A method for protecting a reduction gear during a shift-off starting process of an unmanned tracked vehicle

Abstract

The application discloses a kind of reduction gearbox protection methods of unmanned tracked vehicle gear shifting starting process, comprising the following steps: obtaining vehicle parameters;Vehicle running state is judged according to the vehicle parameters, and the vehicle running state includes stop state and running state;Control instruction is obtained;Threshold parameter table is configured;When the vehicle running state is the stop state, starting control operation is executed according to the control instruction and the threshold parameter table;When the vehicle running state is the running state, gear shifting control operation is executed according to the control instruction and the threshold parameter table;Whether it is starting phase or gear shifting phase, by the control method proposed in the application, the damage of torque mutation to reduction gearbox can be effectively reduced or even eliminated, the service life of reduction gearbox is improved, the technical requirements are better met, the driving stability of unmanned tracked vehicle is improved, and the steering feeling of driver is ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology. Specifically, this invention is applied to the field of vehicle control technology for unmanned tracked vehicles during the gear shifting and starting phases, and particularly relates to a method for protecting the gearbox during the gear shifting and starting process of an unmanned tracked vehicle. Background Technology

[0002] Currently, unmanned tracked vehicles have the following advantages: 1. High efficiency: Unmanned tracked vehicles typically employ advanced navigation and control systems, enabling them to navigate and operate autonomously in various terrains and environments, greatly improving operational efficiency; 2. Stability: Due to the tracked structure's ability to adapt to various terrains and environments, unmanned tracked vehicles have better stability and passability during operation, and are better able to cope with complex terrains and environments; 3. Load capacity: Unmanned tracked vehicles typically have a large load capacity, enabling them to transport heavy materials and equipment, and are suitable for various engineering and rescue scenarios.

[0003] Because unmanned tracked vehicles have characteristics such as high torque demand and large gearbox speed ratio, the sudden increase in drive torque during gear shifting and starting phases can cause the following damage to the gearbox: 1. Mechanical damage: During gear shifting or starting, if the drive torque suddenly increases, it will generate additional pressure and friction on the gears and bearings of the reduction gearbox. Long-term use may lead to mechanical damage or premature wear. 2. Vibration and noise: A sudden increase in drive torque may lead to increased friction and vibration between internal parts of the gearbox, resulting in greater noise and vibration, which affects the comfort and stability of the vehicle. 3. Power loss: If the driving torque suddenly increases, it will lead to increased friction loss and hydrodynamic loss in the gearbox, thereby reducing the vehicle's power performance; 4. Temperature rise: A sudden increase in drive torque will cause increased friction of the parts inside the gearbox, thereby generating more heat. If the heat cannot be dissipated in time, it may cause the gearbox to overheat or even fail.

[0004] To address these issues, the following measures are typically taken: 1. Strengthen maintenance and upkeep: Regularly inspect and maintain the gearbox, replace worn parts, add lubricating oil, etc., to ensure its normal operation; 2. Optimize structural design: Optimize the structural design of the gearbox to improve its load-bearing capacity and stability, so as to better cope with changes in drive torque.

[0005] However, even with the above measures taken for the gearbox, it is impossible to fundamentally reduce the pressure on the gearbox during gear shifting or starting. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems in the prior art by providing a method for protecting the gearbox during the shifting and starting process of an unmanned tracked vehicle. This method solves the problem in the prior art where the sudden increase in driving torque during gear shifting and starting of an unmanned tracked vehicle, due to the characteristics of unmanned tracked vehicles such as high torque demand and large gearbox speed ratio, causes damage to the gearbox.

[0007] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows: This invention provides a method for protecting the gearbox during the gear shifting and starting process of an unmanned tracked vehicle, comprising the following steps: Obtain vehicle parameters; obtain the vehicle's gear position signal and throttle opening signal through the vehicle controller, and obtain the vehicle speed signal through the vehicle speed sensor. From the above signals, the current vehicle speed, current gear and current throttle opening can be determined.

[0008] The vehicle's driving status is determined based on the vehicle parameters; when the current vehicle speed is zero and the current gear is neutral, the vehicle controller determines that the vehicle's driving status is a stopped state; when the current vehicle speed is not zero and the current gear is forward or reverse, the vehicle controller determines that the vehicle's driving status is a driving state.

[0009] The system acquires control commands; it acquires operator input commands via a remote control and transmits these commands to an onboard remote control receiver; the onboard remote control receiver receives the commands and feeds them back to the vehicle controller via a CAN bus; the vehicle controller parses the commands to obtain the control commands. The commands include releasing the parking brake, engaging / reversing gears, and pushing the accelerator lever; a release command is generated based on the release operation; a desired gear is generated based on the engagement / reversing gear operation; a desired throttle opening is acquired based on the throttle lever operation; and a desired torque is generated based on the desired throttle opening. Specifically, the desired torque is calculated based on the real-time motor speed and the desired throttle opening.

[0010] Configure a threshold parameter table; the threshold parameter table includes torque difference threshold, shift speed threshold, shift throttle opening threshold, desired torque, and torque increment threshold and torque change threshold corresponding to the desired torque.

[0011] When the vehicle is in a stopped state, a start-up control operation is performed according to the control command and the threshold parameter table, adjusting the drive torque during the start-up phase; specifically including: The vehicle controller executes the release of the vehicle's parking position according to the release command; The vehicle controller engages the forward / reverse gear according to the desired gear position; The vehicle controller obtains a torque increment threshold corresponding to the desired torque based on the desired torque and the threshold parameter table. The torque increment threshold is the upper and lower limit threshold of the increase in torque per unit time, for example, the torque increases by 1~5 N·m per second; this prevents sudden changes in torque from impacting the gearbox and the vehicle. The vehicle controller generates a first torque control command based on the desired torque and the torque increment threshold. The vehicle controller transmits the first torque control command to the drive motor controller, and the drive motor controller controls the drive motors on both sides according to the first torque control command.

[0012] The feedback torque of the drive motor is obtained, and the torque difference is calculated based on the expected torque and the feedback torque. For example, the torque difference can be obtained using an absolute value function. It is then determined whether the torque difference is greater than the torque difference threshold. If it is greater, the start-up control operation continues; if it is not greater, the start-up control operation is exited, and the vehicle controller controls the drive motor according to the expected torque. Based on the above control method, the output torque increases only slightly during the start-up phase. At this time, the gears inside the reducer will slowly engage. Once they are fully engaged, the torque can be increased to complete the start-up and subsequent movement.

[0013] When the vehicle is in the driving state, a shift control operation is performed according to the control command and the threshold parameter table, and the drive torque is adjusted during the shift phase; specifically including: If the desired gear is opposite to the current gear, then a gear shift determination operation is performed; The gear shift determination operation includes: when the current vehicle speed is less than the gear shift speed threshold and the current throttle opening is less than the throttle opening threshold, the vehicle controller will engage forward / reverse gear according to the desired gear. This is mainly to prevent sudden gear shifting at high speeds from causing the vehicle to stop abruptly. In this case, a lower vehicle speed is set as the gear shift threshold, and different thresholds are selected depending on the gear being switched. Otherwise, the current gear is maintained. If the operator accidentally shifts gears during the vehicle's movement after starting, the vehicle controller will not execute the remote control command based on the detected actual vehicle speed and will continue to operate in the previous gear.

[0014] After the gear shift is completed, the vehicle may be in a non-stationary state. At this time, the remote control sends a drive command and changes the direction of the output torque. In order to avoid damage to the gearbox caused by sudden torque changes, the vehicle controller performs a torque adjustment operation based on the current vehicle speed and the desired torque.

[0015] The vehicle controller performs a torque adjustment operation based on the current vehicle speed and the desired torque, further including: the vehicle controller obtaining a torque change threshold corresponding to the desired torque based on the desired torque and the threshold parameter table; the vehicle controller generating a second torque control command based on the desired torque and the torque change threshold; the vehicle controller transmitting the second torque control command to the drive motor controller, and the drive motor controller controlling the drive motor according to the second torque control command.

[0016] The beneficial effects of the technical solution of this invention are as follows: The gearbox protection method of this invention for the gear shifting and starting process of unmanned tracked vehicles is applied to unmanned tracked vehicles with independent electric drive on both sides. During the gear shifting or starting stage, an appropriate control strategy is adopted to gradually increase or decrease the driving torque to avoid sudden changes in torque, thereby reducing or even eliminating the impact and damage to the gearbox, and ensuring the driver's operating feel. It effectively improves the service life of the vehicle gearbox, makes up for the defects of the prior art, and has extremely high application value. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the starting control operation in the gearbox protection method for the gear shifting and starting process of the unmanned tracked vehicle described in Embodiment 1 of the present invention. Figure 2 This is a flowchart illustrating the gear shift control operation in the gearbox protection method for the gear shifting and starting process of the unmanned tracked vehicle described in Embodiment 1 of the present invention. Detailed Implementation

[0019] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the embodiments described in this invention are only some embodiments of this invention, not all embodiments; all other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] The terms "first," "second," etc., used in this specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. Example

[0022] This embodiment provides a method for protecting the gearbox during the gear shifting and starting process of an unmanned tracked vehicle, such as... Figure 1 and Figure 2 As shown, it includes the following steps: Obtain vehicle parameters; obtain the vehicle's gear position signal and throttle opening signal through the vehicle controller, and obtain the vehicle speed signal through the vehicle speed sensor. From the above signals, the current vehicle speed, current gear and current throttle opening can be determined.

[0023] The vehicle's driving status is determined based on the vehicle parameters; when the current vehicle speed is zero and the current gear is neutral, the vehicle controller determines that the vehicle's driving status is a stopped state; when the current vehicle speed is not zero and the current gear is forward or reverse, the vehicle controller determines that the vehicle's driving status is a driving state.

[0024] The system acquires control commands; it acquires operator input commands via a remote control and transmits these commands to an onboard remote control receiver; the onboard remote control receiver receives the commands and feeds them back to the vehicle controller via a CAN bus; the vehicle controller parses the commands to obtain the control commands. The commands include releasing the parking brake, engaging / reversing gears, and pushing the accelerator lever; a release command is generated based on the release operation; a desired gear is generated based on the engagement / reversing gear operation; a desired throttle opening is acquired based on the throttle lever operation; and a desired torque is generated based on the desired throttle opening. Specifically, the desired torque is calculated based on the real-time motor speed and the desired throttle opening.

[0025] Configure a threshold parameter table; the threshold parameter table includes torque difference threshold, shift speed threshold, shift throttle opening threshold, desired torque, and torque increment threshold and torque change threshold corresponding to the desired torque.

[0026] During the initial stage, specifically, when the vehicle is in a stopped state, a start-up control operation is performed according to the control command and the threshold parameter table, adjusting the drive torque during the start-up stage; detailed steps include: The vehicle controller executes the release of the vehicle's parking position according to the release command; The vehicle controller engages the forward / reverse gear according to the desired gear position; The vehicle controller obtains a torque increment threshold corresponding to the desired torque based on the desired torque and the threshold parameter table. The torque increment threshold is the upper and lower limit threshold of the increase in torque per unit time, for example, the torque increases by 1~5 N·m per second; this prevents sudden changes in torque from impacting the gearbox and the vehicle. The vehicle controller generates a first torque control command based on the desired torque and the torque increment threshold. The vehicle controller transmits the first torque control command to the drive motor controller, and the drive motor controller controls the drive motors on both sides according to the first torque control command.

[0027] The feedback torque of the drive motor is obtained, and the torque difference is calculated based on the expected torque and the feedback torque. For example, the torque difference can be obtained using an absolute value function. It is then determined whether the torque difference is greater than the torque difference threshold. If it is greater, the start-up control operation continues; if it is not greater, the start-up control operation is exited, and the vehicle controller controls the drive motor according to the expected torque. Based on the above control method, the output torque increases only slightly during the start-up phase. At this time, the gears inside the reducer will slowly engage. Once they are fully engaged, the torque can be increased to complete the start-up and subsequent movement.

[0028] During the gear shifting phase, specifically, when the vehicle is in the driving state, a gear shifting control operation is performed according to the control command and the threshold parameter table, and the drive torque is adjusted during the gear shifting phase; detailed steps include: If the desired gear is opposite to the current gear, then a gear shift determination operation is performed; The gear shift determination operation includes: when the current vehicle speed is less than the gear shift speed threshold and the current throttle opening is less than the throttle opening threshold, the vehicle controller will engage forward / reverse gear according to the desired gear. This is mainly to prevent sudden gear shifting at high speeds from causing the vehicle to stop abruptly. In this case, a lower vehicle speed is set as the gear shift threshold, and different thresholds are selected depending on the gear being switched. Otherwise, the current gear is maintained. If the operator accidentally shifts gears during the vehicle's movement after starting, the vehicle controller will not execute the remote control command based on the detected actual vehicle speed and will continue to operate in the previous gear.

[0029] After the gear shift is completed, the vehicle may be in a non-stationary state. At this time, the remote control sends a drive command and changes the direction of the output torque. In order to avoid damage to the gearbox caused by sudden torque changes, the vehicle controller performs a torque adjustment operation based on the current vehicle speed and the desired torque.

[0030] The vehicle controller performs a torque adjustment operation based on the current vehicle speed and the desired torque, further including: the vehicle controller obtaining a torque change threshold corresponding to the desired torque based on the desired torque and the threshold parameter table; the vehicle controller generating a second torque control command based on the desired torque and the torque change threshold; the vehicle controller transmitting the second torque control command to the drive motor controller, and the drive motor controller controlling the drive motor according to the second torque control command.

[0031] Unlike existing technologies, this application proposes a gearbox protection method for unmanned tracked vehicles during gear shifting and starting. Applied to dual-sided independently electrically driven unmanned tracked vehicles, this method employs a suitable control strategy to gradually increase or decrease the driving torque during gear shifting or starting, avoiding sudden torque changes to reduce or even eliminate impact and damage to the gearbox. It also ensures the driver's operating feel, effectively improving the service life of the vehicle's gearbox, overcoming the shortcomings of existing technologies, and possessing extremely high application value.

[0032] Those skilled in the art will recognize that the steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this document.

[0033] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for protecting the gearbox during the gear shifting and starting process of an unmanned tracked vehicle, characterized in that, Includes the following steps: Obtain vehicle parameters; determine the vehicle's driving status based on the vehicle parameters, the vehicle's driving status including a stopped state and a moving state; Obtain control commands; configure threshold parameter table; When the vehicle is in the stopped state, a start control operation is performed according to the control command and the threshold parameter table. When the vehicle is in the driving state, a gear shift control operation is performed according to the control command and the threshold parameter table. The acquisition of vehicle parameters further includes: acquiring the vehicle's current speed, current gear, and current throttle opening through the vehicle controller; The step of determining the vehicle's driving status based on the vehicle parameters further includes: When the current vehicle speed is zero and the current gear is neutral, the vehicle controller determines that the vehicle is in a stopped state. When the current vehicle speed is not zero and the current gear is forward or reverse, the vehicle controller determines that the vehicle is in a driving state. The acquisition control command further includes: The system acquires the operator's input commands via a remote control and transmits the commands to the vehicle-mounted remote control receiver. The vehicle-mounted remote control receiver receives the operation command and feeds it back to the vehicle controller via the CAN bus; The vehicle controller parses the operation command to obtain the control command; The operation commands include releasing the parking brake, engaging forward / reverse gear, and pushing the accelerator lever. The vehicle controller parses the operation command to obtain the control command, which further includes: generating a release command based on the release operation; generating a desired gear based on the shifting forward / reverse gear operation; obtaining a desired throttle opening based on the push throttle lever operation; and generating a desired torque based on the desired throttle opening. The threshold parameter table includes the desired torque and the torque increment threshold corresponding to the desired torque; The step of performing the start-up control operation according to the control command and the threshold parameter table further includes: The vehicle controller executes the release of the vehicle's parking position according to the release command; The vehicle controller engages the forward / reverse gear according to the desired gear position; The vehicle controller obtains the torque increment threshold corresponding to the desired torque based on the desired torque and the threshold parameter table; the vehicle controller generates a first torque control command based on the desired torque and the torque increment threshold; the vehicle controller transmits the first torque control command to the drive motor controller, and the drive motor controller controls the drive motor according to the first torque control command; The threshold parameter table also includes a torque difference threshold; The step of performing the start-up control operation according to the control command and the threshold parameter table further includes: The feedback torque of the drive motor is obtained, and the torque difference is calculated based on the expected torque and the feedback torque. It is determined whether the torque difference is greater than the torque difference threshold. If it is greater, the start-up control operation continues. If it is not greater, the start-up control operation is exited, and the vehicle controller controls the drive motor according to the expected torque. The threshold parameter table includes shift speed threshold and shift throttle opening threshold; The step of performing the shift control operation according to the control command and the threshold parameter table further includes: If the desired gear is opposite to the current gear, then a gear shift determination operation is performed; The gear shift determination operation includes: when the current vehicle speed is less than the gear shift speed threshold and the current throttle opening is less than the throttle opening threshold, the vehicle controller performs a forward / reverse gear shift according to the desired gear; otherwise, it maintains the current gear. After the gear shift is completed, the vehicle controller performs a torque adjustment operation based on the current vehicle speed and the desired torque.

2. The method for protecting the gearbox during the gear shifting and starting process of an unmanned tracked vehicle according to claim 1, characterized in that: The torque increment threshold is the upper and lower limit threshold of the increase in torque per unit time.

3. The method for protecting the gearbox during the gear shifting and starting process of an unmanned tracked vehicle according to claim 1, characterized in that: The threshold parameter table also includes the desired torque and the torque change threshold corresponding to the desired torque; The vehicle controller performs a torque adjustment operation based on the current vehicle speed and the desired torque, further including: the vehicle controller obtaining a torque change threshold corresponding to the desired torque based on the desired torque and the threshold parameter table; the vehicle controller generating a second torque control command based on the desired torque and the torque change threshold; the vehicle controller transmitting the second torque control command to the drive motor controller, and the drive motor controller controlling the drive motor according to the second torque control command.

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