A wet PTO clutch adaptive engagement method, device and tractor

Abstract

The present application relates to a wet PTO clutch adaptive engagement method, device and tractor, the method comprising: if a clutch engagement command is received, the clutch is controlled to enter the pre-oil filling stage, and the current of the PTO solenoid valve is adjusted; if the end oil filling time corresponding to the pre-oil filling stage is reached, the clutch is controlled to enter the docking point stage, and based on the end oil filling current, the docking point current of the PTO solenoid valve corresponding to the docking point stage is obtained; based on the docking point current, the clutch is controlled to enter the engagement stage, and based on the current rising slope corresponding to the engagement stage, the current of the PTO solenoid valve is increased from the docking point current until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage, and the clutch is controlled to maintain the operating parameters to keep the clutch in a fully engaged state. The present application has the effect of being able to automatically and dynamically adjust the clutch engagement control process according to different load conditions.

Description

Technical Field

[0001] The present application relates to the technical field of clutch engagement control, and in particular to a wet PTO clutch adaptive engagement method, device and tractor. Background Art

[0002] Tractor PTO (Power Take Off) is a device on the tractor that outputs part or all of the power to drive the working mechanism of the supporting agricultural machinery. PTO transmits the power of the engine to various agricultural machinery, such as rotary tillers and seed drills, through the universal joint drive shaft to achieve field operations. The use of PTO is crucial to the mechanization and modernization of agricultural production. It enables tractors to drive various agricultural machinery for efficient operation, thereby improving agricultural production efficiency and quality.

[0003] The tractor includes a wet PTO clutch for controlling the PTO power transmission. The working principle of the tractor wet PTO clutch mainly involves the control of the hydraulic system, and the engagement and disengagement of the clutch are adjusted through the electro-hydraulic control system. The electro-hydraulic control system is the core part of the wet PTO clutch control. It controls the hydraulic system through electronic signals to achieve precise control of the clutch, thereby controlling the transmission of PTO power.

[0004] The commonly used wet PTO clutch control method is to use a fixed clutch engagement curve to adapt to various operating conditions. In order to ensure comfort when attaching heavy-load implements, the engagement time needs to be set longer, which makes the clutch friction time longer when the load is large, causing greater damage to the clutch. Summary of the invention

[0005] In order to adapt to different loads, the present application provides a wet PTO clutch adaptive engagement method, device and tractor.

[0006] In a first aspect, the present application provides a wet PTO clutch adaptive engagement method, comprising:

[0007] If a clutch engagement command is received, the clutch is controlled to enter a pre-oil filling stage, and the current of the PTO solenoid valve is adjusted based on the start oil filling time and the end oil filling time of the PTO solenoid valve corresponding to the pre-oil filling stage, the start oil filling current corresponding to the start oil filling time, and the end oil filling current corresponding to the end oil filling time. The current of the PTO solenoid valve is a parameter that affects the oil pressure corresponding to the clutch;

[0008] If the end oil filling time is reached, the clutch is controlled to enter the docking point stage, and based on the end oil filling current, the docking point current of the PTO solenoid valve corresponding to the docking point stage is obtained;

[0009] Based on the engagement point current, the clutch is controlled to enter the engagement stage. Based on the current rising slope corresponding to the engagement stage, the current of the PTO solenoid valve is increased starting from the engagement point current until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage. The clutch is controlled to maintain the operating parameters to keep the clutch in a fully engaged state.

[0010] The beneficial effects of the present application are as follows: different loads correspond to different contact point currents, and the control processes of the contact point stage and the engagement stage are different, so that the clutch engagement control process can be automatically and dynamically adjusted according to different load conditions, so that different loads produce different engagement curves, which can accurately adapt to different loads.

[0011] Further, the step of obtaining the docking point current of the PTO solenoid valve corresponding to the docking point stage based on the end oil filling current includes:

[0012] taking the first set time period after the oil filling end time as the initial time period;

[0013] During the initial time period, the PTO solenoid valve is controlled to operate at the end oil filling current, and a first PTO actual speed corresponding to the end oil filling current is acquired in real time, and the first PTO actual speed is compared with a preset speed threshold;

[0014] In the initial time period, if the actual speed of the first PTO reaches the speed threshold, the end oil filling current is used as the docking point current;

[0015] Within the initial time period, if the actual speed of the first PTO does not reach the speed threshold, the end oil filling time is used as the current time, the end oil filling current is used as the current current, and the second set time period after the current time is used as the current time period, and the current increase corresponding to the preset second set time period is obtained;

[0016] In the current time period, the PTO solenoid valve is controlled to operate at a target current, where the target current is the current after the current increase amount is increased on the basis of the current, and a second PTO actual speed corresponding to the target current is acquired in real time, the second PTO actual speed is compared with the speed threshold, and the target current is compared with a maximum docking point current threshold;

[0017] In the current time period, if the actual speed of the second PTO reaches the speed threshold, or the target current reaches the maximum docking point current threshold, the target current is used as the docking point current;

[0018] During the current time period, if the second PTO actual speed does not reach the speed threshold and the target current does not reach the maximum docking point current threshold, the end time corresponding to the current time period is used as the new current time, and the target current is used as the new current current. The steps of controlling the PTO solenoid valve to operate with the new target current during the new current time period and obtaining the new second PTO actual speed corresponding to the new target current in real time are repeated until the new second PTO actual speed reaches the speed threshold, or the target current reaches the maximum docking point current threshold.

[0019] The beneficial effect of adopting the above further scheme is: by controlling the PTO solenoid valve to increase the current in a step-like manner to achieve the increase in the oil pressure of the clutch, and then by real-time monitoring whether the actual PTO speed exceeds the set speed threshold and whether the target current reaches the maximum engagement point current threshold, it is determined whether the engagement point and the engagement point current are found, thereby automatically finding the engagement point and the engagement point current during the engagement process of the wet PTO clutch, which is convenient for dynamically matching different engagement point currents for different loads and the subsequent engagement control process of the clutch.

[0020] Further, the combination stage includes a first stage, a second stage, a third stage and a fourth stage, the current rising slope corresponding to the first stage is a first current slope, the current rising slope corresponding to the second stage is a second current slope, the current rising slope corresponding to the third stage is a third current slope, the current rising slope corresponding to the fourth stage is a fourth current slope, the exit condition corresponding to the first stage is a first condition, the exit condition corresponding to the second stage is a second condition, the exit condition corresponding to the third stage is a third condition, and the exit condition corresponding to the fourth stage is a fourth condition;

[0021] The step of increasing the current of the PTO solenoid valve from the contact point current based on the current rising slope corresponding to the engagement stage until the operating parameter corresponding to the clutch reaches the exit condition corresponding to the engagement stage includes:

[0022] Based on the engagement point current, the clutch is controlled to enter the first stage; based on the first current slope, the current of the PTO solenoid valve is controlled to increase from the engagement point current, and a first target parameter corresponding to the clutch is obtained in real time until the first target parameter reaches the first condition, a first exit current corresponding to the PTO solenoid valve when exiting the first stage is obtained, and the clutch is controlled to enter the second stage;

[0023] Based on the second current slope, the current of the PTO solenoid valve is controlled to increase from the first exit current, and a second target parameter corresponding to the clutch is obtained in real time until the second target parameter reaches the second condition, a second exit current corresponding to the PTO solenoid valve when exiting the second stage is obtained, and the clutch is controlled to enter the third stage;

[0024] Based on the third current slope, the current of the PTO solenoid valve is controlled to increase from the second exit current, and a third target parameter corresponding to the clutch is obtained in real time until the third target parameter reaches the third condition, and a third exit current corresponding to the PTO solenoid valve when exiting the third stage is obtained, and the clutch is controlled to enter the fourth stage;

[0025] Based on the fourth current slope, the current of the PTO solenoid valve is controlled to increase from the third exit current, and the fourth target parameter corresponding to the clutch is obtained in real time until the fourth target parameter reaches the fourth condition, and the clutch is controlled to exit the engagement stage, and the operating parameters corresponding to the clutch include the fourth target parameter.

[0026] The beneficial effect of adopting the above further scheme is: in the engagement stage, through four different control stages, the current of the PTO solenoid valve is controlled to increase with different slopes, thereby achieving steady engagement of the PTO while shortening the engagement time, improving the smoothness of the PTO engagement, and achieving the purpose of protecting the machine and the wet PTO clutch.

[0027] Further, the first current slope and the third current slope are both smaller than the second current slope, and the fourth current slope is larger than the third current slope.

[0028] The beneficial effects of adopting the above further scheme are: the first current slope is relatively small, so that the current of the PTO solenoid valve in the first stage increases slowly, and the actual speed of the PTO is slowly increased, thereby reducing or eliminating the impact on the whole vehicle when the PTO is started, and achieving the effect of protecting the machine. Compared with the first stage, the second current slope corresponding to the second stage is relatively large, which is convenient for realizing a rapid increase in the actual speed of the PTO, thereby accelerating the working efficiency, and achieving the effect of protecting the wet PTO clutch. Compared with the second stage, the third current slope corresponding to the third stage is relatively small, which is convenient for realizing the slow compression of the wet PTO clutch, thereby reducing the acceleration of the PTO, reducing or eliminating the impact on the whole vehicle caused by the full compression of the PTO, and achieving the effect of protecting the machine.

[0029] Further, the first target parameter and the fourth target parameter both include the current of the PTO solenoid valve, and the second target parameter and the third target parameter both include the current of the PTO solenoid valve and the corresponding engagement rate of the clutch.

[0030] The beneficial effect of adopting the above further scheme is: by setting the target parameter to the current of the PTO solenoid valve, the possibility of not being able to control the clutch to enter the next stage under abnormal circumstances such as the actual PTO speed cannot be increased can be reduced, and the possibility of the program being unable to jump out can be reduced, thereby protecting the PTO and the machine.

[0031] Furthermore, the method for calculating the binding rate includes:

[0032] Based on the engine speed and the PTO transmission ratio, obtaining a fully engaged speed when the clutch is in the fully engaged state;

[0033] Based on the fully engaged speed and the real-time PTO actual speed, the engagement ratio is calculated.

[0034] In a second aspect, the present application provides a wet PTO clutch adaptive engagement device, comprising:

[0035] A pre-oil filling module, for controlling the clutch to enter a pre-oil filling stage upon receiving a clutch engagement command, and adjusting the current of the PTO solenoid valve based on a start oil filling time, an end oil filling time, a start oil filling current corresponding to the start oil filling time, and an end oil filling current corresponding to the end oil filling time of the PTO solenoid valve corresponding to the pre-oil filling stage, wherein the current of the PTO solenoid valve is a parameter that affects the oil pressure corresponding to the clutch;

[0036] A docking point module, used to control the clutch to enter a docking point stage when the end oil filling time is reached, and obtain a docking point current of the PTO solenoid valve corresponding to the docking point stage based on the end oil filling current;

[0037] An engagement module is used to control the clutch to enter an engagement stage based on the engagement point current, and to increase the current of the PTO solenoid valve starting from the engagement point current based on the current rising slope corresponding to the engagement stage, until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage, and to control the clutch to maintain the operating parameters so that the clutch remains in a fully engaged state.

[0038] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the processor is coupled to the memory;

[0039] The processor is used to execute the computer program stored in the memory so that the electronic device performs the method as described in any one of the first aspects.

[0040] In a fourth aspect, the present application provides a tractor, comprising the electronic device as described in the third aspect, a wet PTO clutch, a tractor PTO and a vehicle body, wherein the electronic device is electrically connected to the wet PTO clutch, the wet PTO clutch is connected to the tractor PTO, and the electronic device, the wet PTO clutch and the tractor PTO are respectively installed on the vehicle body.

[0041] In a fifth aspect, the present application provides a computer-readable storage medium, comprising a computer program or instructions, which, when executed on a computer, enables the computer to execute the method as described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic flow chart of the adaptive engagement method of the wet PTO clutch according to an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the adaptive engagement process of a wet PTO clutch according to an embodiment of the present application;

[0044] Figure 3 A schematic diagram of an adaptive engagement curve of a wet PTO clutch according to an embodiment of the present application;

[0045] Figure 4 It is a schematic diagram of the combined curve when a relatively small load is mounted in the embodiment of the present application;

[0046] Figure 5 It is a schematic diagram of the combined curve when a large load is attached to an embodiment of the present application;

[0047] Figure 6 This is a structural block diagram of a wet PTO clutch adaptive engagement device according to an embodiment of the present application;

[0048] Figure 7 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] The present application is further described in detail below in conjunction with the accompanying drawings.

[0050] The embodiment of the present application provides a wet PTO clutch adaptive engagement method, which can be executed by a device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, a single-chip microcomputer, an embedded system, etc., but is not limited thereto.

[0051] like Figure 1 As shown, a wet PTO clutch adaptive engagement method is performed by an electronic device, and the main process of the method is described as follows (steps S101 to S103):

[0052] Step S101: If a clutch engagement command is received, the clutch is controlled to enter a pre-oil filling stage, and the current of the PTO solenoid valve is adjusted based on the start oil filling time and end oil filling time of the PTO solenoid valve corresponding to the pre-oil filling stage, the start oil filling current corresponding to the start oil filling time, and the end oil filling current corresponding to the end oil filling time. The current of the PTO solenoid valve is a parameter that affects the oil pressure corresponding to the clutch.

[0053] like Figure 2 As shown, in this embodiment, the clutch can be a wet PTO clutch, and the control process of the wet PTO clutch can be divided into a pre-oil filling stage, a docking point stage, a coupling stage, and a clutch fully coupled state. The pre-oil filling stage is a stage in which the hydraulic system corresponding to the wet PTO clutch is pre-filled with oil to prepare for the coupling of the wet PTO clutch. After the electronic device receives the "coupling instruction", it first enters the pre-oil filling state to fill the piston cavity of the wet PTO clutch with oil to prepare for the subsequent coupling of the wet PTO clutch.

[0054] Before receiving the engagement command of the wet PTO clutch, the wet PTO clutch maintains the initial state, that is, the wet PTO clutch remains in the disengaged state. The current of the PTO solenoid valve can affect the oil pressure corresponding to the wet PTO clutch. When the current of the PTO solenoid valve increases, the oil pressure of the clutch and the actual speed of the PTO can increase.

[0055] like Figure 2 and Figure 3As shown, in this embodiment, the start oil filling time can be defined as 0s, the end oil filling time can be defined as t1s, the start oil filling current can be defined as I6, and the end oil filling current can be defined as I1. At 0s, the current of the PTO solenoid valve is I6, and in the time period of 0s-t1s, the current of the PTO solenoid valve remains at I6. The parameter values ​​of the start oil filling time, the end oil filling time, the start oil filling current and the end oil filling current can be set according to the actual application. According to the start oil filling time, the end oil filling time, the start oil filling current and the end oil filling current, the engagement state of the wet PTO clutch in the pre-oil filling stage is controlled, and the first curve corresponding to the pre-oil filling stage can be generated.

[0056] Step S102: If the end oil filling time is reached, the clutch is controlled to enter the docking point stage, and based on the end oil filling current, the docking point current of the PTO solenoid valve corresponding to the docking point stage is obtained.

[0057] The docking point stage is the stage of automatically detecting and finding the docking point of the wet PTO clutch. The docking point is the critical point at which the wet PTO clutch starts to transmit torque. During the wet PTO clutch engagement process, the docking point and docking point current corresponding to different loads can be automatically determined. It is easy to understand that the current of the PTO solenoid valve corresponding to the docking point is the docking point current.

[0058] like Figure 4 and Figure 5 As shown, Figure 4 This is a schematic diagram of the corresponding bonding curve when a smaller load is attached. Figure 5 Schematic diagram of the corresponding engagement curve when a larger load is connected. In this embodiment, when the load corresponding to the wet PTO clutch is smaller, the contact point current is smaller, and the wet PTO clutch engagement curve formed based on the contact point current will be lower. When the load corresponding to the wet PTO clutch is larger, the contact point current is larger, and the wet PTO clutch engagement curve formed based on the contact point current will be higher. Therefore, the height of the subsequent wet PTO clutch engagement curve can be dynamically adjusted based on the contact point current to adapt to different loads.

[0059] Step S103: Based on the engagement point current, control the clutch to enter the engagement stage, and based on the current rising slope corresponding to the engagement stage, increase the current of the PTO solenoid valve starting from the engagement point current until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage, and control the clutch to maintain the operating parameters to keep the clutch in a fully engaged state.

[0060] When the docking point current is found, the docking point stage ends, the clutch is controlled to enter the engagement stage, and a second curve corresponding to the docking point stage can be generated according to the end oil filling current, the docking point current and the automatic search process.

[0061] In this embodiment, the engagement phase is to gradually increase the oil pressure of the wet PTO clutch according to a certain slope after the engagement point is determined, so as to achieve smooth engagement of the wet PTO clutch. The electronic device stores the current rising slope and exit conditions of the engagement phase. When the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement phase and the wet PTO clutch is controlled to operate with the operating parameters, the wet PTO clutch can maintain a fully engaged state, thereby maintaining a certain pressure to ensure stable torque transmission, and can generate a third curve corresponding to the engagement phase based on the engagement point current, current rising slope and exit conditions. Figure 2 As shown, when the "disconnection command" of the clutch is received when the wet PTO clutch is in the fully engaged state, the wet PTO clutch is controlled to enter the PTO clutch disengagement state, and the current of the PTO solenoid valve is reduced to 0mA.

[0062] exist Figure 3-Figure 5 In the figure, the current curve of the PTO solenoid valve is based on time as the horizontal axis and the current as the vertical axis. The PTO speed is the actual PTO speed. The curve of the PTO actual speed also has time as the horizontal axis and the PTO actual speed as the vertical axis.

[0063] like Figure 4 and Figure 5 As shown, in this embodiment, the first curve, the second curve and the third curve are connected in sequence to form a coupling curve corresponding to the wet PTO clutch. The connected load is different, the corresponding contact point current is different, and the second curve and the third curve are different, so that the coupling curve can be automatically and dynamically adjusted according to different load conditions. Different coupling curves generated by different connected loads can accurately adapt to different loads.

[0064] In this embodiment, step S102 specifically includes the following processing:

[0065] taking the first set time period after the oil filling end time as the initial time period;

[0066] During the initial time period, the PTO solenoid valve is controlled to operate at the end oil filling current, and a first PTO actual speed corresponding to the end oil filling current is acquired in real time, and the first PTO actual speed is compared with a preset speed threshold;

[0067] In the initial time period, if the actual speed of the first PTO reaches the speed threshold, the end oil filling current is used as the docking point current;

[0068] Within the initial time period, if the actual speed of the first PTO does not reach the speed threshold, the end oil filling time is used as the current time, the end oil filling current is used as the current current, and the second set time period after the current time is used as the current time period, and the current increase corresponding to the preset second set time period is obtained;

[0069] In the current time period, the PTO solenoid valve is controlled to operate at a target current, where the target current is the current after the current increase amount is increased on the basis of the current, and a second PTO actual speed corresponding to the target current is acquired in real time, the second PTO actual speed is compared with the speed threshold, and the target current is compared with a maximum docking point current threshold;

[0070] In the current time period, if the actual speed of the second PTO reaches the speed threshold, or the target current reaches the maximum docking point current threshold, the target current is used as the docking point current;

[0071] During the current time period, if the second PTO actual speed does not reach the speed threshold and the target current does not reach the maximum docking point current threshold, the end time corresponding to the current time period is used as the new current time, and the target current is used as the new current current. The steps of controlling the PTO solenoid valve to operate with the new target current during the new current time period and obtaining the new second PTO actual speed corresponding to the new target current in real time are repeated until the new second PTO actual speed reaches the speed threshold, or the target current reaches the maximum docking point current threshold.

[0072] In this embodiment, the initial time period is the time period between the end time of oil filling and the time after the end time of oil filling is increased by unit time, that is, the time difference between the end time and the start time of the first set time period is unit time, and the time difference between the end time and the start time of the second set time period can also be unit time.

[0073] In this embodiment, the unit time may be Δt, the current increase corresponding to the unit time may be ΔI, the speed threshold may be n1, and the maximum contact point current threshold may be I kpmax .

[0074] like Figure 3As shown, t1~t5 is in the docking point state, the time period between t1~t2 (t1+Δt=t2) is the initial time period, and the current of the PTO solenoid valve remains unchanged at I1. At t2, the current of the PTO solenoid valve is controlled to increase from I1 to I2 (I1+ΔI=I2), and the time period between t2~t3 (t2+Δt=t3) is the current time period, and the current of the PTO solenoid valve remains unchanged at I2. The current of the PTO solenoid valve corresponding to t3~t4 and t4~t5 increases in the same way as the current of the PTO solenoid valve corresponding to t2~t3, that is, the current increases by ΔI and then maintains. The current of the PTO solenoid valve corresponding to the time period t3~t4 is I3, and the current of the PTO solenoid valve corresponding to t4~t5 is I4. At t5, it is monitored that the actual speed of the second PTO exceeds n1, which can be determined to be the docking point, and the current of the PTO solenoid valve corresponding to t5 is used as the docking point current.

[0075] like Figure 3 As shown, the time difference between t4 and t5 can be Δt or less than Δt. When the time difference between t4 and t5 is Δt, it means that at the moment after the unit time is increased from t4, the corresponding second PTO actual speed reaches n1. When the time difference between t4 and t5 is less than Δt, it means that during the time period from t4 to t4+Δt, the current of the PTO solenoid valve needs to remain unchanged at I4. However, at t5 during the time period from t4 to t4+Δt, the actual speed of the second PTO has reached n1. Therefore, the current of the PTO solenoid valve does not need to continue to remain unchanged at I4 during the time period from t5 to t4+Δt.

[0076] The increase in clutch oil pressure is controlled by controlling the PTO solenoid valve to increase the current in a step-like manner. Then, by real-time monitoring of whether the actual PTO speed exceeds the set speed threshold and whether the target current reaches the maximum engagement point current threshold, it is determined whether the engagement point and the engagement point current are found. This enables the engagement point and the engagement point current to be automatically found during the engagement process of the wet PTO clutch, making it easy to dynamically match different engagement point currents for different loads and the subsequent engagement control curves.

[0077] like Figure 2-Figure 5As shown, in this embodiment, the combination stage includes a first stage, a second stage, a third stage and a fourth stage, the current rising slope corresponding to the first stage is a first current slope, the current rising slope corresponding to the second stage is a second current slope, the current rising slope corresponding to the third stage is a third current slope, and the current rising slope corresponding to the fourth stage is a fourth current slope. The exit condition corresponding to the first stage is a first condition, the exit condition corresponding to the second stage is a second condition, the exit condition corresponding to the third stage is a third condition, and the exit condition corresponding to the fourth stage is a fourth condition.

[0078] The first current slope and the third current slope may both be smaller than the second current slope, and the fourth current slope may be larger than the third current slope. Figure 4 and Figure 5 As shown, the first current slope may be 50 mA / s, the second current slope may be 100 mA / s, the third current slope may be 50 mA / s, and the fourth current slope may be 1000 mA / s.

[0079] In this embodiment, step S103 specifically includes the following processing:

[0080] Based on the engagement point current, the clutch is controlled to enter the first stage; based on the first current slope, the current of the PTO solenoid valve is controlled to increase from the engagement point current, and a first target parameter corresponding to the clutch is obtained in real time until the first target parameter reaches the first condition, a first exit current corresponding to the PTO solenoid valve when exiting the first stage is obtained, and the clutch is controlled to enter the second stage;

[0081] Based on the second current slope, the current of the PTO solenoid valve is controlled to increase from the first exit current, and a second target parameter corresponding to the clutch is obtained in real time until the second target parameter reaches the second condition, a second exit current corresponding to the PTO solenoid valve when exiting the second stage is obtained, and the clutch is controlled to enter the third stage;

[0082] Based on the third current slope, the current of the PTO solenoid valve is controlled to increase from the second exit current, and a third target parameter corresponding to the clutch is obtained in real time until the third target parameter reaches the third condition, and a third exit current corresponding to the PTO solenoid valve when exiting the third stage is obtained, and the clutch is controlled to enter the fourth stage;

[0083] Based on the fourth current slope, the current of the PTO solenoid valve is controlled to increase from the third exit current, and the fourth target parameter corresponding to the clutch is obtained in real time until the fourth target parameter reaches the fourth condition, and the clutch is controlled to exit the engagement stage, and the operating parameters corresponding to the clutch include the fourth target parameter.

[0084] The first current slope is small, so that the current of the PTO solenoid valve in the first stage increases slowly, and the actual speed of the PTO is slowly increased, thereby reducing or eliminating the impact on the vehicle when the PTO is started, and protecting the machine. Figure 3 As shown, t5~t6 is in the first stage, and the current controlling the PTO solenoid valve increases from I4 to I5. At the same time, the increase in current causes the increase in the oil pressure of the clutch, and the increase in oil pressure can cause the increase in the actual speed of the PTO.

[0085] The first target parameter may be the current of the PTO solenoid valve, and the first condition may be "the current of the PTO solenoid valve reaches the first target current corresponding to the first stage". In the first stage, based on the first current slope, the current of the PTO solenoid valve is continuously increased. When the current of the PTO solenoid valve reaches the first target current, the first target parameter reaches the first condition, so that the clutch can be controlled to exit the first stage and start to enter the second stage.

[0086] By setting the first target current, the possibility of being unable to control the clutch to enter the next stage under abnormal circumstances such as the actual PTO speed failing to increase can be reduced, and the possibility of the program failing to jump out can be reduced, thereby protecting the PTO and the machine.

[0087] Compared with the first stage, the second current slope corresponding to the second stage is larger, which is convenient for realizing a rapid increase in the actual speed of the PTO, thereby accelerating the operating efficiency and achieving the effect of protecting the wet PTO clutch. Figure 3 As shown, t6~t7 is in the second stage, and the current controlling the PTO solenoid valve increases from I5 to I7. At the same time, the increase in current causes the increase in the clutch oil pressure and the actual speed of the PTO. Compared with the first stage, the current rises faster in the second stage, and the actual speed of the PTO rises faster.

[0088] The second target parameter may be the current of the PTO solenoid valve and the corresponding engagement rate of the clutch, and the second condition may be "the current of the PTO solenoid valve reaches the second target current corresponding to the second stage, or the corresponding engagement rate of the clutch reaches the first target engagement rate corresponding to the second stage". The engagement rate of the clutch is an important parameter reflecting the working state of the wet PTO clutch, which indicates the proportional relationship between the actual speed of the wet PTO clutch in the current working state and the speed that should be achieved in the fully engaged state. Specifically, the higher the engagement rate, the closer the clutch is to the fully engaged state, that is, the closer the PTO shaft speed is to the theoretical speed determined by the engine speed and the PTO transmission ratio.

[0089] In the second stage, based on the second current slope, the current of the PTO solenoid valve is continuously increased. As the current of the PTO solenoid valve increases, the actual PTO speed continues to rise. When the current of the PTO solenoid valve reaches the second target current, or the clutch engagement rate reaches the first target engagement rate, the second target parameter reaches the second condition, so that the clutch can be controlled to exit the second stage and start to enter the third stage. Figure 3 As shown, the first target engagement rate may be S1. At time t7, when the actual PTO speed increases to n3, the clutch engagement rate reaches S1, and the second target parameter reaches the second condition, thereby controlling the clutch to exit the second stage and start entering the third stage.

[0090] By setting the second target current, the possibility of being unable to control the clutch to enter the next stage under abnormal conditions such as the failure of the actual PTO speed to increase can be reduced, and the possibility of the program being unable to jump out can be reduced, thereby protecting the PTO and the implement. By monitoring the engagement rate, the clutch engagement status can be understood in real time, so that the engagement curve can be quickly responded and adjusted, which helps to improve the response speed and stability.

[0091] In this embodiment, the method for calculating the engagement rate includes: obtaining the fully engaged speed when the clutch is in the fully engaged state based on the engine speed and the PTO transmission ratio; and calculating the engagement rate based on the fully engaged speed and the real-time PTO actual speed.

[0092] The calculation formula of the binding rate can be expressed as:

[0093] Engagement rate = PTO actual speed ÷ fully engaged speed × 100%

[0094] Fully engaged speed = engine speed × PTO gear ratio

[0095] Among them, the actual PTO speed is the PTO shaft speed detected by the speed sensor; the engine speed is the speed of the engine flywheel end, and the signal can be obtained through the CAN bus; the PTO transmission ratio is the mechanical design value and is a constant.

[0096] Compared with the second stage, the third current slope corresponding to the third stage is smaller, which is convenient for realizing the slow compression of the wet PTO clutch, thereby reducing the acceleration of the PTO, reducing or eliminating the impact of the whole vehicle when the PTO is fully compressed, and achieving the effect of protecting the machine. Figure 3 As shown, t7~t8 is in the third stage, and the current controlling the PTO solenoid valve increases from I7 to I8. The increase in the current of the PTO solenoid valve causes the increase in the oil pressure of the clutch and the increase in the actual speed of the PTO. Compared with the second stage, the current of the PTO solenoid valve and the actual speed of the PTO increase more slowly in the third stage.

[0097] The third target parameter may be the current of the PTO solenoid valve and the corresponding engagement rate of the clutch, and the third condition may be "the current of the PTO solenoid valve reaches the third target current corresponding to the third stage, or the corresponding engagement rate of the clutch reaches the second target engagement rate corresponding to the third stage".

[0098] In the third stage, based on the third current slope, the current of the PTO solenoid valve is continuously increased. As the current of the PTO solenoid valve increases, the actual PTO speed continues to rise. When the current of the PTO solenoid valve reaches the third target current, or the clutch engagement rate reaches the second target engagement rate, the third target parameter reaches the third condition, so that the clutch can be controlled to exit the third stage and start to enter the fourth stage. Figure 3 As shown, the second target engagement rate can be S2. At time t8, when the actual PTO speed increases to n4, the clutch engagement rate reaches S2, and the third target parameter reaches the third condition, so that the clutch can be controlled to exit the third stage and start entering the fourth stage.

[0099] By setting the third target current, the possibility of being unable to control the clutch to enter the next stage under abnormal circumstances such as the actual PTO speed failing to increase can be reduced, and the possibility of the program failing to jump out can be reduced, thereby protecting the PTO and the machine.

[0100] Compared with the third stage, the fourth current slope corresponding to the fourth stage is larger. Before entering the fourth stage, the wet PTO clutch is already in a fully engaged state. Based on the fourth current slope, in the fourth stage, the current of the PTO solenoid valve can quickly rise to the maximum current, and the wet PTO clutch can reach the maximum oil pressure, ensuring that the wet PTO clutch will not slip when the PTO load fluctuates, thereby ensuring the PTO output power and protecting the wet PTO clutch.

[0101] The fourth target parameter may be the current of the PTO solenoid valve, and the fourth condition may be "the current of the PTO solenoid valve reaches the fourth target current corresponding to the fourth stage". In the fourth stage, based on the fourth current slope, the current of the PTO solenoid valve is continuously increased, and as the current of the PTO solenoid valve increases, when the current of the PTO solenoid valve reaches the fourth target current, the fourth target parameter reaches the fourth condition, that is, the operating parameter corresponding to the clutch reaches the exit condition corresponding to the engagement stage, so that the clutch can be controlled to exit the fourth stage, and the current of the PTO solenoid valve is controlled to maintain the fourth target current, so that the clutch can maintain a fully engaged state.

[0102] like Figure 3 As shown, t8~t9 is in the fourth stage, and the current controlling the PTO solenoid valve increases from I8 to I9. At the same time, the increase in the current of the PTO solenoid valve can cause the increase in the oil pressure of the clutch and the actual speed of the PTO. Compared with the previous three stages, the current of the PTO solenoid valve rises faster in the fourth stage, and the actual speed of the PTO has reached the maximum and no longer changes.

[0103] In the fourth stage, after the current of the PTO solenoid valve is controlled to rise to the fourth target current, the clutch enters the fully engaged state, in which the wet PTO clutch is in a fully engaged state. Figure 3 As shown, after time t9, the clutch is in a fully engaged state, and the current of the PTO solenoid valve reaches the maximum and no longer changes.

[0104] During the engagement stage, through four different control stages, the current of the PTO solenoid valve is controlled to increase at different slopes, thereby achieving steady engagement of the PTO while shortening the engagement time, improving the smoothness of the PTO engagement, and achieving the purpose of protecting the machine and the wet PTO clutch.

[0105] like Figure 4 and Figure 5 As shown in the figure, the initial control current of the first stage is determined according to the current at the connection point found, and the control time of the second and third stages is determined according to the PTO combination rate. Therefore, the combination curve (PTO control current curve) of the whole process is not fixed. When the load is small, the connection point current is small, and the whole combination curve will be low; when the load is large, the connection point current is large, and the whole curve combination will be high.

[0106] like Figure 4 and Figure 5As shown, when the mounted load is small, the PTO engagement rate will rise quickly to the target engagement rates corresponding to the second and third stages respectively, the control time of the second and third stages will be short, and the time of the entire engagement curve will also be short; when the mounted load is large, the PTO engagement rate will rise slowly to the target engagement rates corresponding to the second and third stages respectively, the control time of the second and third stages will be long, and the time of the entire engagement curve will also be long.

[0107] Based on the same technical concept, the present application also provides a wet PTO clutch adaptive engagement device, such as Figure 6 As shown, the wet PTO clutch adaptive coupling device 200 mainly includes:

[0108] The pre-oil filling module 201 is used to control the clutch to enter the pre-oil filling stage when receiving the clutch engagement command, and adjust the current of the PTO solenoid valve based on the start oil filling time and end oil filling time of the PTO solenoid valve corresponding to the pre-oil filling stage, the start oil filling current corresponding to the start oil filling time, and the end oil filling current corresponding to the end oil filling time. The current of the PTO solenoid valve is a parameter that affects the oil pressure corresponding to the clutch;

[0109] A docking point module 202, configured to control the clutch to enter a docking point stage when the oil filling end time is reached, and obtain a docking point current of the PTO solenoid valve corresponding to the docking point stage based on the oil filling end current;

[0110] The engagement module 203 is used to control the clutch to enter the engagement stage based on the engagement point current, and to increase the current of the PTO solenoid valve starting from the engagement point current based on the current rising slope corresponding to the engagement stage until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage, and to control the clutch to maintain the operating parameters so that the clutch remains in a fully engaged state.

[0111] Optionally, the docking point module 202 includes:

[0112] The first submodule is used to set the first set time period after the oil filling end time as the initial time period;

[0113] a first comparison submodule, configured to control the PTO solenoid valve to operate at the end oil filling current within the initial time period, and to obtain in real time a first PTO actual speed corresponding to the end oil filling current, and to compare the first PTO actual speed with a preset speed threshold;

[0114] The second submodule is used to use the end oil filling current as the docking point current if the actual speed of the first PTO reaches the speed threshold within the initial time period;

[0115] The third submodule is used to, if the actual speed of the first PTO does not reach the speed threshold within the initial time period, use the end oil filling time as the current time, use the end oil filling current as the current current, use the second set time period after the current time as the current time period, and obtain the current increase corresponding to the preset second set time period;

[0116] A second comparison submodule is used to control the PTO solenoid valve to operate at a target current within the current time period, where the target current is a current obtained by increasing the current increase amount on the basis of the current current, and to obtain a second PTO actual speed corresponding to the target current in real time, compare the second PTO actual speed with the speed threshold, and compare the target current with a maximum docking point current threshold;

[0117] The fourth submodule is used to use the target current as the docking point current if the actual speed of the second PTO reaches the speed threshold or the target current reaches the maximum docking point current threshold within the current time period;

[0118] A cyclic comparison submodule is used to, if within the current time period, if the second PTO actual speed does not reach the speed threshold and the target current does not reach the maximum docking point current threshold, then use the end time corresponding to the current time period as the new current time, use the target current as the new current current, and repeatedly execute within the new current time period, control the PTO solenoid valve to operate with the new target current, and obtain in real time the new second PTO actual speed corresponding to the new target current, until the new second PTO actual speed reaches the speed threshold, or the target current reaches the maximum docking point current threshold.

[0119] Optionally, the combined stage includes a first stage, a second stage, a third stage and a fourth stage, the current rising slope corresponding to the first stage is a first current slope, the current rising slope corresponding to the second stage is a second current slope, the current rising slope corresponding to the third stage is a third current slope, and the current rising slope corresponding to the fourth stage is a fourth current slope. The exit condition corresponding to the first stage is a first condition, the exit condition corresponding to the second stage is a second condition, the exit condition corresponding to the third stage is a third condition, and the exit condition corresponding to the fourth stage is a fourth condition.

[0120] The combination module 203 includes:

[0121] A first stage submodule, for controlling the clutch to enter the first stage based on the docking point current, controlling the current of the PTO solenoid valve to increase from the docking point current based on the first current slope, and obtaining a first target parameter corresponding to the clutch in real time until the first target parameter reaches the first condition, obtaining a first exit current corresponding to the PTO solenoid valve when exiting the first stage, and controlling the clutch to enter the second stage;

[0122] A second stage submodule, for controlling the current of the PTO solenoid valve to increase from the first exit current based on the second current slope, and obtaining a second target parameter corresponding to the clutch in real time until the second target parameter reaches the second condition, obtaining a second exit current corresponding to the PTO solenoid valve when exiting the second stage, and controlling the clutch to enter the third stage;

[0123] The third stage submodule is used to control the current of the PTO solenoid valve to increase from the second exit current based on the third current slope, and obtain the third target parameter corresponding to the clutch in real time until the third target parameter reaches the third condition, obtain the third exit current corresponding to the PTO solenoid valve when exiting the third stage, and control the clutch to enter the fourth stage;

[0124] The fourth stage submodule is used to control the current of the PTO solenoid valve to increase from the third exit current based on the fourth current slope, and to obtain the fourth target parameter corresponding to the clutch in real time until the fourth target parameter reaches the fourth condition, thereby controlling the clutch to exit the engagement stage, and the operating parameters corresponding to the clutch include the fourth target parameter.

[0125] Optionally, the first current slope and the third current slope are both smaller than the second current slope, and the fourth current slope is larger than the third current slope.

[0126] Optionally, the first target parameter and the fourth target parameter both include the current of the PTO solenoid valve, and the second target parameter and the third target parameter both include the current of the PTO solenoid valve and the corresponding engagement rate of the clutch.

[0127] Optionally, the calculation device of the binding rate includes:

[0128] an acquisition module, configured to acquire a fully engaged speed when the clutch is in the fully engaged state based on an engine speed and a PTO transmission ratio;

[0129] The calculation module is used to calculate the engagement rate based on the fully engaged rotational speed and the real-time PTO actual rotational speed.

[0130] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0131] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0132] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0134] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0135] Based on the same technical concept, the present application also provides an electronic device, such as Figure 7As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include an information input / information output I / O interface 303 , one or more of a communication component 304 , and a communication bus 305 .

[0136] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned wet PTO clutch adaptive engagement method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method operated on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0137] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0138] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0139] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the adaptive engagement method of the wet PTO clutch given in the above embodiment.

[0140] The electronic device 300 may include but is not limited to mobile terminals such as digital broadcast receivers, PDAs (personal digital assistants), PMPs (portable multimedia players), etc., and fixed terminals such as digital TVs, desktop computers, single-chip microcomputers, and embedded systems, and may also be servers, etc.

[0141] Based on the same technical concept, the present application also provides a tractor, comprising the above-mentioned electronic device, a wet PTO clutch, a tractor PTO and a vehicle body, wherein the electronic device is electrically connected to the wet PTO clutch, the wet PTO clutch is connected to the tractor PTO, and the electronic device, the wet PTO clutch and the tractor PTO are respectively installed on the vehicle body.

[0142] Based on the same technical concept, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned wet PTO clutch adaptive engagement method are implemented.

[0143] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0144] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0145] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0146] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0147] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A wet PTO clutch adaptive engagement method, It is characterized in that include: If a clutch engagement command is received, the clutch is controlled to enter a pre-oil filling stage, and the current of the PTO solenoid valve is adjusted based on the start oil filling time and the end oil filling time of the PTO solenoid valve corresponding to the pre-oil filling stage, the start oil filling current corresponding to the start oil filling time, and the end oil filling current corresponding to the end oil filling time. The current of the PTO solenoid valve is a parameter that affects the oil pressure corresponding to the clutch; If the end oil filling time is reached, the clutch is controlled to enter the docking point stage, and based on the end oil filling current, the docking point current of the PTO solenoid valve corresponding to the docking point stage is obtained; Based on the engagement point current, the clutch is controlled to enter the engagement stage. Based on the current rising slope corresponding to the engagement stage, the current of the PTO solenoid valve is increased starting from the engagement point current until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage. The clutch is controlled to maintain the operating parameters to keep the clutch in a fully engaged state.

2. A wet PTO clutch adaptive engagement method according to claim 1, It is characterized in that The step of obtaining the docking point current of the PTO solenoid valve corresponding to the docking point stage based on the end oil filling current includes: taking the first set time period after the oil filling end time as the initial time period; During the initial time period, the PTO solenoid valve is controlled to operate at the end oil filling current, and a first PTO actual speed corresponding to the end oil filling current is acquired in real time, and the first PTO actual speed is compared with a preset speed threshold; In the initial time period, if the actual speed of the first PTO reaches the speed threshold, the end oil filling current is used as the docking point current; Within the initial time period, if the actual speed of the first PTO does not reach the speed threshold, the end oil filling time is used as the current time, the end oil filling current is used as the current current, and the second set time period after the current time is used as the current time period, and the current increase corresponding to the preset second set time period is obtained; In the current time period, the PTO solenoid valve is controlled to operate at a target current, where the target current is the current after the current increase amount is increased on the basis of the current, and a second PTO actual speed corresponding to the target current is acquired in real time, the second PTO actual speed is compared with the speed threshold, and the target current is compared with a maximum docking point current threshold; In the current time period, if the actual speed of the second PTO reaches the speed threshold, or the target current reaches the maximum docking point current threshold, the target current is used as the docking point current; During the current time period, if the second PTO actual speed does not reach the speed threshold and the target current does not reach the maximum docking point current threshold, the end time corresponding to the current time period is used as the new current time, and the target current is used as the new current current. The steps of controlling the PTO solenoid valve to operate with the new target current during the new current time period and obtaining the new second PTO actual speed corresponding to the new target current in real time are repeated until the new second PTO actual speed reaches the speed threshold, or the target current reaches the maximum docking point current threshold.

3. A wet PTO clutch adaptive engagement method according to claim 1 or 2, It is characterized in that The combination stage includes a first stage, a second stage, a third stage and a fourth stage, the current rising slope corresponding to the first stage is a first current slope, the current rising slope corresponding to the second stage is a second current slope, the current rising slope corresponding to the third stage is a third current slope, the current rising slope corresponding to the fourth stage is a fourth current slope, the exit condition corresponding to the first stage is a first condition, the exit condition corresponding to the second stage is a second condition, the exit condition corresponding to the third stage is a third condition, and the exit condition corresponding to the fourth stage is a fourth condition; The step of increasing the current of the PTO solenoid valve from the contact point current based on the current rising slope corresponding to the engagement stage until the operating parameter corresponding to the clutch reaches the exit condition corresponding to the engagement stage includes: Based on the engagement point current, the clutch is controlled to enter the first stage; based on the first current slope, the current of the PTO solenoid valve is controlled to increase from the engagement point current, and a first target parameter corresponding to the clutch is obtained in real time until the first target parameter reaches the first condition, a first exit current corresponding to the PTO solenoid valve when exiting the first stage is obtained, and the clutch is controlled to enter the second stage; Based on the second current slope, the current of the PTO solenoid valve is controlled to increase from the first exit current, and a second target parameter corresponding to the clutch is obtained in real time until the second target parameter reaches the second condition, a second exit current corresponding to the PTO solenoid valve when exiting the second stage is obtained, and the clutch is controlled to enter the third stage; Based on the third current slope, the current of the PTO solenoid valve is controlled to increase from the second exit current, and a third target parameter corresponding to the clutch is obtained in real time until the third target parameter reaches the third condition, and a third exit current corresponding to the PTO solenoid valve when exiting the third stage is obtained, and the clutch is controlled to enter the fourth stage; Based on the fourth current slope, the current of the PTO solenoid valve is controlled to increase from the third exit current, and the fourth target parameter corresponding to the clutch is obtained in real time until the fourth target parameter reaches the fourth condition, and the clutch is controlled to exit the engagement stage, and the operating parameters corresponding to the clutch include the fourth target parameter.

4. A wet PTO clutch adaptive engagement method according to claim 3, It is characterized in that The first current slope and the third current slope are both smaller than the second current slope, and the fourth current slope is larger than the third current slope.

5. A wet PTO clutch adaptive engagement method according to claim 4, It is characterized in that The first target parameter and the fourth target parameter both include the current of the PTO solenoid valve, and the second target parameter and the third target parameter both include the current of the PTO solenoid valve and the corresponding engagement rate of the clutch.

6. A wet PTO clutch adaptive engagement method according to claim 5, It is characterized in that The method for calculating the binding rate comprises: Based on the engine speed and the PTO transmission ratio, obtaining a fully engaged speed when the clutch is in the fully engaged state; Based on the fully engaged speed and the real-time PTO actual speed, the engagement ratio is calculated.

7. A wet PTO clutch adaptive engagement device, It is characterized in that include: A pre-oil filling module, for controlling the clutch to enter a pre-oil filling stage upon receiving a clutch engagement command, and adjusting the current of the PTO solenoid valve based on a start oil filling time, an end oil filling time, a start oil filling current corresponding to the start oil filling time, and an end oil filling current corresponding to the end oil filling time of the PTO solenoid valve corresponding to the pre-oil filling stage, wherein the current of the PTO solenoid valve is a parameter that affects the oil pressure corresponding to the clutch; A docking point module, used to control the clutch to enter a docking point stage when the end oil filling time is reached, and obtain a docking point current of the PTO solenoid valve corresponding to the docking point stage based on the end oil filling current; An engagement module is used to control the clutch to enter an engagement stage based on the engagement point current, and to increase the current of the PTO solenoid valve starting from the engagement point current based on the current rising slope corresponding to the engagement stage, until the operating parameters corresponding to the clutch reach the exit conditions corresponding to the engagement stage, and to control the clutch to maintain the operating parameters so that the clutch remains in a fully engaged state.

8. An electronic device, It is characterized in that comprising a processor and a memory, wherein the processor is coupled to the memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 6.

9. A tractor, It is characterized in that It comprises the electronic device as described in claim 8, a wet PTO clutch, a tractor PTO and a vehicle body, wherein the electronic device is electrically connected to the wet PTO clutch, the wet PTO clutch is connected to the tractor PTO, and the electronic device, the wet PTO clutch and the tractor PTO are respectively installed on the vehicle body.

10. A computer-readable storage medium, It is characterized in that The method comprises a computer program or an instruction, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 6.

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