide range of farmland operations such as plowing, harrowing, sowing, and harvesting, as well as transportation operations and fixed-site operations. The operating environment is complex, the types of operations are numerous, and the workload is variable. Therefore, improving the intelligence, automation, and greening of agricultural tractors is of paramount importance for promoting agricultural modernization, enhancing agricultural intelligence, and reducing carbon emissions from agricultural machinery.

[0055] Uncertainty in operating parameters leads to a lack of accuracy in monitoring the efficiency of agricultural tractors. Due to my country's complex terrain and diverse agricultural implements, the operating conditions of tractors are random and varied, resulting in complexity in the input parameters of power flow analysis systems. Current methods to address this issue include experimental methods, computational methods, and numerical simulation. Experimental methods involve constructing a real-world working environment for an agricultural tractor and conducting whole-machine tests to obtain output results at different power output points. While this method can obtain realistic power data, it cannot obtain the power and efficiency parameters of each individual component. Simulating the power output of the tractor under all operating conditions is extremely costly. Computational methods calculate the power and efficiency of each component separately according to national or industry standards. This method requires a simplified tractor model, and the calculated results often deviate significantly from actual results. Numerical analysis methods establish numerical simulation models of individual components, which can be used to simulate the operation of single components. However, a complete tractor system requires numerous digital models, leading to excessively high computational costs.

[0056] The difficulty in obtaining parameters for tractor components can also lead to a lack of accuracy in tractor efficiency monitoring. Agricultural tractor power and transmission components are primarily sourced through procurement, and aside from nameplate information, the acquisition of component operating parameters mainly relies on sensor measurements. However, sensors and data acquisition systems suffer from high costs and easily diminished sensitivity; the complex and harsh operating conditions of tractors easily damage sensors, resulting in low signal-to-noise ratios in the output data; and the compact internal structure of tractors makes it impossible to place sensors, such as in the gearbox.

[0057] Figure 1 This is a schematic diagram illustrating the implementation environment of a tractor efficiency and torque monitoring method, as shown in an exemplary embodiment of this application. Figure 1 As shown, the monitoring terminal 101 is connected to the server 102 and the information storage terminal 103. The monitoring terminal 101 acquires the engine output parameters, part design parameters, system transmission path, gear information and operating condition parameters pre-stored in the server 102 and / or the information storage terminal 103, and then inputs them into the model to monitor the distribution of tractor transmission system efficiency, gear speed and drive shaft torque.

[0058] in, Figure 1 The monitoring terminal 101 shown may be, for example, a desktop computer, tablet computer, laptop computer, or any other terminal device capable of information processing and model simulation, but is not limited thereto. Figure 1 The server 102 shown can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides cloud computing services; there are no restrictions on this.

[0059] like Figure 1As shown, the tractor efficiency and torque monitoring method in this embodiment can, for example, be implemented through monitoring terminal 101 in the following steps: acquiring the tractor's engine output parameters, component design parameters, system transmission path, gear information, and operating condition parameters; establishing a gear transmission model and a bearing transmission model based on the tractor system transmission path, and determining the tractor system transmission model based on the gear transmission model and the bearing transmission model; inputting the engine output parameters, component design parameters, and gear information into the tractor system transmission model to obtain the gear transmission target speed and the bearing transmission target torque; coupling the target speed and the bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, and inputting the operating condition information into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque.

[0060] To address the problem of accurately monitoring tractor efficiency under different operating conditions in the prior art, embodiments of this application propose a tractor efficiency and torque monitoring method, a tractor efficiency and torque monitoring device, an electronic device, a computer-readable storage medium, and a computer program product, which will be described in detail below.

[0061] Please see Figure 2 , Figure 2 This is a flowchart illustrating a tractor efficiency and torque monitoring method according to an exemplary embodiment of this application, which can be applied to... Figure 1 The implementation environment is shown. It should be understood that this method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0062] like Figure 2 As shown, in an exemplary embodiment, the tractor efficiency and torque monitoring method includes at least steps S210 to S240, which are described in detail below:

[0063] In step S210, the engine output parameters, part design parameters, system transmission path, gear information and operating parameters of the tractor are obtained.

[0064] For example, the part design parameters include the tractor part's inertia and / or stiffness; the gear information includes the number of driving gears and driven gears corresponding to different gears; the operating condition information includes the driving gear speed and driving gear torque. Additionally, the operating condition information includes offline operating condition information and online operating condition information. Offline operating condition information uses the driving gear speed and torque acquired at the current moment, maintaining a preset time period, to monitor efficiency and torque offline; online operating condition information acquires the driving gear speed and torque in real time for real-time monitoring of efficiency and torque.

[0065] In step S220, a gear transmission model and a bearing transmission model are established based on the transmission path of the tractor system, and the transmission model of the tractor system is determined based on the gear transmission model and the bearing transmission model.

[0066] For example, after establishing the gear transmission model and the bearing transmission model, the transmission model of the tractor system is determined based on the gear transmission model and the bearing transmission model, according to the transmission path of the tractor system, and in combination with factors such as the tractor's clutch damper, main gearbox, auxiliary gearbox, hydraulic steering system, and bearing force.

[0067] In step S230, the engine output parameters, component design parameters, and gear information are input into the tractor system transmission model to obtain the target speed of gear transmission and the target torque of bearing transmission.

[0068] For example, the engine output parameters, part design parameters and gear information are input into the tractor system transmission model. Each bearing needs to be given the radial and axial force load it bears. The axial and radial forces collected from each pair of gears on each bearing are first calculated to obtain the resultant force, and then evenly distributed to each bearing to obtain the target speed of gear transmission and the target torque of bearing transmission.

[0069] In step S240, the target speed and bearing transmission target torque are coupled with the tractor system transmission model to obtain the tractor transmission efficiency analysis model. The operating condition information is then input into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and transmission shaft torque.

[0070] For example, the target speed and bearing transmission target torque are coupled with the tractor system transmission model to obtain the tractor transmission efficiency analysis model. Then, the above offline and online operating condition information is input into the tractor transmission efficiency analysis model to perform offline and online monitoring of the tractor transmission system efficiency distribution, gear speed and drive shaft torque.

[0071] As can be seen from steps S210 to S240 above, the solution proposed in this embodiment abstracts the transmission methods of force, energy, and power between parts in a traditional tractor transmission system into gear transmission models and bearing transmission models through the system transmission path. It combines the target speed of gear transmission and the target torque of bearing transmission with the tractor system transmission model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque. This simplifies the calculation process of the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque, shortens the calculation time, and improves the calculation efficiency. In addition, by monitoring the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque through working condition information, the accuracy of the monitoring results is improved.

[0072] In one embodiment of this application, Figure 2 The step S40 shown, which involves inputting the operating condition information into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque, includes the following steps:

[0073] The current speed and torque of the tractor's drive gear are input into the tractor efficiency analysis model, and the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque within a preset time period are monitored based on the current speed and torque of the drive gear; or,

[0074] The real-time speed and torque of the tractor's drive gear are input into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque in real time.

[0075] Therefore, it can be seen that by monitoring the distribution of tractor transmission system efficiency, gear speed and drive shaft torque within a preset time period using the current drive gear speed and torque, monitoring can be performed offline based on the input working condition information; real-time monitoring of the drive gear speed and torque further improves the accuracy of the monitoring results.

[0076] In one embodiment of this application, the tractor system transmission path includes a driving gear and a driven gear;

[0077] The gear transmission model includes a first fixed-axis gear transmission model and a second fixed-axis gear transmission model.

[0078] The representation methods for the first fixed-axis gear transmission model include: Wherein, ω1 is the angular velocity of the shaft when the active transmission gear rotates, ω2 is the angular velocity of the shaft when the passive transmission gear rotates, T1 is the torque output when the active transmission gear rotates, T2 is the torque output when the passive transmission gear rotates, R is the radius of the active transmission gear, F is the meshing force at the meshing point of the active transmission gear, and V is the velocity at the meshing point of the active transmission gear.

[0079] The representation methods of the second fixed-axis gear transmission model include:

[0080] It should be noted that gear transmission refers to the transmission of motion and power through gear pairs. It is the most widely used mechanical transmission method in transmission systems. Gears can be divided into two categories: fixed-axis gear transmission and planetary gear transmission. The combination of planetary gears and fixed-axis gears is a common transmission method used in tractors. When fixed-axis gears are running, the position of each gear axis relative to the base frame is fixed.

[0081] In this embodiment, digital models of the transmission ratio of a fixed-axis gear pair are established using velocity boundary and gear force as boundary conditions, respectively, to provide a basis for calculating the transmission ratio for different input parameters. Specifically, the first fixed-axis gear transmission model is a transmission model with velocity as the boundary condition, and the second fixed-axis gear transmission model is a transmission model with force as the boundary condition.

[0082] See Figure 3 , Figure 3 This is a schematic diagram of a first fixed-axis gear transmission model shown in an exemplary embodiment of this application. Under velocity boundary conditions, the rotational speed of the shaft when the driving gear rotates is equal to the rotational speed of the shaft when the driven gear rotates, that is... Figure 3 When the driving gear rotates, the angular velocity of shaft 2 is the same as the angular velocity of shaft 3 when the driven gear rotates. The meshing point of the driving gear (i.e., the...) is calculated from the shaft rotation speed. Figure 3 The speed of the midpoint 1) is calculated, and the torque output when the active drive gear rotates is calculated based on the meshing force at the meshing point on the input active drive gear.

[0083] See Figure 4 , Figure 4 This is a schematic diagram of a second fixed-axis gear transmission model illustrated in an exemplary embodiment of this application. When the force boundary is a condition, the meshing force is calculated based on the input-output torque difference of the transmission shaft to describe the fixed-axis gear transmission relationship.

[0084] Therefore, it can be seen that, through the first and second fixed-axis gear transmission models described above, the relationship between the gear meshing force and the torque difference on the input and output shafts can be directly constructed according to different input parameters. When multiple gears form a meshing gear system, as long as the speed of one gear is determined, the speeds of the other gears can be calculated based on the transmission ratio. Therefore, there is only one speed element in each row of gears, but there can be multiple force elements.

[0085] In another embodiment of this application, the following gear meshing parameters may be considered when constructing the first fixed-axis gear transmission model and the second fixed-axis gear transmission model: the transmission ratio is calculated according to the geometric parameters of the gear model using a simple numerical ratio model, with a transmission efficiency of 100%; fixed or variable transmission efficiency is considered based on the simple numerical ratio model; the contact loss of the gear is calculated based on the gear material and geometric parameters; the oil churning loss is calculated based on the gear geometric parameters, oil properties, and immersion depth; and the contact force is calculated based on the gear material, geometric parameters, and backlash.

[0086] In one embodiment of this application, the gear transmission model includes a planetary gear train transmission model, and the representation of the planetary gear train transmission model includes:

[0087] Where, ω c ω is the rotational speed of the planetary carrier. r ω is the rotational speed of the gear ring. s R is the rotational speed of the sun gear, R is the radius of the ring gear, r is the radius of the sun gear, and T is the rotational speed of the sun gear. c For planetary carrier torque, T r T is the gear ring torque. s This refers to the torque of the sun gear.

[0088] For example, planetary gears are also a major transmission component in agricultural machinery gearboxes, consisting of a sun gear, planet gears, and a planet carrier. See also Figure 5 , Figure 5 This is a schematic diagram illustrating a classic planetary gear train model, as shown in an exemplary embodiment of this application. Figure 5 The classic planetary gear train model shown illustrates how to express a planetary gear transmission model. Knowing the rotational speeds of any two of the three components (sun gear, planet carrier internal gear ring), the rotational speed of the third component can be obtained from the planetary gear transmission model. Similarly, knowing the torque of any one component allows calculation of the forces acting on the other components. Therefore, when using the planetary gear transmission model, it is required that velocity boundary conditions be provided for any two of the three components (sun gear, planet carrier internal gear ring), and force boundary conditions be provided for the third component.

[0089] In another embodiment of this application, the gear transmission model also includes a semi-planetary gear train transmission model. The semi-planetary gear train transmission model is a complete planetary gear train that is divided into two parts: the sun gear and the planet carrier, and the planet carrier and the ring gear. This increases the flexibility of the model and is very suitable for modeling multi-layered complex planetary gear trains.

[0090] In one embodiment of this application, the bearing transmission model is represented in the following ways:

[0091] Where T sc K is the static friction torque. visc is the coefficient of viscous friction.

[0092] It should be noted that bearing components are mainly used to estimate torque transmission losses. Based on whether the outer ring rotates, they can be divided into two main categories: absolutely moving bearings and relatively moving bearings. Relative moving bearings have mechanical ports on their outer rings. Absolutely moving and relatively moving bearings can be further divided into simple bearings, bearings considering temperature effects, bearings considering external load variations, and bearings considering both temperature and external load variations. Torque loss in bearings is caused by friction between the shaft and the bearing, as well as the relative motion between internal components. Lubrication conditions have a significant impact on bearing torque loss. It forms an oil film between rolling elements, separating the originally contacting surfaces, reducing friction, and providing excellent surface protection. This embodiment uses a simple bearing transmission model to describe bearing torque loss.

[0093] In one embodiment of this application, the engine output parameters may include, for example, the transmission ratio of each gear, the efficiency of each gear, the equivalent inertia of the input shaft, intermediate shaft, and output shaft, the final reduction ratio and efficiency, the final reduction efficiency, and the torque value corresponding to the engine speed under different generator loads. Component design parameters may include, for example, vehicle weight, static and dynamic radii of tires, tire inertia, resistance characteristics or bench resistance coefficient at different vehicle speeds, and the type and axial mounting position of each support shaft of the transmission and main reducer. Additionally, component design parameters may include the number of teeth on gears, helical gear inclination angle, normal pressure angle, tangential pressure angle, transmission ratio, pitch ring diameter, moment of inertia, contact stiffness, and gear backlash. Component design parameters may also include the number of bearing housings, axial diameter, bearing width, shaft diameter, and friction factor at different speeds for the needle roller bearings between the unloaded bearings and the shaft. Component design parameters may also include the tooth width, tooth tip diameter, tooth root diameter, oil immersion width, normal horizontal and vertical alignment, and center distance corresponding to churning losses. Furthermore, component design parameters may include the displacement, mechanical efficiency, and volumetric efficiency of the hydraulic pump, as well as the pressure-flow-rate opening characteristics of valves.

[0094] In one embodiment of this application, after coupling the target rotational speed and bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, the following steps are further included:

[0095] The tractor transmission efficiency analysis model is transmitted to the visualization interface module through a pre-configured model interface;

[0096] The visualization interface module is used to visualize and display the tractor transmission efficiency analysis model and initialize its parameters to obtain the initial tractor transmission efficiency analysis model.

[0097] The initial tractor transmission efficiency analysis model is used to monitor the distribution of tractor transmission system efficiency, gear speed and drive shaft torque after obtaining the operating condition information, and to visualize the detection results.

[0098] For example, after obtaining the tractor transmission efficiency analysis model, the interface development should mainly refer to the following interface development process. The first step is initialization, which includes the display of default parameters in the interface and the initialization of the model interface. After initialization, parameter values ​​can be set in the parameter interface. The software will then pass the parameters to the model, perform simulation monitoring using the passed-in model, and finally plot the monitoring results on the visualization interface.

[0099] See Figure 6 , Figure 6 This is a schematic diagram illustrating the development process of a visual interface in an exemplary embodiment of this application. After initialization, the parameters to be passed into the model are checked for correctness. If there are no obvious format errors or content errors in the parameters, the parameters are input into the initial tractor transmission efficiency analysis model for monitoring and simulation. Finally, the simulation monitoring results are visualized.

[0100] For example, the development process of a visual interface may include the following steps:

[0101] First, create a project in Eric6 (Eric6 is an integrated development environment for the Python programming language). The project consists of two parts: User Interface Design (UI) and the implementation of UI functionality.

[0102] Then, the UI is built in the QT (an application development framework) graphical interface. The interface drawn in QT cannot be directly called by code; the UI file needs to be compiled into interface code in a specific language. In this embodiment, the UI file is compiled to generate a UI interface code file.

[0103] Running the UI code file directly will only generate a static interface. The interface functionality needs to be implemented using Python. Python allows you to combine controls and functions within the interface, integrating interface operations with functionality. The main functions developed in Python include:

[0104] (1) Open the interface to display the default parameters (the default parameters come from the digital model). This function is implemented by two main functions: get the value of a parameter in the digital model and display it in the corresponding parameter box.

[0105] (2) Once the parameters in the interface change, the changed parameters are passed to the model. This function is implemented by: obtaining the parameter change signal and using the txtChanged function to obtain the parameter change status; and assigning the changed parameters to the digital model. A custom self.OutputsFromParams function is defined, which assigns all the parameters in the existing interface to the model. The parameters in the interface are obtained using the parameter box name.text() function, and the parameter assignment to the digital model is implemented using the AMESetGlobalParameterValue() function.

[0106] (3) Click the Run Simulation button to run the simulation. This function is implemented by the following main functions: using the slot function to obtain the click operation signal; and using the custom self.run to implement the simulation.

[0107] (4) After the simulation starts, a pop-up window will indicate that the simulation is running. After the simulation is completed, close the pop-up window and save and close the model. This function is implemented by the following main functions: dialog box generation and closing function QmessageBox(); digital model running function AMERunSimulation(); digital model saving function AMESaveCircuit; digital model closing function AMECloseCircuit().

[0108] (5) Draw the result graph. This function is implemented by the following main functions: plotting function. In this project, the matplotlib plotting package is used to draw the result; put the graph into the interface. This function is implemented by the addwidget() function.

[0109] (6) Result saving and loading. This function is implemented by the following main functions: The result file is generated using the function text_Create(), which uses QfileDialog to implement the Windows file browser function and selects a specific location to save the result file; The result file reading function is implemented using the read_txt_high() function, which reads data line by line and stores the data as an array, and then uses matplotlib to plot the read results on the interface.

[0110] The aforementioned interface development environment uses software such as Python, QT, and Eric. Python further utilizes packages such as Matplotlib, data processing packages, and interface beautification packages. The development environment is extremely complex, and it cannot be guaranteed that every PC using this interface will have the same environment as the development environment. Therefore, the completed interface must be packaged into an .exe executable file for convenient subsequent use.

[0111] See Figure 7 , Figure 7 This is a schematic diagram illustrating a data packaging process in an exemplary embodiment of this application. Figure 7 As can be seen, the packaging process is not linear and requires repeated iterations and testing to complete. This project uses Nuitka (a data packaging tool) for packaging, which has the advantages of a clear process and ensures successful packaging. The packaging code statement is: `nuitka --output-dir=o main.py`. More features can be added by referring to the Nuitka documentation. After packaging, a folder containing an .exe file is obtained. This packaged folder, along with the model folder, resource folder, etc., is then packaged into a compressed file for interface distribution. After distributing the interface compressed file, the interface usage process is as follows: unzip the file; set the environment variable `TEST` to point to the unzipped folder; run `main.exe` in the folder (or create a desktop shortcut and double-click it to run).

[0112] Figure 8 This is a block diagram illustrating a tractor efficiency and torque monitoring device according to an exemplary embodiment of this application. The device can be applied to… Figure 1 The implementation environment shown is not limited to this embodiment. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0113] like Figure 8 As shown, this exemplary tractor efficiency and torque monitoring device includes:

[0114] The information acquisition module 801 is used to acquire the engine output parameters, part design parameters, system transmission path, gear information and operating parameters of the tractor.

[0115] The tractor system transmission model construction module 802 is used to establish a gear transmission model and a bearing transmission model based on the transmission path of the tractor system, and to determine the tractor system transmission model based on the gear transmission model and the bearing transmission model.

[0116] The target data determination module 803 is used to input the engine output parameters, part design parameters and gear information into the tractor system transmission model to obtain the gear transmission target speed and bearing transmission target torque.

[0117] The monitoring module 804 is used to couple the target speed and bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, and input the working condition information into the tractor efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed and transmission shaft torque.

[0118] In this exemplary tractor efficiency and torque monitoring device, the transmission methods of force, energy, and power between parts in a traditional tractor transmission system are abstracted into gear transmission models and bearing transmission models through the system transmission path. The target speed of gear transmission and the target torque of bearing transmission are combined with the tractor system transmission model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque. This simplifies the calculation process of the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque, shortens the calculation time, and improves the calculation efficiency. In addition, by monitoring the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque through operating condition information, the accuracy of the monitoring results is improved.

[0119] It should be noted that the tractor efficiency and torque monitoring device provided in the above embodiments and the tractor efficiency and torque monitoring method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the tractor efficiency and torque monitoring device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0120] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the tractor efficiency and torque monitoring methods provided in the various embodiments described above.

[0121] Figure 9A schematic diagram of the structure of a computer system suitable for an electronic device according to an embodiment of this application is shown. Figure 9 The computer system 900 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0122] like Figure 9 As shown, the computer system 900 includes a Central Processing Unit (CPU) 901, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 902 or programs loaded from Storage Unit 908 into Random Access Memory (RAM) 903, such as performing the methods described in the above embodiments. The RAM 903 also stores various programs and data required for system operation. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904. An Input / Output (I / O) interface 905 is also connected to the bus 904.

[0123] The following components are connected to I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to I / O interface 905 as needed. Removable media 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 910 as needed so that computer programs read from them can be installed into storage section 908 as needed.

[0124] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit (CPU) 901, it performs various functions defined in the system of this application.

[0125] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0126] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0127] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0128] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the tractor efficiency and torque monitoring method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0129] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the tractor efficiency and torque monitoring methods provided in the various embodiments described above.

[0130] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for monitoring tractor efficiency and torque, characterized in that, The method includes: Obtain the tractor's engine output parameters, component design parameters, system transmission path, gear information, and operating parameters; Based on the transmission path of the tractor system, a gear transmission model and a bearing transmission model are established, and the transmission model of the tractor system is determined based on the gear transmission model and the bearing transmission model. The engine output parameters, component design parameters, and gear information are input into the tractor system transmission model to obtain the target speed of gear transmission and the target torque of bearing transmission. The target speed and bearing transmission target torque are coupled with the tractor system transmission model to obtain the tractor transmission efficiency analysis model. The operating parameters are then input into the tractor transmission efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque.

2. The tractor efficiency and torque monitoring method according to claim 1, characterized in that: The design parameters of the parts include the inertia of the tractor parts and / or the stiffness of the tractor parts; The gear information includes the number of driving gears and driven gears corresponding to different gears; The operating parameters include the speed and torque of the drive gear.

3. The tractor efficiency and torque monitoring method according to claim 2, characterized in that, The operating parameters are input into the tractor transmission efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque, including: The current speed and torque of the tractor's drive gear are input into the tractor transmission efficiency analysis model, and the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque within a preset time period are monitored based on the current speed and torque of the drive gear; or, The real-time speed and torque of the tractor's drive gear are input into the tractor transmission efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed, and drive shaft torque in real time.

4. The tractor efficiency and torque monitoring method according to claim 1, characterized in that: The tractor system transmission path includes a driving gear and a passive gear. The gear transmission model includes a first fixed-axis gear transmission model and a second fixed-axis gear transmission model. The representation of the first fixed-axis gear transmission model includes: ,in, Let be the angular velocity of the shaft when the drive gear rotates. The angular velocity of the shaft when the passive transmission gear rotates is [value missing]. The torque output when the drive gear rotates is [missing information]. The torque output when the passive transmission gear rotates is [missing information]. Let be the radius of the driving gear. The meshing force at the meshing point on the drive gear is... The velocity of the meshing point on the drive gear; The representation methods of the second fixed-axis gear transmission model include: .

5. The tractor efficiency and torque monitoring method according to claim 1, characterized in that, The gear transmission model includes a planetary gear train transmission model, and the representation of the planetary gear train transmission model includes: ,in, For the planetary carrier rotation speed, The rotational speed of the gear ring is... The rotational speed of the sun gear. Where is the radius of the gear ring. The radius of the sun gear, For planetary carrier torque, For gear ring torque, This refers to the torque of the sun gear.

6. The tractor efficiency and torque monitoring method according to claim 1, characterized in that, The representation of the bearing transmission model includes: ,in This is the static friction torque. is the coefficient of viscous friction.

7. The tractor efficiency and torque monitoring method according to claim 1, characterized in that, After coupling the target rotational speed and bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, the process further includes: The tractor transmission efficiency analysis model is transmitted to the visualization interface module through a pre-configured model interface; The visualization interface module is used to visualize and display the tractor transmission efficiency analysis model and initialize its parameters to obtain the initial tractor transmission efficiency analysis model. The initial tractor transmission efficiency analysis model is used to monitor the distribution of tractor transmission system efficiency, gear speed and drive shaft torque after obtaining the operating parameters, and to visualize the detection results.

8. A tractor efficiency and torque monitoring device, characterized in that, The device includes: The information acquisition module is used to acquire the tractor's engine output parameters, part design parameters, system transmission path, gear information, and operating parameters. The tractor system transmission model construction module is used to establish a gear transmission model and a bearing transmission model based on the transmission path of the tractor system, and to determine the tractor system transmission model based on the gear transmission model and the bearing transmission model. The target data determination module is used to input the engine output parameters, component design parameters and gear information into the tractor system transmission model to obtain the target speed of gear transmission and the target torque of bearing transmission. The monitoring module is used to couple the target speed and bearing transmission target torque with the tractor system transmission model to obtain the tractor transmission efficiency analysis model, and input the operating parameters into the tractor transmission efficiency analysis model to monitor the distribution of tractor transmission system efficiency, gear speed and drive shaft torque.

9. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the tractor efficiency and torque monitoring method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the tractor efficiency and torque monitoring method as described in any one of claims 1 to 7.

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