Tractor clutch pressure learning control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of agricultural machinery electronic control, and particularly discloses a tractor clutch pressure learning control method, system and device and a storage medium, and the method comprises the steps: determining a plurality of preset clutch oil pressure points of a target tractor, and obtaining the clutch pressure deviation of each preset clutch oil pressure point; performing clutch pressure learning control on each preset clutch oil pressure point meeting the first target condition until each preset clutch oil pressure point meets a second target condition, and completing clutch pressure learning control on the target tractor; the first target condition is that the absolute value of the clutch pressure deviation is greater than or equal to a first target threshold; the second target condition is that the absolute value of the clutch pressure deviation is smaller than a second target threshold value. The problem of pressure deviation of the tractor clutch can be solved, the control precision of the clutch electromagnetic valve is improved, and therefore the comfort, durability and reliability of gear shifting of a tractor gearbox are greatly improved.

Description

Background Art

[0002] With the rapid development of agricultural machinery electronic control technology and intelligent automation, many tractor manufacturers at home and abroad have launched a series of automatic transmissions with a high degree of automation, with power shift transmissions being the most representative, which greatly reduces the fatigue of tractor drivers in daily operations and simplifies the complexity of vehicle operation. Tractors equipped with power shift transmissions are easy to drive, which greatly improves work efficiency while reducing driver fatigue. The power shift of the tractor is mainly composed of different gear combinations of the main and auxiliary gearboxes inside the gearbox to form the final output transmission ratio or gear of the gearbox; taking power shift as an example, the main speed change is mainly to switch gears by engaging or disengaging the wet clutch.

[0003] In the prior art, the internal clutch control principle of the tractor power shift transmission is: the TCU (transmission control unit) sends a control command current to the solenoid valve, and the solenoid valve responds by controlling the movement of the valve core to control the oil pressure of the corresponding control current entering the controlled clutch (called the clutch solenoid valve, the relationship between pressure and current) and feedback the actual working current. Due to the deviation in the hardware or hydraulic system control of the transmission and the wear of parts during the use of the transmission, there will be a deviation between the actual pressure and the command pressure in the clutch solenoid valve control, that is, there is a deviation in the clutch solenoid valve relationship data, which will cause the vehicle to reproduce the slow start response or shift shock during the shift process, affecting the subjective driving experience of the vehicle and the service life of the transmission.

[0004] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a tractor clutch pressure learning control method, system, device and storage medium.

[0006] In a first aspect, the present invention provides a tractor clutch pressure learning control method, the technical solution of the method is as follows: Determine a plurality of preset clutch oil pressure points of the target tractor, and obtain a clutch pressure deviation of each preset clutch oil pressure point; wherein the clutch pressure deviation represents a pressure difference between a clutch command pressure and an actual clutch pressure; Clutch pressure learning control is performed on each preset clutch oil pressure point that meets the first target condition, until each preset clutch oil pressure point meets the second target condition, and the clutch pressure learning control of the target tractor is completed; wherein, the first target condition is: the absolute value of the clutch pressure deviation is greater than or equal to the first target threshold; the second target condition is: the absolute value of the clutch pressure deviation is less than the second target threshold; the clutch pressure learning control method is: when the clutch pressure deviation is greater than zero, the clutch actual current is increased to control the clutch actual pressure to increase, so as to reduce the clutch pressure deviation; when the clutch pressure deviation is less than zero, the clutch actual current is reduced to control the clutch actual pressure to decrease, so as to reduce the clutch pressure deviation.

[0007] The beneficial effects of the tractor clutch pressure learning control method of the present invention are as follows: The method of the present invention can solve the problem of tractor clutch pressure deviation and improve the control accuracy of the clutch solenoid valve, thereby greatly improving the comfort and durability reliability of the tractor gearbox shifting.

[0008] On the basis of the above scheme, the tractor clutch pressure learning control method of the present invention can also be improved as follows.

[0009] In an optional manner, the step of obtaining the clutch pressure deviation at any preset clutch oil pressure point includes: When the clutch command pressure of the target tractor reaches the clutch command pressure of any preset clutch oil pressure point, the clutch pressure deviation of any preset clutch oil pressure point is obtained based on the pressure difference between the clutch command pressure of any preset clutch oil pressure point and the actual clutch pressure after a first preset time interval.

[0010] In an optional manner, when the clutch pressure deviation is greater than zero, the step of increasing the actual clutch current to control the actual clutch pressure to increase so as to reduce the clutch pressure deviation includes: When the clutch pressure deviation is greater than zero, the actual clutch current is increased according to a preset current step and maintained for a second preset time, so as to control the actual clutch pressure to increase, so as to reduce the clutch pressure deviation; When the clutch pressure deviation is less than zero, the step of reducing the clutch actual pressure by reducing the clutch actual current to reduce the clutch pressure deviation includes: When the clutch pressure deviation is less than zero, the actual clutch pressure is controlled to decrease according to the preset current step by reducing the actual clutch current and maintaining it for a second preset time to reduce the clutch pressure deviation.

[0011] In an optional manner, the method further includes: Based on a first preset formula, a current learning value of any preset clutch oil pressure point is determined until a current learning value of each preset clutch oil pressure point is determined; wherein the first preset formula is: ; For the The current learning value of the preset clutch oil pressure point, For the The command current value of a preset clutch oil pressure point before clutch pressure learning control is performed, is the preset current step size, For the The number of current changes for a preset clutch oil pressure point.

[0012] In an optional manner, the method further includes: The current learning values ​​of each preset clutch oil pressure point of the target tractor at different oil temperatures are compensated, optimized and stored.

[0013] In an optional manner, the step of determining a plurality of preset clutch oil pressure points of the target tractor includes: Based on the correlation between the clutch pedal opening and the clutch command pressure of the target tractor, and in combination with the dynamic characteristics and driving requirements of the target tractor, a plurality of preset clutch oil pressure points of the target tractor are determined.

[0014] In a second aspect, the present invention provides a tractor clutch pressure learning control system, the technical solution of which is as follows: Including: acquisition module and control module; The acquisition module is used to: determine a plurality of preset clutch oil pressure points of the target tractor, and acquire a clutch pressure deviation of each preset clutch oil pressure point; wherein the clutch pressure deviation represents a pressure difference between a clutch command pressure and an actual clutch pressure; The control module is used to: perform clutch pressure learning control on each preset clutch oil pressure point that meets the first target condition, until each preset clutch oil pressure point meets the second target condition, and complete the clutch pressure learning control of the target tractor; wherein, the first target condition is: the absolute value of the clutch pressure deviation is greater than or equal to the first target threshold; the second target condition is: the absolute value of the clutch pressure deviation is less than the second target threshold; the clutch pressure learning control method is: when the clutch pressure deviation is greater than zero, the clutch actual current is increased to control the clutch actual pressure to increase, so as to reduce the clutch pressure deviation; when the clutch pressure deviation is less than zero, the clutch actual current is reduced to control the clutch actual pressure to decrease, so as to reduce the clutch pressure deviation.

[0015] The beneficial effects of a tractor clutch pressure learning control system of the present invention are as follows: The system of the present invention can solve the problem of tractor clutch pressure deviation and improve the control accuracy of the clutch solenoid valve, thereby greatly improving the comfort and durability reliability of the tractor gearbox shifting.

[0016] On the basis of the above scheme, the tractor clutch pressure learning control system of the present invention can also be improved as follows.

[0017] In an optional manner, the acquisition module is specifically used to: When the clutch command pressure of the target tractor reaches the clutch command pressure of any preset clutch oil pressure point, the clutch pressure deviation of any preset clutch oil pressure point is obtained based on the pressure difference between the clutch command pressure of any preset clutch oil pressure point and the actual clutch pressure after a first preset time interval.

[0018] In a third aspect, a technical solution of an electronic device of the present invention is as follows: The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the tractor clutch pressure learning control method of the invention are realized.

[0019] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution: The computer-readable storage medium stores instructions, and when the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the tractor clutch pressure learning control method of the present invention.

[0020] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings: Figure 1 A schematic flow chart of an embodiment of a tractor clutch pressure learning control method of the present invention; Figure 2 is a schematic diagram of a corresponding curve between clutch pedal opening and clutch command pressure; Figure 3 It is a timing diagram of the clutch pressure learning control process; Figure 4 This is a map diagram of clutch pressure oil temperature compensation current; Figure 5 It is a structural schematic diagram of an embodiment of a tractor clutch pressure learning control system of the present invention; Figure 6 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0022] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0023] Figure 1 The flowchart of an embodiment of a tractor clutch pressure learning control method provided by the present invention is shown. The tractor clutch pressure learning control method can be executed by a transmission control unit (TCU). Figure 1 As shown, the following steps are included: S1. Determine a plurality of preset clutch oil pressure points of a target tractor, and obtain a clutch pressure deviation of each preset clutch oil pressure point.

[0024] The target tractor is any type of tractor and is not limited in this embodiment. There are multiple preset clutch oil pressure points, and each preset clutch oil pressure point corresponds to a clutch command pressure. The clutch pressure deviation represents the pressure difference between the clutch command pressure and the actual clutch pressure, that is: ; For the Clutch pressure deviation at a preset clutch oil pressure point, For the The clutch command pressure for the preset clutch oil pressure points, For the The actual clutch pressure at a preset clutch oil pressure point.

[0025] In S1, the step of determining a plurality of preset clutch oil pressure points of the target tractor comprises: Based on the correlation between the clutch pedal opening and the clutch command pressure of the target tractor, and in combination with the dynamic characteristics and driving requirements of the target tractor, a plurality of preset clutch oil pressure points of the target tractor are determined.

[0026] Among them, after the target tractor is started, the auxiliary transmission is placed in neutral, and multiple preset clutch oil pressure points are constructed: [ , , , , , , , , , , , , , , ].like Figure 2 As shown, the corresponding curve between the clutch pedal opening and the clutch command pressure of the target tractor is obtained in turn, and each preset clutch oil pressure point is obtained, as shown in Table 1.

[0027] Table 1: S2. Performing clutch pressure learning control on each preset clutch oil pressure point that meets the first target condition until each preset clutch oil pressure point meets the second target condition, thereby completing the clutch pressure learning control on the target tractor.

[0028] The first target condition is that the absolute value of the clutch pressure deviation is greater than or equal to the first target threshold. The second target condition is that the absolute value of the clutch pressure deviation is less than the second target threshold. The clutch pressure learning control method is: when the clutch pressure deviation is greater than zero, the clutch actual current is increased to control the clutch actual pressure to increase, so as to reduce the clutch pressure deviation; when the clutch pressure deviation is less than zero, the clutch actual current is reduced to control the clutch actual pressure to decrease, so as to reduce the clutch pressure deviation.

[0029] It should be noted that the first target threshold and the second target threshold can be the same or different, and can be adjusted according to actual conditions, and there is no restriction here. In addition, the clutch command pressure is obtained by the PI (corresponding relationship between current and pressure) of the clutch corresponding solenoid valve to obtain the clutch command current (acting on the solenoid valve) corresponding to the clutch command pressure, and the solenoid valve closed-loop current control (controller bottom control) obtains the actual clutch current. The actual clutch current controls the movement of the solenoid valve spool to obtain the corresponding duty cycle of the solenoid valve, that is, the corresponding solenoid valve output pressure, that is, the actual clutch pressure.

[0030] In an optional manner, the step of obtaining the clutch pressure deviation at any preset clutch oil pressure point includes: When the clutch command pressure of the target tractor reaches the clutch command pressure of any preset clutch oil pressure point, the clutch pressure deviation of any preset clutch oil pressure point is obtained based on the pressure difference between the clutch command pressure of any preset clutch oil pressure point and the actual clutch pressure after a first preset time interval.

[0031] The first preset duration is , is a positive integer. Specifically, when the clutch command pressure of the target tractor reaches the clutch command pressure of any of the preset clutch oil pressure points, wait for After the first preset time period, the pressure difference between the clutch command pressure at any preset clutch oil pressure point and the clutch actual pressure after the first preset time period is calculated.

[0032] In an optional manner, when the clutch pressure deviation is greater than zero, the step of increasing the actual clutch current to control the actual clutch pressure to increase so as to reduce the clutch pressure deviation includes: When the clutch pressure deviation is greater than zero, the actual clutch pressure is controlled to increase according to a preset current step by increasing the actual clutch current and maintaining it for a second preset time to reduce the clutch pressure deviation.

[0033] Among them, when the clutch pressure deviation is greater than zero, the clutch pressure deviation is recorded as Every time the actual clutch current increases according to the preset current step, the actual clutch pressure increases, and the absolute value of the clutch pressure deviation is returned to re-judge whether it is greater than or equal to the first target threshold value, until the absolute value of the clutch pressure deviation is less than the second target threshold value.

[0034] When the clutch pressure deviation is less than zero, the step of reducing the clutch actual pressure by reducing the clutch actual current to reduce the clutch pressure deviation includes: When the clutch pressure deviation is less than zero, the actual clutch pressure is controlled to decrease according to the preset current step by reducing the actual clutch current and maintaining it for a second preset time to reduce the clutch pressure deviation.

[0035] Among them, when the clutch pressure deviation is less than zero, the clutch pressure deviation is recorded as Every time the actual clutch current decreases according to the preset current step, the actual clutch pressure decreases, and the absolute value of the clutch pressure deviation is returned to re-judge whether it is greater than or equal to the first target threshold until the absolute value of the clutch pressure deviation is less than the second target threshold.

[0036] It should be noted that Figure 3 A timing diagram of the clutch pressure learning control process is shown.

[0037] In an optional manner, the method further includes: Based on the first preset formula, a current learning value of any preset clutch oil pressure point is determined until a current learning value of each preset clutch oil pressure point is determined.

[0038] Among them, the first preset formula is: ; For the The current learning value of the preset clutch oil pressure point, For the The command current value of a preset clutch oil pressure point before clutch pressure learning control is performed, is the preset current step size, For the The number of current changes for a preset clutch oil pressure point.

[0039] In an optional manner, the method further includes: The current learning values ​​of each preset clutch oil pressure point of the target tractor at different oil temperatures are compensated, optimized and stored.

[0040] Among them, Figure 4 As shown, in this embodiment, the clutch pressure oil temperature compensation current Map is preset. If the clutch command pressure is The current learning value is , through the clutch pressure oil temperature compensation current map search, if In the temperature range [ , ], at the current oil temperature With command pressure The current learning value should be: ; if In the temperature range [ , ], at the current oil temperature With command pressure The current learning value should be: ; At oil temperature With command pressure The final current learning value is ; For oil temperature The next The current learning value after compensation optimization of a preset clutch oil pressure point is obtained. The current learning process of other oil temperature points is the same, and finally all data are recorded and stored.

[0041] The technical solution of this embodiment can solve the problem of tractor clutch pressure deviation and improve the control accuracy of the clutch solenoid valve, thereby greatly improving the comfort and durability of the tractor gearbox shifting.

[0042] Figure 5 FIG. 2 is a schematic diagram showing a structure of an embodiment of a tractor clutch pressure learning control system 200 provided by the present invention. Figure 5 As shown, the system 200 includes: an acquisition module 210 and a control module 220; The acquisition module 210 is used to: determine a plurality of preset clutch oil pressure points of the target tractor, and acquire a clutch pressure deviation of each preset clutch oil pressure point; wherein the clutch pressure deviation represents a pressure difference between a clutch command pressure and an actual clutch pressure; The control module 220 is used to: perform clutch pressure learning control on each preset clutch oil pressure point that meets the first target condition, until each preset clutch oil pressure point meets the second target condition, and complete the clutch pressure learning control of the target tractor; wherein, the first target condition is: the absolute value of the clutch pressure deviation is greater than or equal to the first target threshold; the second target condition is: the absolute value of the clutch pressure deviation is less than the second target threshold; the clutch pressure learning control method is: when the clutch pressure deviation is greater than zero, the clutch actual current is increased to control the clutch actual pressure to increase, so as to reduce the clutch pressure deviation; when the clutch pressure deviation is less than zero, the clutch actual current is reduced to control the clutch actual pressure to decrease, so as to reduce the clutch pressure deviation.

[0043] In an optional manner, the acquisition module 210 is specifically used to: When the clutch command pressure of the target tractor reaches the clutch command pressure of any preset clutch oil pressure point, the clutch pressure deviation of any preset clutch oil pressure point is obtained based on the pressure difference between the clutch command pressure of any preset clutch oil pressure point and the actual clutch pressure after a first preset time interval.

[0044] In an optional manner, the control module 220 is specifically used to: When the clutch pressure deviation is greater than zero, the actual clutch current is increased according to a preset current step and maintained for a second preset time, so as to control the actual clutch pressure to increase, so as to reduce the clutch pressure deviation; When the clutch pressure deviation is less than zero, the actual clutch pressure is controlled to decrease according to the preset current step by reducing the actual clutch current and maintaining it for a second preset time to reduce the clutch pressure deviation.

[0045] In an optional manner, the method further includes: a recording module; the recording module is used to: Based on a first preset formula, a current learning value of any preset clutch oil pressure point is determined until a current learning value of each preset clutch oil pressure point is determined; wherein the first preset formula is: ; For the The current learning value of the preset clutch oil pressure point, For the The command current value of a preset clutch oil pressure point before clutch pressure learning control is performed, is the preset current step size, For the The number of current changes for a preset clutch oil pressure point.

[0046] In an optional manner, the device further includes: a storage module; the storage module is used to: The current learning values ​​of each preset clutch oil pressure point of the target tractor at different oil temperatures are compensated, optimized and stored.

[0047] In an optional manner, the acquisition module 210 is specifically used to: Based on the correlation between the clutch pedal opening and the clutch command pressure of the target tractor, and in combination with the dynamic characteristics and driving requirements of the target tractor, a plurality of preset clutch oil pressure points of the target tractor are determined.

[0048] It should be noted that the beneficial effects of the tractor clutch pressure learning control system provided by the above embodiment are the same as the beneficial effects of the above tractor clutch pressure learning control method, which will not be described in detail here. In addition, when the system provided by the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0049] Among them, the tractor clutch pressure learning control system of the present invention can be a computer program (including program code) running in a computer device. For example, the tractor clutch pressure learning control system of the present invention is an application software that can be used to execute the corresponding steps in the tractor clutch pressure learning control method of the present invention.

[0050] In some embodiments, the tractor clutch pressure learning control system of the present invention can be implemented by combining software and hardware. As an example, the tractor clutch pressure learning control system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the tractor clutch pressure learning control method of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0051] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0052] An electronic device according to an embodiment of the present invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any one of the above-mentioned tractor clutch pressure learning control methods is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the tractor clutch pressure learning control method shown in any one of the embodiments of the present invention by calling the computer program.

[0053] In an alternative embodiment, an electronic device is provided, such as Figure 6 As shown, Figure 6 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0054] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0055] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0056] The memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0057] The memory 4003 is used to store application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0058] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0059] It should be noted that Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0060] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned tractor clutch pressure learning control methods is implemented.

[0061] Optionally, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0062] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the above-mentioned tractor clutch pressure learning control method.

[0063] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0064] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0065] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0066] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0067] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

[0068] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0069] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0070] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A tractor clutch pressure learning control method, characterized in that: include: Determine a plurality of preset clutch oil pressure points of the target tractor, and obtain a clutch pressure deviation of each preset clutch oil pressure point; wherein the clutch pressure deviation represents a pressure difference between a clutch command pressure and an actual clutch pressure; Clutch pressure learning control is performed on each preset clutch oil pressure point that meets the first target condition, until each preset clutch oil pressure point meets the second target condition, and the clutch pressure learning control of the target tractor is completed; wherein, the first target condition is: the absolute value of the clutch pressure deviation is greater than or equal to the first target threshold; the second target condition is: the absolute value of the clutch pressure deviation is less than the second target threshold; the clutch pressure learning control method is: when the clutch pressure deviation is greater than zero, the clutch actual current is increased to control the clutch actual pressure to increase, so as to reduce the clutch pressure deviation; when the clutch pressure deviation is less than zero, the clutch actual current is reduced to control the clutch actual pressure to decrease, so as to reduce the clutch pressure deviation.

2. The tractor clutch pressure learning control method according to claim 1, characterized in that: The steps of obtaining the clutch pressure deviation at any preset clutch oil pressure point include: When the clutch command pressure of the target tractor reaches the clutch command pressure of any preset clutch oil pressure point, the clutch pressure deviation of any preset clutch oil pressure point is obtained based on the pressure difference between the clutch command pressure of any preset clutch oil pressure point and the actual clutch pressure after a first preset time interval.

3. The tractor clutch pressure learning control method according to claim 1, characterized in that: When the clutch pressure deviation is greater than zero, the step of increasing the clutch actual current to control the clutch actual pressure to increase so as to reduce the clutch pressure deviation includes: When the clutch pressure deviation is greater than zero, the actual clutch pressure is controlled to increase according to a preset current step by increasing the actual clutch current and maintaining it for a second preset time to reduce the clutch pressure deviation; When the clutch pressure deviation is less than zero, the step of reducing the clutch actual pressure by reducing the clutch actual current to reduce the clutch pressure deviation includes: When the clutch pressure deviation is less than zero, the actual clutch pressure is controlled to decrease according to the preset current step by reducing the actual clutch current and maintaining it for a second preset time to reduce the clutch pressure deviation.

4. The tractor clutch pressure learning control method according to claim 3, characterized in that: Also includes: Based on a first preset formula, a current learning value of any preset clutch oil pressure point is determined until a current learning value of each preset clutch oil pressure point is determined; wherein the first preset formula is: ; For the The current learning value of the preset clutch oil pressure point, For the The command current value of a preset clutch oil pressure point before clutch pressure learning control is performed, is the preset current step size, For the The number of current changes for a preset clutch oil pressure point.

5. The tractor clutch pressure learning control method according to claim 4, characterized in that: Also includes: The current learning values ​​of each preset clutch oil pressure point of the target tractor at different oil temperatures are compensated, optimized and stored.

6. The tractor clutch pressure learning control method according to any one of claims 1 to 5, characterized in that: The steps of determining a plurality of preset clutch oil pressure points of a target tractor include: Based on the correlation between the clutch pedal opening and the clutch command pressure of the target tractor, and in combination with the dynamic characteristics and driving requirements of the target tractor, a plurality of preset clutch oil pressure points of the target tractor are determined.

7. A tractor clutch pressure learning control system, characterized in that: include: Acquisition module and control module; The acquisition module is used to: determine a plurality of preset clutch oil pressure points of the target tractor, and acquire a clutch pressure deviation of each preset clutch oil pressure point; wherein the clutch pressure deviation represents a pressure difference between a clutch command pressure and an actual clutch pressure; The control module is used to: perform clutch pressure learning control on each preset clutch oil pressure point that meets the first target condition, until each preset clutch oil pressure point meets the second target condition, and complete the clutch pressure learning control of the target tractor; wherein, the first target condition is: the absolute value of the clutch pressure deviation is greater than or equal to the first target threshold; the second target condition is: the absolute value of the clutch pressure deviation is less than the second target threshold; the clutch pressure learning control method is: when the clutch pressure deviation is greater than zero, the clutch actual current is increased to control the clutch actual pressure to increase, so as to reduce the clutch pressure deviation; when the clutch pressure deviation is less than zero, the clutch actual current is reduced to control the clutch actual pressure to decrease, so as to reduce the clutch pressure deviation.

8. The tractor clutch pressure learning control system according to claim 7, characterized in that: The acquisition module is specifically used for: When the clutch command pressure of the target tractor reaches the clutch command pressure of any preset clutch oil pressure point, the clutch pressure deviation of any preset clutch oil pressure point is obtained based on the pressure difference between the clutch command pressure of any preset clutch oil pressure point and the actual clutch pressure after a first preset time interval.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the tractor clutch pressure learning control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the tractor clutch pressure learning control method according to any one of claims 1 to 6.

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