Sensitivity adjusting method and device for brake pedal of hydrostatic transmission loader, vehicle control unit and storage medium
By calculating and adjusting the voltage offset X of the brake pedal in the loader, the sensitivity adjustment of the vehicle speed ratio corresponding to the brake pedal amplitude is achieved, which solves the problem of speed mismatch and mechanical braking intervention in the joint working conditions of the loader, and improves the working efficiency and component life.
Patent Information
- Application Number
- CN202411605940.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-02-28
AI Technical Summary
In the combined operating conditions of the loader, the sensitivity adjustment of the existing brake pedals is insufficient, resulting in mismatch between the driving speed and the working device speed, increasing the driver's operating strength, and possibly resulting in unnecessary intervention in mechanical braking, resulting in energy loss and component wear.
By obtaining the initial state data of the brake pedal and the field joint working condition simulation data, the voltage offset X is calculated, and written into the vehicle controller, the variable pump controls the vehicle speed ratio Y' and the voltage value U are adjusted to realize the sensitivity adjustment of the vehicle speed ratio corresponding to the brake pedal amplitude at the preset value P1.
It improves the working efficiency of the loader under different working conditions, reduces the frequency of mechanical braking, extends the life of the brake elements, and reduces energy loss.
Smart Images
Figure CN119527248A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of loader braking, in particular to a method and device for adjusting the sensitivity of a brake pedal of a hydrostatic transmission loader, a whole vehicle controller and a storage medium. Background Art
[0002] At present, hydrostatic transmission loaders use hydrostatic transmission to replace the torque converter, and transmit the engine power to the drive wheels through the hydraulic pump and hydraulic motor. Hydrostatic transmission loaders are equipped with accelerator pedals and brake pedals.
[0003] According to the signal from the accelerator pedal, the engine speed, variable pump and variable motor displacement can be controlled, thereby controlling the driving speed.
[0004] The brake pedal has an inch-in function (such as Figure 1 ), the brake pedal is equipped with an angle sensor that can output different voltage values according to the angle at which it is pressed (such as Figure 2 ), this voltage value enters the vehicle controller, and its control strategy is generally as follows: when the braking amplitude is within the inch-in area, that is, within 30% (or 1 / 3) of the maximum braking amplitude, only hydraulic braking is performed separately, and the vehicle speed is reduced by reducing the displacement of the variable pump without reducing traction. The mechanical brake does not work, and the maximum vehicle speed is controlled by the brake pedal (the deeper the pedal is pressed, the lower the vehicle speed); the braking amplitude is increased by pressing the pedal deeply. When the braking amplitude exceeds the inch-in area, that is, when the braking amplitude of the brake pedal is greater than 30% (or 1 / 3) of the maximum braking amplitude, the mechanical brake and the hydraulic brake are braked together.
[0005] The existing brake pedal can minimize mechanical friction energy loss due to its inch-in function; the participation of hydraulic braking greatly reduces the frequency of mechanical braking, extends the life of brake components, and reduces energy loss.
[0006] However, when operating in combined working conditions, that is, when driving and working devices are in motion at the same time (such as lifting the boom during forward driving), in order to obtain the maximum lifting speed of the loader's boom, it is necessary to step on the accelerator to the bottom to increase the engine speed. At this time, the corresponding driving speed will also reach the maximum. In order to match the driving speed with the speed of the working device and ensure that the working device is completed when reaching the working position, it is necessary to step on the brake pedal to reduce the driving speed.
[0007] At present, the common practice in the industry is to reduce the vehicle speed by about 30% (fixed value, such as Figure 3 ). Since the loaders are used in different places, the operating distance and lifting height are different when working together, the following problems exist: 1. When the brake pedal is pressed in a long-distance working condition, the speed change requirement is small, but the brake pedal is sensitive to deceleration, and the pedaling amplitude is difficult to control. There may be excessive deceleration, resulting in the boom not being able to move to the right position after it is lifted. Therefore, it is necessary to frequently adjust the pedaling amplitude to match the vehicle speed with the lifting speed of the working device, increasing the driver's operating intensity. In this process, there may also be a cross-inching area, and mechanical brake intervention will lead to energy waste.
[0008] 2. When the brake pedal is pressed in a short distance, the speed may be reduced by 30%, which is too small. As a result, the boom is not lifted to the right position when the vehicle is in place. At this time, it is necessary to cross the inch-in area and intervene in the mechanical brake to reduce the vehicle speed and match the speed of the driving and working devices. The intervention of the mechanical brake will cause the brake to heat up and wear, waste energy, and use high energy consumption. Summary of the invention
[0009] The object of the present invention is to provide a method, device, vehicle controller and storage medium for adjusting the brake pedal sensitivity of a hydrostatic transmission loader, which has the advantages of improving work efficiency, reducing the frequency of mechanical brake use, extending service life and reducing energy loss.
[0010] In order to achieve the above object, the solution of the present invention is: A method for adjusting the sensitivity of a brake pedal of a hydrostatic transmission loader, the method for adjusting the sensitivity performs the following steps: Step S1, obtaining data of the initial state of the brake pedal; Obtain the maximum threshold value P1 of the inch-in area of the brake pedal with inch-in function in the initial state, the voltage value U0 when the brake pedal is stepped on at P1, and the speed ratio Y1 of the vehicle speed after braking and the vehicle speed before braking corresponding to the brake pedal stepped on at P1; at the same time, obtain the maximum voltage value U max and the minimum voltage value U when the pedaling amplitude is zero min ; Among them, P1 is the preset percentage value of the brake pedal; Y1 is the percentage value determined when the brake pedal is designed; U0 is based on the maximum voltage value U max and minimum voltage value U min Calculated, the calculation formula is: U0=U min +(U max -U min )×P1; when the brake pedal is stepped on, the output voltage value U increases proportionally with the increase of the pedal amplitude P, and the vehicle speed ratio Y corresponding to the voltage value U is the same as the vehicle speed ratio Y' controlled by the variable pump in the inch-advancing area and decreases proportionally with the increase of the pedal amplitude P; Step S2, performing a combined working condition simulation for a specific field, and obtaining data of a pedaling amplitude P2 and a corresponding vehicle speed ratio Y2 during the simulation; Operate the loader to perform on-site combined working condition simulation to obtain the brake pedal depression amplitude P2 and the vehicle speed ratio Y2 corresponding to the brake pedal depression amplitude P2 during the combined working condition operation of the loader at the actual site; Among them, the pedaling amplitude P2 is obtained by collecting the voltage value U corresponding to the pedaling amplitude P2 of the brake pedal during the combined working condition operation. t , and then obtain it through calculation, the calculation formula is: P2=(U t -U min )÷(U max -U min ); The vehicle speed ratio Y2 is obtained by collecting the vehicle speed V2 after braking and the vehicle speed V1 before braking during the combined working condition operation, and then calculated using the following formula: Y2=V2÷V1; Step S3, analyzing the pedaling amplitude P2 to determine whether to perform sensitivity adjustment; Compare P2 obtained in step S2 with P1 obtained in step S1 to determine whether to perform sensitivity adjustment; if P2 is greater than P1, or P2 is less than half of P1, proceed to step S4 to perform sensitivity adjustment; otherwise, do not perform sensitivity adjustment and end the process; Step S4, performing sensitivity adjustment; According to the data obtained in step S1 and the data obtained in step S2, the voltage offset X is calculated, and the voltage offset X is written into the vehicle controller, and the variable pump is controlled to control the vehicle speed ratio Y' and the voltage value U to form the following relationship: When the voltage value U≤U0, the variable pump controls the vehicle speed ratio Y'=1-(1-Y1)÷(U0+XU min )×(UU min ); When the voltage value U>U0, the variable pump controls the vehicle speed ratio Y' =Y1÷(U0+XU max )×(UU max ); X is calculated by the following formula: X = P1 × (U max -U min )×(Y1-Y2)÷(Y2-1); When the loader is working, the vehicle controller adjusts the variable pump control speed ratio Y' by linear interpolation according to the voltage value U output when the brake pedal is stepped on according to the above relationship; so that when the brake pedal voltage value is U0, the variable pump control speed ratio Y' and the speed ratio Y are both adjusted to Y2; Thus, the sensitivity adjustment is achieved so that the vehicle speed ratio corresponding to the depression amplitude of the brake pedal at P1 is adjusted from Y1 to Y2, and the process ends.
[0011] Furthermore, the value of P1 is a factory preset value of the brake pedal; the value of Y1 is a percentage value determined when the brake pedal is designed; the preset range of the value of P1 is 25%-35%, and the preset range of the value of Y1 is 65%-75%.
[0012] Furthermore, in step S2, the combined working condition simulation is repeated at least five times, and then the average values of P2 and Y2 obtained from the multiple simulations are taken respectively, and then the subsequent steps S3 and S4 are performed with the respective average values of P2 and Y2.
[0013] Furthermore, the field combined working condition simulation in step S2 includes selecting a specific actual site, and then allowing the driver to operate the hydrostatic transmission loader in the actual site to perform the combined actions of load driving and boom lifting; and allowing the driver to step on the brake pedal only once during each simulation process and maintain a fixed amplitude, and the step S2 calculates the stepping amplitude P2 and vehicle speed ratio Y2 corresponding to the fixed amplitude.
[0014] Further, in step S4, the formula X=P1×(U max -U min )×(Y1-Y2)÷(Y2-1) is derived as follows: Since the vehicle speed ratio Y changes at a fixed ratio as the pedaling amplitude P increases in the inch-in area, the vehicle speed ratio Y will change at a fixed ratio as the voltage value U increases; And after the sensitivity is adjusted, the vehicle speed ratio in the initial state is Y1, that is, when the variable pump controls the vehicle speed ratio Y' to Y1, the corresponding output voltage value is adjusted from U0 to U1, where U1=U0+X; From this it follows that:
[0015] Combined with U1=U0+X, we get:
[0016] Combined with U0=U min +(U max -U min )×P1; get:
[0017] Finally, we get the following through inference: X=P1×(U max -U min )×(Y1-Y2)÷(Y2-1).
[0018] Furthermore, the sensitivity adjustment method detects the pedaling amplitude P through the angle sensor of the brake pedal and obtains the corresponding voltage value U; in the step S4, the vehicle controller calculates the voltage offset X based on the data obtained in step S1 and the data obtained in step S2.
[0019] Furthermore, in step S2, the value of P2 is not calculated, but the voltage value U corresponding to P2 is collected. t ; and in step S3, U t Compared with U0, when U t Less than U min +(U max -U min )×0.5P1, P2 is judged to be less than half of P1, and when U t Greater than U min +(U max -U min )×P1, it is judged that P2 is greater than P1.
[0020] The present invention also provides a brake pedal sensitivity adjustment control device for a hydrostatic transmission loader, the sensitivity adjustment control device comprising: The detection module is used to detect and calculate the data of the initial state of the brake pedal; the data includes the maximum threshold value P1 of the inch-in area of the brake pedal with inch-in function in the initial state, the voltage value U0 when the pedal amplitude of the brake pedal is at P1, the speed ratio Y1 of the vehicle speed after braking and the vehicle speed before braking corresponding to the pedal amplitude of the brake pedal at P1, and the maximum voltage value U max and the minimum voltage value U when the pedaling amplitude is zero min ; Among them, P1 is the preset percentage value of the brake pedal; the value of Y1 is the percentage value determined when the brake pedal is designed; U0 is based on the maximum voltage value U max and minimum voltage value U min Calculated, the calculation formula is: U0=U min +(U max -U min )×P1; the voltage value U increases proportionally with the increase of the pedal amplitude P, and the vehicle speed ratio Y is equal to the variable pump control vehicle speed ratio Y' in the inch-advancing area and decreases proportionally with the increase of the pedal amplitude P; A simulation module is used to obtain and calculate the pedaling amplitude P2 and the corresponding vehicle speed ratio Y2 during a specific on-site combined working condition simulation process; Among them, the pedaling amplitude P2 is obtained by collecting the voltage value U corresponding to the pedaling amplitude P2 of the brake pedal during the combined working condition operation. t , and then obtain it through calculation, the calculation formula is: P2=(Ut -U min )÷(U max -U min ); The vehicle speed ratio Y2 is obtained by collecting the vehicle speed V2 after braking and the vehicle speed V1 before braking during the combined working condition operation, and then calculated using the following formula: Y2=V2÷V1; The judgment module is used to analyze the pedaling amplitude P2 to determine whether to perform sensitivity adjustment; the judgment module is used to receive P2 obtained by the simulation module and P1 obtained by the detection module, and compare them to determine whether to perform sensitivity adjustment; if P2 is greater than P1, or P2 is less than half of P1, the sensitivity adjustment module is entered to perform sensitivity adjustment; otherwise, the sensitivity adjustment is not performed and the process ends; The sensitivity adjustment module is used to perform sensitivity adjustment to adjust the vehicle speed ratio corresponding to the brake pedal's stepping amplitude at P1 from Y1 to Y2; the sensitivity adjustment module calculates the voltage offset X based on the judgment result of the judgment module, the data obtained by the detection module and the data obtained by the simulation module, and writes the voltage offset X into the vehicle controller, so that when the brake pedal voltage value is U0, the variable pump control speed ratio Y' and the speed ratio Y are correspondingly adjusted to Y2, and when the loader is working subsequently, the vehicle controller adjusts the variable pump control speed ratio Y' according to the following relationship according to the received voltage value U output when the brake pedal is stepped on: When the voltage value U≤U0, the variable pump controls the vehicle speed ratio Y'=1-(1-Y1)÷(U0+XU min )×(UU min ); When the voltage value U>U0, the variable pump controls the vehicle speed ratio Y' =Y1÷(U0+XU max )×(UU max ); X is calculated by the following formula: X = P1 × (U max -U min )×(Y1-Y2)÷(Y2-1).
[0021] The present invention also provides a vehicle controller for a hydrostatic transmission loader, comprising: a processor, a memory, and a brake pedal sensitivity adjustment program stored in the memory, wherein the brake pedal sensitivity adjustment program implements the steps of the brake pedal sensitivity adjustment method when executed by the processor.
[0022] The present invention also provides a computer-readable storage medium, on which a brake pedal sensitivity adjustment program is stored. When the brake pedal sensitivity adjustment program is executed by a processor, the brake pedal sensitivity adjustment method is implemented.
[0023] After adopting the above technical scheme, the value of the voltage offset X can be calculated according to the vehicle speed ratio Y2 obtained in the simulation process, thereby adjusting the sensitivity of the brake pedal. Therefore, the hydrostatic transmission loader of the present invention can adjust the inch pedal according to the customer's site to make the driving and working device speeds highly matched, improve work efficiency, reduce the frequency of mechanical brake use, extend the life of the brake components, and reduce energy loss. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 This is a schematic diagram of a brake pedal with an inching function; Figure 2 A curve diagram of the voltage value and pedal amplitude output by the brake pedal angle sensor; Figure 3 A curve diagram of the existing brake pedal depression amplitude and the vehicle speed ratio Y' controlled by the variable pump; Figure 4 The curve diagram of the brake pedal output voltage value after sensitivity adjustment and the vehicle speed ratio Y' controlled by the variable pump before and after adjustment when P2 is greater than P1 of the present invention, wherein X is a negative value; Figure 5 The curve diagram of the brake pedal output voltage value after sensitivity adjustment and the vehicle speed ratio Y' controlled by the variable pump before and after adjustment when P2 of the present invention is less than half of P1, wherein X is a positive value; Figure 6 The figure is a flow chart of the steps of the method of the present invention. DETAILED DESCRIPTION
[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.
[0026] Example 1 The brake pedal of the hydrostatic transmission loader of the present invention has an inch-advance function. In view of the different use sites of the loader, the travel speed requirements required in the combined working condition are different. Under the condition of ensuring the matching of the travel and working device speeds, in order to minimize the intervention of mechanical brakes, reduce the frequency of brake use, extend the life of brake components, and reduce energy loss, the present invention proposes the following solutions: 1. Add brake pedal sensitivity adjustment function to the instrument; 2. By setting the voltage offset of the brake pedal, we can obtain the brake pedal depression amplitude and vehicle speed ratio during combined working conditions according to the customer's specific working conditions, and analyze the degree of mechanical brake intervention.
[0027] 2.1 If mechanical brakes are involved, the voltage value can be reduced by setting the brake pedal voltage offset, increasing the deceleration ratio when braking in the inch-in area and improving the sensitivity of the brake pedal.
[0028] 2.2 If the pedal amplitude value is low overall, the voltage value can be increased by setting the brake pedal voltage offset, reducing the deceleration ratio when braking in the inch-in area, reducing the sensitivity of the brake pedal, and making it easier for the driver to control the vehicle speed.
[0029] Specifically, the present invention adopts the following method for adjusting the brake pedal sensitivity of a hydrostatic transmission loader to achieve flexible adjustment of the brake sensitivity according to actual working conditions.
[0030] like Figure 6 , the sensitivity adjustment method performs the following process steps: Step S1, obtaining data of the initial state of the brake pedal; Obtain the maximum threshold value P1 of the inch-in area of the brake pedal with inch-in function in the initial state, the voltage value U0 when the brake pedal is stepped on at P1, and the speed ratio Y1 of the vehicle speed after braking and the vehicle speed before braking corresponding to the brake pedal stepped on at P1; at the same time, obtain the maximum voltage value U max and the minimum voltage value U when the pedaling amplitude is zero min (See Figure 1 ); Furthermore, the angle sensor of the brake pedal detects the pedal amplitude P and outputs a corresponding voltage value U, wherein the voltage value U increases at a certain ratio as the pedal amplitude P increases, and the vehicle speed ratio Y decreases at a certain ratio as the pedal amplitude P increases in the inch-forward region (see Figure 2 ), since only the variable pump is braking in the inch-in area, the vehicle speed ratio Y will be the same as the vehicle speed ratio Y' controlled by the variable pump, and the vehicle speed Y' controlled by the variable pump will decrease at a certain ratio as the pedal amplitude P (voltage value U) increases; and when it exceeds the inch-in area, due to the intervention of mechanical braking, the vehicle speed ratio is affected by both the variable pump and the mechanical brake. Specifically, the vehicle speed ratio Y will slow down faster than the vehicle speed ratio Y' controlled by the variable pump.
[0031] Among them, P1 is the preset percentage value of the brake pedal; Y1 is the percentage value determined when the brake pedal is designed; the common P1 is 30% and Y1 is 70%, which can be adjusted according to the actual design.
[0032] See also Figure 2 , U0 is based on the maximum voltage value U max and minimum voltage value U min Calculated, the calculation formula is: U0=U min +(Umax -U min )×P1; The current industry practice is that when the maximum threshold value P1 of the brake pedal in the inch-in area is 30%, the vehicle speed is reduced by about 30%; the value of P1 is the preset value of the brake pedal by the merchant when it leaves the factory, and the value of Y1 is a percentage value determined when the brake pedal is designed; it can be obtained through detection or query; usually the preset range of the value of P1 can be 25%-35%, and the value range of Y1 can be 65%-75%.
[0033] Step S2, performing a combined working condition simulation for a specific field, and obtaining data of a pedaling amplitude P2 and a corresponding vehicle speed ratio Y2 during the simulation; The loader is operated to perform a field joint working condition simulation, wherein the field joint working condition simulation includes selecting a specific actual site, and then the driver is asked to operate the hydrostatic transmission loader in the actual site to perform a combined action of traveling with load and lifting the boom. The driver is asked to step on the pedal only once and maintain a fixed amplitude during each simulation process, and the step S2 calculates the stepping amplitude P2 and the vehicle speed ratio Y2 corresponding to the fixed amplitude.
[0034] Specifically, before the simulation test, the driver may be asked to perform several operations in advance, so that the pedal amplitude can be controlled to be basically consistent each time (without frequent pedaling adjustments), and then the simulation test can be carried out.
[0035] In this way, the braking amplitude P2 of the brake pedal and the vehicle speed ratio Y2 corresponding to the braking amplitude P2 during the combined working condition operation of the loader in the actual site can be obtained; further, in step S2, the combined working condition simulation can be repeated at least five times, and then the average values of P2 and Y2 of the multiple simulations are taken respectively, and then the subsequent steps S3 and S4 are executed with the respective average values of P2 and Y2, so as to improve the accuracy of the simulation test.
[0036] Among them, the pedaling amplitude P2 is obtained by collecting the voltage value U corresponding to the pedaling amplitude P2 of the brake pedal during the combined working condition operation. t , and then obtain it through calculation, the calculation formula is: P2=(U t -U min )÷(U max -U min ); The vehicle speed ratio Y2 is obtained by collecting the vehicle speed V2 after braking and the vehicle speed V1 before braking during the combined working condition operation, and then calculated using the following formula: Y2=V2÷V1; Step S3, analyzing the pedaling amplitude P2 to determine whether to perform sensitivity adjustment; Compare P2 obtained in step S2 with P1 obtained in step S1 to determine whether to perform sensitivity adjustment; if P2 is greater than P1, or P2 is less than half of P1, proceed to step S4 to perform sensitivity adjustment; otherwise, do not perform sensitivity adjustment and end the process; Step S4, performing sensitivity adjustment; According to the data obtained in step S1 and the data obtained in step S2, the voltage offset X is calculated, and the voltage offset X is written into the vehicle controller, and the variable pump is controlled to control the vehicle speed ratio Y' and the voltage value U to form the following relationship: When the voltage value U≤U0, the variable pump controls the vehicle speed ratio Y'=1-(1-Y1)÷(U0+XU min )×(UU min ); When the voltage value U>U0, the variable pump controls the vehicle speed ratio Y' =Y1÷(U0+XU max )×(UU max ); X is calculated by the following formula: X = P1 × (U max -U min )×(Y1-Y2)÷(Y2-1); When the loader is working, the vehicle controller adjusts the speed ratio Y' controlled by the variable pump by linear interpolation according to the voltage value U output when the brake pedal is stepped on according to the above relationship; since the speed ratio Y in the inch-in area is equal to the speed ratio Y' controlled by the variable pump, that is, when the brake pedal voltage value is U0, the corresponding speed ratio is adjusted to Y2; Thus, the sensitivity adjustment is achieved so that the vehicle speed ratio corresponding to the braking amplitude at P1 is adjusted from Y1 to Y2, and finally the process ends.
[0037] according to Figure 4 and Figure 5 The curve ratio can be deduced to obtain the relationship between the variable pump control speed ratio Y' and the voltage value U; and the derivation of X is used as an example to illustrate (the relationship between the variable pump control speed ratio Y' and the voltage value U can refer to the derivation process of X), formula X=P1×(U max -U min )×(Y1-Y2)÷(Y2-1) can be derived as follows: See also Figure 3 , because in the inch-in area, the variable pump controlled vehicle speed ratio Y' is equal to the vehicle speed ratio Y, and both change at a certain ratio as the pedal amplitude P increases, so the variable pump controlled vehicle speed ratio Y' and vehicle speed ratio Y will change at a certain ratio as the voltage value U increases; And after the sensitivity is adjusted, the vehicle speed ratio in the initial state is Y1, that is, when the variable pump controls the vehicle speed ratio Y' to Y1, the corresponding output voltage value is adjusted from U0 to U1, where U1=U0+X; See also Figure 4 , from which we can infer:
[0038] Combined with U1=U0+X, we get:
[0039] Combined with U0=U min +(U max -U min )×P1; get:
[0040] Finally, through mathematical reasoning, we get: X=P1×(U max -U min )×(Y1-Y2)÷(Y2-1).
[0041] Thus, according to the vehicle speed ratio Y2 obtained in the simulation process, the value of the voltage offset X can be calculated to adjust the sensitivity of the brake pedal. In addition, in this embodiment, the value of P2 may not be calculated in step S2, but the voltage value U corresponding to P2 may be collected. t ; and in step S3, U t Compared with U0, when U t Less than U min +(U max -U min )×0.5P1, P2 is judged to be less than half of P1, and when U t Greater than U min +(U max -U min )×P1, it is judged that P2 is greater than P1.
[0042] Specifically, take the maximum threshold value of the inch-in area P1=30% and Y1=70% as an example. According to the simulation process, P2 is greater than P1 or less than half of P1. The sensitivity adjustment can be divided into two parts: First, if the angle sensor voltage value U tIf it is greater than U0, it means that the pedaling amplitude P2 is greater than P1 (P1=30%), indicating that mechanical braking is involved. Calculate the vehicle speed ratio Y2 at this time (Y2=vehicle speed after deceleration / vehicle speed before deceleration, Y2<70%). According to the vehicle speed ratio Y2, calculate the brake pedal voltage offset X (X is a negative value at this time), and then adjust it so that when the pedaling amplitude is 30%, the angle sensor voltage value U0 plus the voltage offset X to obtain the voltage value U1 (U1=U0+X) corresponding to the vehicle speed ratio is 70%, such as Figure 4 , so when the braking amplitude P1=30%, the corresponding variable pump controls the vehicle speed ratio Y' to Y2 (inch function limit, set the angle sensor voltage value U 2= U0, that is Figure 4 In this way, the original maximum braking range of 30% (inch function limit) corresponding to the speed reduction of 70% can be changed to the speed reduction of Y2 (Y2<70%), increasing the speed reduction ratio, reducing the intervention of mechanical braking, reducing wear and reducing energy consumption.
[0043] Second, if the angle sensor voltage value U t Less than U min +(U max -U min )*0.5P1, indicating that the pedaling amplitude P2 value is less than half of P1 (15%), indicating that the required speed change is small, in order to make it easier for the driver to control the speed. Calculate the speed ratio Y2 at this time (Y2=speed after deceleration / speed before deceleration, Y2>70%). According to the speed ratio Y2, obtain the brake pedal voltage offset X (X is positive at this time), and then adjust it so that when the pedaling amplitude is 30%, the angle sensor voltage value U0 plus the voltage offset X to obtain the voltage value U1 (U1=U0+X) corresponding to the speed ratio of 70%, such as Figure 5 , so when the maximum braking amplitude P1=30%, the corresponding variable pump control speed ratio Y' is Y2 (inch function limit, angle sensor voltage value U 2= U0, that is Figure 5 In this way, the speed reduction from 70% to Y2 (Y2>70%) can be changed from the original maximum braking amplitude of 30% (inch-in function limit) to the speed reduction ratio during inch-in, making it easier for the driver to control the vehicle speed without causing mechanical brake intervention.
[0044] In summary, after adopting the sensitivity adjustment method of the present invention, the hydrostatic transmission loader of the present invention can adjust the sensitivity of the inch pedal according to the customer's site, so that the driving speed is highly matched with the working device speed, improve work efficiency, reduce the frequency of mechanical brake use, extend the life of the brake components, and reduce energy loss.
[0045] Example 2 This embodiment provides a brake pedal sensitivity adjustment control device for a hydrostatic transmission loader, the sensitivity adjustment control device comprising: The detection module is used to detect and obtain the data of the initial state of the brake pedal; the data includes the maximum threshold value P1 of the inch-in area of the brake pedal with inch-in function in the initial state, the voltage value U0 when the brake pedal is stepped on at P1, the speed ratio Y1 of the vehicle speed after braking and the vehicle speed before braking corresponding to the brake pedal stepped on at P1, and the maximum voltage value U max and the minimum voltage value U when the pedaling amplitude is zero min ; Where P1 is the preset percentage value of the brake pedal; Y1 is the percentage value determined when the brake pedal is designed; U0=U min +(U max -U min )×P1; the voltage value U increases at a certain ratio as the pedaling amplitude P increases, the vehicle speed ratio Y is equal to the variable pump controlled vehicle speed ratio Y' in the inch-advancing area and decreases at a certain ratio as the pedaling amplitude P increases; A simulation module is used to obtain the pedaling amplitude P2 and the corresponding vehicle speed ratio Y2 during a specific on-site combined working condition simulation process; The judging module is used to analyze the pedaling amplitude P2 to determine whether to perform sensitivity adjustment; the judging module is used to receive P2 obtained by the simulation module and P1 obtained by the detection module, and compare them to determine whether to perform sensitivity adjustment; if P2 is greater than half of P1 and less than P1, no sensitivity adjustment is performed; otherwise, sensitivity adjustment is performed; The sensitivity adjustment module is used to perform sensitivity adjustment; according to the judgment result of the judgment module, based on the data obtained by the detection module and the data obtained by the simulation module, the voltage offset X is calculated, and the voltage offset X is written into the vehicle controller, so that when the brake pedal voltage value is U0, the variable pump control speed ratio Y' and the speed ratio Y are correspondingly adjusted to Y2, and when the loader is working subsequently, the vehicle controller adjusts the variable pump control speed ratio Y' according to the following relationship according to the voltage value U output when the brake pedal is stepped on: When the voltage value U≤U0, the variable pump controls the vehicle speed ratio Y'=1-(1-Y1)÷(U0+XU min )×(UU min ); When the voltage value U>U0, the variable pump controls the vehicle speed ratio Y' =Y1÷(U0+XU max )×(UU max ); X is calculated by the following formula: X = P1 × (U max -U min)×(Y1-Y2)÷(Y2-1).
[0046] The simulation module, judgment module and sensitivity adjustment module can be local programs built into the loader instrument for calculation, or they can be located on the cloud platform for calculation and data return, and then the voltage offset X is remotely distributed to the vehicle controller for flashing.
[0047] By adopting this control device, the inch pedal adjustment control can be carried out according to the customer's site, so that the travel speed is highly matched with the working device speed, the work efficiency is improved, the frequency of mechanical brake use is reduced, the life of the brake components is extended, and the energy loss is reduced.
[0048] Example 3 This embodiment provides a vehicle controller for a hydrostatic transmission loader, comprising: a processor, a memory, and a brake pedal sensitivity adjustment program stored in the memory. When the brake pedal sensitivity adjustment program is executed by the processor, the steps of the brake pedal sensitivity adjustment method described in the above embodiment are implemented.
[0049] Example 4 This embodiment provides a computer-readable storage medium, on which a brake pedal sensitivity adjustment program is stored. When the brake pedal sensitivity adjustment program is executed by a processor, the brake pedal sensitivity adjustment method described in the above embodiment is implemented.
[0050] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, equivalent changes and modifications without departing from the principle of the present invention should still belong to the protection scope of the present invention.
Claims
1. A method for adjusting the brake pedal sensitivity of a hydrostatic transmission loader, characterized in that: The sensitivity adjustment method performs the following process steps: Step S1, obtaining data of the initial state of the brake pedal; Obtain the maximum threshold value P1 of the inch-in area of the brake pedal with inch-in function in the initial state, the voltage value U0 when the brake pedal is stepped on at P1, and the speed ratio Y1 of the vehicle speed after braking and the vehicle speed before braking corresponding to the brake pedal stepped on at P1; at the same time, obtain the maximum voltage value U max and the minimum voltage value U when the pedaling amplitude is zero min ; Among them, P1 is the preset percentage value of the brake pedal; Y1 is the percentage value determined when the brake pedal is designed; U0 is based on the maximum voltage value U max and minimum voltage value U min Calculated, the calculation formula is: U0=U min +(U max -U min )×P1; when the brake pedal is stepped on, the output voltage value U increases proportionally with the increase of the pedal amplitude P, and the vehicle speed ratio Y corresponding to the voltage value U is the same as the vehicle speed ratio Y' controlled by the variable pump in the inch-advancing area and decreases proportionally with the increase of the pedal amplitude P; Step S2, performing a combined working condition simulation for a specific field, and obtaining data of a pedaling amplitude P2 and a corresponding vehicle speed ratio Y2 during the simulation; Operate the loader to perform on-site combined working condition simulation to obtain the brake pedal depression amplitude P2 and the vehicle speed ratio Y2 corresponding to the brake pedal depression amplitude P2 during the combined working condition operation of the loader at the actual site; Among them, the pedaling amplitude P2 is obtained by collecting the voltage value U corresponding to the pedaling amplitude P2 of the brake pedal during the combined working condition operation. t , and then obtain it through calculation, the calculation formula is: P2=(U t -U min )÷(U max -U min ); The vehicle speed ratio Y2 is obtained by collecting the vehicle speed V2 after braking and the vehicle speed V1 before braking during the combined working condition operation, and then calculated using the following formula: Y2=V2÷V1; Step S3, analyzing the pedaling amplitude P2 to determine whether to perform sensitivity adjustment; Compare P2 obtained in step S2 with P1 obtained in step S1 to determine whether to perform sensitivity adjustment; if P2 is greater than P1, or P2 is less than half of P1, proceed to step S4 to perform sensitivity adjustment; otherwise, do not perform sensitivity adjustment and end the process; Step S4, performing sensitivity adjustment; According to the data obtained in step S1 and the data obtained in step S2, the voltage offset X is calculated, and the voltage offset X is written into the vehicle controller, and the variable pump is controlled to control the vehicle speed ratio Y' and the voltage value U to form the following relationship: When the voltage value U≤U0, the variable pump controls the vehicle speed ratio Y'=1-(1-Y1)÷(U0+XU min )×(UU min ); When the voltage value U> U0, the variable pump controls the vehicle speed ratio Y' =Y1÷(U0+XU max )×(UU max ); X is calculated by the following formula: X = P1 × (U max -U min )×(Y1-Y2)÷(Y2-1); When the loader is working, the vehicle controller adjusts the variable pump control speed ratio Y' by linear interpolation according to the voltage value U output when the brake pedal is stepped on according to the above relationship; so that when the brake pedal voltage value is U0, the variable pump control speed ratio Y' and the speed ratio Y are both adjusted to Y2; Thus, the sensitivity adjustment is achieved so that the vehicle speed ratio corresponding to the depression amplitude of the brake pedal at P1 is adjusted from Y1 to Y2, and the process ends.
2. The method for adjusting the brake pedal sensitivity of a hydrostatic transmission loader according to claim 1, characterized in that: The value of P1 is a factory preset value of the brake pedal; the value of Y1 is a percentage value determined when the brake pedal is designed; the preset range of the value of P1 is 25%-35%, and the preset range of the value of Y1 is 65%-75%.
3. The method for adjusting brake pedal sensitivity of a hydrostatic transmission loader according to claim 1, characterized in that: In step S2, the combined working condition simulation is repeated at least five times, and then the average values of P2 and Y2 obtained from the multiple simulations are taken respectively, and then the subsequent steps S3 and S4 are performed with the respective average values of P2 and Y2.
4. A method for adjusting brake pedal sensitivity of a hydrostatic transmission loader according to claim 1 or 3, characterized in that: The field combined working condition simulation in step S2 includes selecting a specific actual site, and then allowing the driver to operate the hydrostatic transmission loader in the actual site to perform the combined actions of load driving and boom lifting; and allowing the driver to step on the brake pedal only once during each simulation process and maintain a fixed amplitude, and the step S2 calculates the pedaling amplitude P2 and vehicle speed ratio Y2 corresponding to the fixed amplitude.
5. The method for adjusting brake pedal sensitivity of a hydrostatic transmission loader according to claim 1, characterized in that: In step S4, the formula X=P1×(U max -U min )×(Y1-Y2)÷(Y2-1) is derived as follows: Since the vehicle speed ratio Y changes at a fixed ratio as the pedaling amplitude P increases in the inch-in area, the vehicle speed ratio Y will change at a fixed ratio as the voltage value U increases; And after the sensitivity is adjusted, the vehicle speed ratio in the initial state is Y1, that is, when the variable pump controls the vehicle speed ratio Y' to Y1, the corresponding output voltage value is adjusted from U0 to U1, where U1=U0+X; From this it follows that: Combined with U1=U0+X, we get: Combined with U0=U min +(U max -U min )×P1; get: Finally, we get the following through inference: X=P1×(U max -U min )×(Y1-Y2)÷(Y2-1).
6. The method for adjusting brake pedal sensitivity of a hydrostatic transmission loader according to claim 1, characterized in that: The sensitivity adjustment method detects the pedaling amplitude P through the angle sensor of the brake pedal and obtains the corresponding voltage value U; in the step S4, the vehicle controller calculates the voltage offset X based on the data obtained in step S1 and the data obtained in step S2.
7. The method for adjusting brake pedal sensitivity of a hydrostatic transmission loader according to claim 1, characterized in that: In step S2, the value of P2 is not calculated, but the voltage value U corresponding to P2 is collected. t ; and in step S3, U t Compared with U0, when U t Less than U min +(U max -U min )×0.5P1, P2 is judged to be less than half of P1, and when U t Greater than U min +(U max -U min )×P1, it is judged that P2 is greater than P1.
8. A brake pedal sensitivity adjustment control device for a hydrostatic transmission loader, characterized in that: The sensitivity adjustment control device comprises: The detection module is used to detect and calculate the data of the initial state of the brake pedal; the data includes the maximum threshold value P1 of the inch-in area of the brake pedal with inch-in function in the initial state, the voltage value U0 when the pedal amplitude of the brake pedal is at P1, the speed ratio Y1 of the vehicle speed after braking and the vehicle speed before braking corresponding to the pedal amplitude of the brake pedal at P1, and the maximum voltage value U max and the minimum voltage value U when the pedaling amplitude is zero min ; Among them, P1 is the preset percentage value of the brake pedal; the value of Y1 is the percentage value determined when the brake pedal is designed; U0 is based on the maximum voltage value U max and minimum voltage value U min Calculated, the calculation formula is: U0=U min +(U max -U min )×P1; the voltage value U increases proportionally with the increase of the pedal amplitude P, and the vehicle speed ratio Y is equal to the variable pump control vehicle speed ratio Y' in the inch-advancing area and decreases proportionally with the increase of the pedal amplitude P; A simulation module is used to obtain and calculate the pedaling amplitude P2 and the corresponding vehicle speed ratio Y2 during a specific on-site combined working condition simulation process; Among them, the pedaling amplitude P2 is obtained by collecting the voltage value U corresponding to the pedaling amplitude P2 of the brake pedal during the combined working condition operation. t , and then obtain it through calculation, the calculation formula is: P2=(U t -U min )÷(U max -U min ); The vehicle speed ratio Y2 is obtained by collecting the vehicle speed V2 after braking and the vehicle speed V1 before braking during the combined working condition operation, and then calculated using the following formula: Y2=V2÷V1; The judgment module is used to analyze the pedaling amplitude P2 to determine whether to perform sensitivity adjustment; the judgment module is used to receive P2 obtained by the simulation module and P1 obtained by the detection module, and compare them to determine whether to perform sensitivity adjustment; if P2 is greater than P1, or P2 is less than half of P1, the sensitivity adjustment module is entered to perform sensitivity adjustment; otherwise, the sensitivity adjustment is not performed and the process ends; The sensitivity adjustment module is used to perform sensitivity adjustment to adjust the vehicle speed ratio corresponding to the brake pedal's stepping amplitude at P1 from Y1 to Y2; the sensitivity adjustment module calculates the voltage offset X based on the judgment result of the judgment module, the data obtained by the detection module and the data obtained by the simulation module, and writes the voltage offset X into the vehicle controller, so that when the brake pedal voltage value is U0, the variable pump control speed ratio Y' and the speed ratio Y are correspondingly adjusted to Y2, and when the loader is working subsequently, the vehicle controller adjusts the variable pump control speed ratio Y' according to the following relationship according to the received voltage value U output when the brake pedal is stepped on: When the voltage value U≤U0, the variable pump controls the vehicle speed ratio Y'=1-(1-Y1)÷(U0+XU min )×(UU min ); When the voltage value U> U0, the variable pump controls the vehicle speed ratio Y'=Y1÷(U0+XU max )×(UU max ); X is calculated by the following formula: X = P1 × (U max -U min )×(Y1-Y2)÷(Y2-1).
9. A vehicle controller for a hydrostatic transmission loader, characterized in that: include: A processor, a memory and a brake pedal sensitivity adjustment program stored in the memory, wherein the brake pedal sensitivity adjustment program, when executed by the processor, implements the steps of the brake pedal sensitivity adjustment method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a brake pedal sensitivity adjustment program, and when the brake pedal sensitivity adjustment program is executed by the processor, the brake pedal sensitivity adjustment method as described in any one of claims 1-7 is implemented.