Rear axle assembly control method and device of tractor and tractor

Abstract

The invention discloses a tractor rear axle assembly control method and device and a tractor. A rear axle assembly is controlled through electric signals to execute corresponding actions and comprises an acquisition circuit, a driving circuit, a driving motor and a controller; the acquisition circuit acquires signals of the driving motor and feeds back the signals to the controller, the controller provides driving signals for the driving circuit, and the driving circuit controls the driving motor to operate so that the rear axle assembly can execute corresponding actions. The control method comprises the following steps: acquiring a target action of the rear axle assembly; determining a corresponding control instruction according to the target action; and sending the control instruction to a driving motor to control the execution action of the tractor. According to the control method, the rear axle assembly is controlled through drive-by-wire control, the space utilization rate of a cab is increased, and the automatic control requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of tractor control, and particularly to a control method, device and tractor for the rear axle assembly of a tractor. Background Art

[0002] For traditional tractors, the realization of rear axle functions such as parking, power take-off (PTO) shifting, four-wheel drive shifting, and differential lock is mainly based on mechanical linkages. The structure is complex, the control accuracy is low, and there are different types of joysticks inside the cab, resulting in low space utilization and complex operation.

[0003] With the increasing requirements for the intelligence and automation levels of tractors, the transmission mechanical linkage structure, which requires manual operation, is relatively backward in technology and cannot meet the requirements of automated control. Summary of the Invention

[0004] The present invention provides a control method, device and tractor for the rear axle assembly of a tractor. By means of an electrical signal transmission method, the rear axle assembly is controlled to perform corresponding actions. The target actions of the tractor are received, control instructions are generated based on the target actions, and the tractor is controlled to complete the specified execution actions according to the control instructions. Thus, the rear axle assembly controlled by a transmission mechanical linkage is upgraded to a wire-controlled rear axle, simplifying the mechanical mechanism, greatly improving the operation efficiency, solving the problems of low control accuracy and low space utilization of the mechanical structure, and meeting the requirements of the intelligence and automation levels of electric tractors.

[0005] According to the first aspect of the present invention, a control method for the rear axle assembly of a tractor is provided. The rear axle assembly is controlled by an electrical signal to perform corresponding actions. The rear axle assembly includes an acquisition circuit, a drive circuit, a drive motor and a controller. The acquisition circuit acquires the signal of the drive motor and feeds it back to the controller. The controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions. The control method includes:

[0006] Obtain the target action of the rear axle assembly;

[0007] Determine the corresponding control instruction according to the target action;

[0008] Send the control instruction to the drive motor to control the execution action of the tractor.

[0009] Optionally, the target action includes a parking action or a parking release action, a four-wheel drive engagement action or a four-wheel drive disengagement action, and a shifting action or a gear holding action.

[0010] Optionally, determining the corresponding control instruction according to the target action includes:

[0011] Determine whether there are instructions to be executed;

[0012] If there is at least one of the instructions to be executed, determine whether there is a mutually exclusive relationship between the instruction to be executed and the target action;

[0013] If there is no such instruction to be executed, obtain the status information of the drive motor;

[0014] When the status information is the busy state, wait until the current execution action is completed, and then continue to execute the target action;

[0015] When the status information is the idle state, generate a corresponding control instruction according to the target action; wherein, the drive motor includes a parking control motor, a four-wheel drive control motor, and a shift control motor.

[0016] Optionally, if there is at least one of the instructions to be executed, determining whether there is a mutually exclusive relationship between the instruction to be executed and the target action includes:

[0017] If the relationship between the instruction to be executed and the target action is a compatible relationship, ignore the target action;

[0018] If the relationship between the instruction to be executed and the target action is a mutually exclusive relationship, clear the instruction to be executed, and the target action enters the waiting queue;

[0019] If there is no mutually exclusive or compatible relationship between the instruction to be executed and the target action, the target action enters the waiting queue to wait for execution. Optionally, sending the control instruction to the drive motor to control the execution action of the tractor includes:

[0020] Obtain the rotation position of the drive motor;

[0021] When the drive motor rotates to the preset position, it is determined that the drive motor has completed the target action;

[0022] When the rotation position of the drive motor is different from the preset position, determine the number of times that the rotation position of the drive motor is different from the preset position.

[0023] Optionally, when the rotation position of the drive motor is different from the preset position, determining the number of times that the rotation position of the drive motor is different from the preset position includes:

[0024] When the number of times is greater than or equal to the first threshold, it is determined that the drive motor is in a fault state, and the current execution action of the drive motor is stopped;

[0025] When the number of times is less than the first threshold, the target action is re-executed, and the number of failed executions is accumulated.

[0026] Optionally, after obtaining the rotational position of the drive motor, the method further includes:

[0027] Obtaining the operating current of the drive motor;

[0028] When the operating current is greater than or equal to the second threshold, it is determined that the drive motor is in a fault state, and the current execution action of the drive motor is stopped;

[0029] When the operating current is less than the second threshold, the relationship between the operating duration of the drive motor and a preset duration is determined.

[0030] Optionally, when the operating current is less than the second threshold, further determining the relationship between the operating duration of the drive motor and a preset duration includes:

[0031] Obtaining the operating duration of the drive motor;

[0032] When the operating duration is greater than or equal to the preset duration, the target action is re-executed, and the number of failed executions is accumulated;

[0033] When the operating duration is less than the preset duration, the rotational position of the drive motor is obtained; when the drive motor rotates to a preset position, it is determined that the drive motor has completed the target action.

[0034] According to a second aspect of the present invention, there is provided a control device for a rear axle assembly of a tractor. The rear axle assembly is controlled by an electrical signal to perform corresponding actions. The rear axle assembly includes a collection circuit, a drive circuit, a drive motor, and a controller; the collection circuit collects signals of the drive motor and feeds them back to the controller, the controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions; the control device for the rear axle assembly includes:

[0035] An action acquisition module, configured to acquire the target action of the rear axle assembly;

[0036] An instruction generation module, configured to determine a corresponding control instruction according to the target action;

[0037] An execution module, configured to send the control instruction to the drive module to control the execution action of the tractor.

[0038] According to a third aspect of the present invention, there is provided a tractor, including a controller and the control device for the rear axle assembly of the tractor according to the second aspect.

[0039] The present invention discloses a control method, device and tractor for the rear axle assembly of a tractor. The rear axle assembly is controlled by an electrical signal to perform corresponding actions. The rear axle assembly includes a collection circuit, a drive circuit, a drive motor and a controller. The collection circuit collects the signal of the drive motor and feeds it back to the controller. The controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions. The control method includes: obtaining the target action of the rear axle assembly; determining the corresponding control instruction according to the target action; sending the control instruction to the drive motor to control the execution action of the tractor. The control method for the rear axle assembly of the tractor provided by the present invention controls the rear axle assembly to perform corresponding actions through the method of electrical signal transmission, receives the target action of the tractor, generates a control instruction through the target action, and controls the tractor to complete the specified execution action according to the control instruction, thereby realizing the upgrade of the rear axle assembly controlled by a mechanical linkage to a wire-controlled rear axle, simplifying the mechanical mechanism, greatly improving the operation efficiency, solving the problems of low control accuracy and low space utilization rate of the mechanical structure, and meeting the requirements of the intelligent and automated level of electric tractors.

[0040] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 is a flowchart of a control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0043] Figure 2 is a drive circuit diagram of a tractor provided by an embodiment of the present invention;

[0044] Figure 3 is a flowchart of another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0045] Figure 4 is a flowchart of yet another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0046] Figure 5 is a flowchart of yet another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0047] Figure 6 It is a flowchart of another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0048] Figure 7 It is a flowchart of another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0049] Figure 8 It is a flowchart of another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0050] Figure 9 It is a block diagram of a control device for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0051] Figure 10 It is a mechanical structure diagram of a control device for the rear axle assembly of a tractor provided by an embodiment of the present invention;

[0052] Figure 11 It is a mechanical structure diagram of another control device for the rear axle assembly of a tractor provided by an embodiment of the present invention. Detailed implementation manners

[0053] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. It should be understood that the various forms of flowcharts shown above can be reordered, steps can be added or deleted. For example, the steps recorded in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitations are imposed herein.

[0055] Figure 1 It is a flowchart of a control method for the rear axle assembly of a tractor provided by an embodiment of the present invention. Figure 2 It is a drive circuit diagram of a tractor provided by an embodiment of the present invention. Refer to Figure 1 and Figure 2 , for the control method of the rear axle assembly of the tractor provided by the embodiment of the present invention, the rear axle assembly is controlled by an electrical signal to perform actions. The rear axle assembly includes an acquisition circuit, a drive circuit, a drive motor, and a controller; the acquisition circuit acquires the signal of the drive motor and feeds it back to the controller, the controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions.

[0056] Optionally, the target actions include parking actions or parking release actions, four-wheel drive engagement actions or four-wheel drive release actions, and shifting actions or gear holding actions.

[0057] Specifically, refer to Figure 2 , the system is powered by a 24V vehicle battery, and the 24V vehicle voltage is converted into 5V by a DC-DC converter (Direct Current to Direct Current converter, DC-DC) to supply power to the microcontroller unit MCU (Microcontroller Unit, MCU). Four MOS transistors (M1, M2, M3, and M4) and a DC motor M form a MOSFET circuit. Each H-bridge circuit outputs four PWM waves with a frequency of 20kHz from the PWM1 and PWM2 outputs of the MCU to the H-bridge driver chip (such as Figure 2 shown in the H-bridge in), and then the H-bridge outputs a PWM signal with stronger power to drive the on and off of the four MOSFET switches, thereby realizing the control of speed and steering. In order to achieve precise control of the drive motor, the TCU controller (Transmission Control Unit, TCU) acquires the actual parking position signal by collecting the angle sensor, obtains the difference by comparing with the set position, and then adopts the positional formula to control the speed of the parking motor through proportional-integral regulation (Proportional Integral, PI), so that the actual speed closely follows the target position, improves the stability of the parking motor, and accurately controls the rotation angle of the motor, thereby realizing the electronic parking function.

[0058] Proportional regulation function: It reacts to the deviation of the system proportionally. Once the system has a deviation, the proportional regulation immediately generates a regulation effect to reduce the deviation. A large proportional action can accelerate the regulation and reduce the error, but an excessive proportion will reduce the stability of the system and even cause the system to be unstable.

[0059] Integral regulation: It enables the system to eliminate the steady-state error and improve the degree of non-error. Because there is an error, integral regulation is required until there is no error, at which point the integral regulation stops and the integral regulation outputs a constant value. The strength of the integral action depends on the integral time constant. The smaller the integral time constant, the stronger the integral action. Conversely, a larger integral time constant results in a weaker integral action. Adding integral regulation can reduce the stability of the system and slow down the dynamic response.

[0060] The integral action is often combined with the other two regulation laws to form a PI regulator. When applied in practice, its rate of change is limited to ensure that the vehicle model can still operate stably under the condition of quickly adjusting the output of the speed loop.

[0061] The above only shows the working principle of the parking control motor. The principles of the four-wheel drive control motor and the shift control motor are the same as that of the parking control motor and will not be elaborated here.

[0062] Reference Figure 1 , the rear axle assembly control method includes:

[0063] S1: Obtain the target action of the rear axle assembly.

[0064] Specifically, when the vehicle is powered on, the controller first detects whether the parking position, four-wheel drive position, power take-off (PTO) position, and hardware status of the vehicle are normal. If normal, obtain the target action of the rear axle assembly, which can be understood as the target action issued by the driver sitting in the cab, such as whether to park, whether to release parking, whether to engage four-wheel drive, whether to disengage four-wheel drive, whether to engage the PTO gear, whether to disengage the PTO gear).

[0065] S2: Determine the corresponding control instruction according to the target action.

[0066] Specifically, according to the target action issued by the driver, determine the corresponding control instruction. Exemplarily, when the driver issues a parking target action, determine the corresponding control instruction as parking control, indicating that the driver needs to let the parking control motor perform the parking action.

[0067] S3: Send the control instruction to the drive motor to control the execution action of the tractor.

[0068] Specifically, after determining the corresponding generated control instruction, send the control instruction to the drive motor. Further, send the control instruction to the corresponding drive motor (such as the parking control motor, four-wheel drive control motor, and shift control motor) to control the execution action of the tractor.

[0069] In the embodiment of the present invention, a method of transmitting electrical signals is used to control the operation of the rear axle assembly. The target operation of the tractor is received, a control instruction is generated based on the target operation, and the tractor is controlled according to the control instruction to complete the specified execution operation, thereby upgrading the rear axle assembly controlled by the transmission mechanical link to a wire-controlled rear axle, simplifying the mechanical structure, greatly improving the operation efficiency, solving the problems of low control accuracy and low space utilization rate of the mechanical structure, and meeting the requirements of the intelligent and automated level of electric tractors.

[0070] Optionally, the drive motors include a parking control motor, a four-wheel drive control motor, and a shift control motor;

[0071] Determining the corresponding control instruction according to the target operation includes:

[0072] When the target operation is a parking operation or a parking release operation, the drive circuit controls the parking control motor to operate so that the rear axle assembly performs a parking operation or a parking release operation;

[0073] When the target operation is a four-wheel drive operation or a four-wheel drive release operation, the drive circuit controls the four-wheel drive control motor to operate so that the rear axle assembly engages in a four-wheel drive operation or a four-wheel drive release operation;

[0074] When the target operation is a shifting operation or a gear holding operation, the drive circuit controls the shift control motor to operate so that the rear axle assembly performs a shifting operation or a gear holding operation.

[0075] Specifically, the drive motors include a parking control motor, a four-wheel drive control motor, and a shift control motor. The parking control motor is used to control the tractor to park or release parking, the four-wheel drive control motor is used to control the tractor to engage in four-wheel drive or release four-wheel drive, and the shift control motor is used to control the tractor to perform a shifting operation or maintain the current gear operation.

[0076] When a parking action or a parking release action sent by the driver is obtained, the drive circuit controls the parking control motor to act so that the rear axle assembly performs the parking action or the parking release action. Taking the parking execution action as an example, in order to achieve precise motor control, the controller acquires the actual position signal of the parking control motor by collecting the angle sensor of the parking control motor, obtains the difference by comparing with the set position, and then adopts the positional formula to control the speed of the parking control motor through the PI regulator. P is the proportional parameter and I is the integral parameter, so that the actual speed closely follows the target position, improving the stability of the parking motor. The motor rotation is precisely controlled to drive the rotation of the parking control motor shaft, and then drive the rotation of the parking brake camshaft, thereby acting on the brake friction plate to achieve parking braking. If the parking is released, it is necessary to control the motor to rotate in the reverse direction to drive the rotation of the parking control motor shaft, and then drive the rotation of the parking brake camshaft, thereby releasing the force acting on the brake friction plate to achieve the electronic parking function. When the target action is the four-wheel drive engagement action or the four-wheel drive release action, the drive circuit controls the four-wheel drive control motor to operate so that the rear axle assembly engages in the four-wheel drive action or releases the four-wheel drive action; when the target action is the shifting action or the gear holding action, the drive circuit controls the shift control motor to operate so that the rear axle assembly performs the shifting action or holds the gear. Regarding the four-wheel drive engagement action or the four-wheel drive release action, the shifting action or the shift release action, the principle is the same as that of the parking or parking release action, and will not be elaborated here.

[0077] Based on the above-mentioned invention embodiments, the embodiments of the present invention further refine the determination of the corresponding control instruction according to the target action. Figure 3 It is a flowchart of another control method for the rear axle assembly of a tractor provided by the embodiments of the present invention. Refer to Figure 3 , the control method for the rear axle assembly of a tractor provided by the embodiments of the present invention includes:

[0078] S21. Obtain the target action of the rear axle assembly.

[0079] S22. Determine whether there is a pending instruction.

[0080] Specifically, it is judged whether there is a pending instruction in the current drive motor. Exemplarily, it is determined whether there is a pending instruction in the current drive motor. The pending instruction refers to an instruction waiting to execute an action. Among them, the drive motor includes a parking control motor, a four-wheel drive control motor, and a shift control motor.

[0081] S23. If there is at least one pending instruction, determine whether there is a mutually exclusive relationship between the pending instruction and the target action.

[0082] Specifically, if there is at least one instruction to be executed, it is further determined whether there is a mutually exclusive relationship between the instruction to be executed and the target action. Here, the mutually exclusive relationship means that two actions in the instruction to be executed cannot occur simultaneously. Exemplarily, for instance, if there is a four-wheel drive disengagement action instruction in the waiting queue at this time, and the target action issued is a four-wheel drive engagement action instruction, then it is a mutually exclusive relationship; there are at most three instructions to be executed.

[0083] S24. If there is no instruction to be executed, obtain the status information of the drive motor. Specifically, the status information of the drive motor refers to the operating status information of the drive motor at the current moment, which can be that it is performing a certain action (i.e., busy state) or the drive motor is in an idle state at the current moment; when receiving the target action issued by the driver, immediately obtain the operating status information of all drive motors. Specifically, only one drive motor is in a busy state at the same moment; there are three drive motors.

[0084] S25. When the status information is in the busy state, wait until the current executing action is completed, and then continue to execute the target action. Specifically, if it is detected that any one of the three drive motors is in the busy state, the target action enters the waiting queue. When the drive motor completes the current executing action, continue to execute the target action.

[0085] S26. When the status information is in the idle state, generate a corresponding control instruction according to the target action.

[0086] Specifically, when the status information of the drive motor obtained is in the idle state, it indicates that none of the drive motors is performing an action at this time. Then, a corresponding control instruction can be directly generated by the control instruction generation module inside the corresponding drive motor according to the target action issued by the driver. Exemplarily, when the received target action is a parking action or a parking release action, generate a control instruction according to the parking action or the parking release action and send it to the parking control motor; when the received target action is a four-wheel drive engagement action or a four-wheel drive disengagement action, generate a control instruction according to the four-wheel drive engagement action or the four-wheel drive disengagement action and send it to the four-wheel drive control motor; when the received target action is a gear shifting action or a gear holding action, generate a control instruction according to the gear shifting action or the gear holding action and send it to the gear shifting control motor.

[0087] Based on the above-mentioned invention embodiments, the embodiments of the present invention further refine the determination of whether there is a mutually exclusive relationship between the instruction to be executed and the target action if there is at least one instruction to be executed. Figure 4 It is another flowchart of the control method for the rear axle assembly of a tractor provided by the embodiments of the present invention. Refer to Figure 4 , the control method for the rear axle assembly of a tractor provided by the embodiments of the present invention includes:

[0088] S31. Obtain the target action of the rear axle assembly.

[0089] S32. Determine whether there is an instruction to be executed.

[0090] S33. If there is at least one instruction to be executed, determine whether there is a mutually exclusive relationship between the instruction to be executed and the target action.

[0091] S3301. If the relationship between the instruction to be executed and the target action is a compatible relationship, ignore the target action.

[0092] Specifically, when the received target action and the instruction to be executed are in a compatible relationship, the target action is ignored. Compatibility means that the instruction to be executed and the target action can exist simultaneously or have a progressive relationship. Exemplarily, the current execution action is A, the instruction to be executed is B, and the target action is C. When it is determined that the target action C is compatible with the instruction to be executed B, the target action C is ignored.

[0093] S3302. If the relationship between the instruction to be executed and the target action is a mutually exclusive relationship, clear the instruction to be executed, and the target action enters the waiting queue. Specifically, when the relationship between the received target action and the instruction to be executed is a mutually exclusive relationship. Exemplarily, the current execution action is A, the instruction to be executed is B, and the target action is C. When it is determined that the target action C is mutually exclusive with the instruction to be executed B, the instruction to be executed B is cleared, thereby avoiding the problem of engine damage caused by incorrect actions, and the target action C enters the waiting queue to wait for the execution of the target action C.

[0094] S3303. If there is no mutually exclusive or compatible relationship between the instruction to be executed and the target action, the target action enters the waiting queue to wait for execution.

[0095] Specifically, when there is no mutually exclusive or compatible relationship between the obtained target action and the instruction to be executed, the target action is directly put into the waiting queue and waits for the execution of the target action. Exemplarily, when there is no mutually exclusive or compatible relationship between the instruction to be executed and the target action (i.e., there is no relationship between the two), the target action is put into the waiting queue, and after the driving motor completes the current execution action, the target action is completed.

[0096] Based on the above invention embodiments, the embodiments of the present invention further refine the sending of control instructions to the driving motor to control the execution actions of the tractor. Figure 5 It is another flowchart of the control method for the rear axle assembly of a tractor provided by the embodiments of the present invention. Referring to Figure 5 , the control method for the rear axle assembly of a tractor provided by the embodiments of the present invention includes:

[0097] S41. Obtain the target action of the rear axle assembly.

[0098] S42. Determine the corresponding control instruction according to the target action.

[0099] S43. Obtain the rotational position of the drive motor.

[0100] Specifically, when the drive motor receives the corresponding control instruction, obtain the rotational position of the drive motor; optionally, also obtain the rotational direction of the drive motor at the same time, and the rotational direction includes clockwise rotation and counterclockwise rotation.

[0101] S44. Compare the rotational position of the drive motor with the preset position.

[0102] Specifically, compare the obtained rotational position of the drive motor with the preset position. For example, control the drive motor to rotate clockwise, and compare the position where the drive motor rotates clockwise with the preset clockwise rotation position, or control the drive motor to rotate counterclockwise, and compare the position where the drive motor rotates counterclockwise with the preset counterclockwise rotation position; when the drive motor rotates to the preset position, execute step S4401; when the drive motor does not rotate to the preset position, execute step S4402.

[0103] S4401. When the drive motor rotates to the preset position, it is determined that the drive motor has completed the target action.

[0104] Specifically, when the drive motor rotates to the preset position, it indicates that the drive motor has completed the target action. Exemplarily, when the drive motor rotates clockwise successfully to the preset position, it indicates that the drive motor has completed the target action; or, when the drive motor rotates counterclockwise successfully to the preset position, it indicates that the drive motor has completed the target action.

[0105] S4402. When the rotational position of the drive motor is different from the preset position, determine the number of times that the rotational position of the drive motor is different from the preset position.

[0106] Specifically, when the rotational position of the drive motor is different from the preset position, that is, when the rotational position of the drive motor fails to rotate to the preset position successfully, record the number of times that the drive motor fails to rotate to the preset position successfully, and report it to the controller of the tractor.

[0107] Based on the above-mentioned invention embodiments, the present invention embodiment further refines the determination of the number of times that the rotational position of the drive motor is different from the preset position when the rotational position of the drive motor is different from the preset position. Figure 6 It is another flow chart of the control method for the rear axle assembly of a tractor provided by the present invention embodiment. Refer to Figure 6 The control method for the rear axle assembly of a tractor provided by the present invention embodiment includes:

[0108] S51. Obtain the target action of the rear axle assembly.

[0109] S52. Determine the corresponding control instruction according to the target action.

[0110] S53. Obtain the rotational position of the drive motor.

[0111] S54. Compare the rotational position of the drive motor with the preset position.

[0112] S55. When the rotational position of the drive motor is different from the preset position, determine the number of times that the rotational position of the drive motor is different from the preset position.

[0113] S56. Compare the number of times that the rotational position of the drive motor is different from the preset position with the first threshold.

[0114] Specifically, record the number of times that the rotational position of the drive motor is different from the preset position determined in the above step S55, and compare it with the first threshold. If the number of times is greater than or equal to the first threshold, execute step S5601; if the number of times is less than the first threshold, execute step S5602.

[0115] S5601. When the number of times is greater than or equal to the first threshold, determine that the drive motor is in a fault state, and stop the current execution action of the drive motor.

[0116] Specifically, after obtaining and recording the number of times that the rotational position of the drive motor is different from the preset position determined in the above step S55, if the number of times is greater than or equal to the first threshold, it proves that the number of failure times has been greater than or equal to the first threshold, then determine that the drive motor is in a fault state at this time, and stop the current execution action of the drive motor to avoid motor damage and safety accidents.

[0117] S5602. When the number of times is less than the first threshold, re - execute the target action, and accumulate the number of execution failures.

[0118] Specifically, after obtaining and recording the number of times that the rotational position of the drive motor is different from the preset position determined in the above step S55, if the number of times is less than the first threshold, it proves that although the rotational position of the drive motor fails to reach the preset position successfully, it is still within the range. Then re - execute the target action, and accumulate the number of execution failures to provide data support for determining the fault state of the drive motor. Among them, the first threshold can be 3, and the first threshold can be adjusted according to actual needs. The embodiments of the present invention do not limit this.

[0119] Based on the above - mentioned embodiments of the invention, the embodiments of the invention further refine the steps after obtaining the rotational position of the drive motor. Figure 7 It is a flowchart of another control method for the rear axle assembly of a tractor provided by the embodiments of the invention. Refer to Figure 7, the control method for the rear axle assembly of a tractor provided by an embodiment of the present invention includes:

[0120] S61. Obtain the target action of the rear axle assembly.

[0121] S62. Determine the corresponding control instruction according to the target action.

[0122] S63. Obtain the rotational position of the drive motor.

[0123] S64. Obtain the working current of the drive motor.

[0124] Specifically, after determining the target action instruction of the driver in the above step S62, while obtaining the rotational position of the drive motor, the working current of the drive motor is also obtained. The working current refers to the operating current when the drive motor normally executes the target action.

[0125] S65. Compare the working current of the drive motor with a second threshold.

[0126] Specifically, after obtaining the working current of the drive motor in the above step S64, the working current of the drive motor is compared with the second threshold. When the working current of the drive motor is greater than or equal to the second threshold, step S6501 is executed; when the working current of the drive motor is less than the second threshold, step S6502 is executed.

[0127] S6501. When the working current is greater than or equal to the second threshold, it is determined that the drive motor is in a fault state, and the current execution action of the drive motor is stopped.

[0128] Specifically, when it is obtained in the above step S64 that the working current of the drive motor is greater than or equal to the second threshold, it is determined that the drive motor has a fault, and the current execution action of the drive motor is immediately stopped.

[0129] S6502. When the working current is less than the second threshold, determine the relationship between the running duration of the drive motor and a preset duration.

[0130] Specifically, when it is obtained in the above step S64 that the working current of the drive motor is less than the second threshold, the relationship between the running duration of the drive motor and the preset duration is further determined. The running duration of the drive motor refers to the running time when the drive motor executes the target action. The second threshold can be set according to actual needs, and the embodiments of the present invention do not limit this.

[0131] Based on the above embodiments of the invention, the embodiments of the present invention further refine the determination of the relationship between the running duration of the drive motor and the preset duration when the working current is less than the second threshold. Figure 8 It is a flowchart of another control method for the rear axle assembly of a tractor provided by an embodiment of the present invention. Refer toFigure 8 , the control method for the rear axle assembly of a tractor provided by an embodiment of the present invention includes:

[0132] S71. Obtain the target action of the rear axle assembly.

[0133] S72. Determine the corresponding control instruction according to the target action.

[0134] S73. Obtain the working current of the drive motor.

[0135] S74. Compare the working current of the drive motor with a second threshold.

[0136] S75. When the working current is less than the second threshold, determine the relationship between the running duration of the drive motor and a preset duration.

[0137] S76. Obtain the running duration of the drive motor.

[0138] Specifically, after determining the target action instruction of the driver in step S72 above, obtain the running duration of the drive motor. The running duration refers to the running time used by the drive motor to execute the target action.

[0139] S77. Compare the running duration of the drive motor with a preset duration.

[0140] Specifically, after determining the running duration of the drive motor in step S76 above, compare the running duration of the drive motor with a preset duration. When the running duration of the drive motor is greater than or equal to the preset duration, execute step S7701; when the running duration of the drive motor is less than the preset duration, execute step S7702.

[0141] S7701. When the running duration is greater than or equal to the preset duration, re - execute the target action and accumulate the number of execution failures.

[0142] Specifically, after determining the running duration of the drive motor in step S76 above and comparing it with the preset duration, when the running duration is less than the preset duration, re - execute the target action and accumulate the number of execution failures; where the preset duration can be set as needed. Exemplarily, it can be 1S, and the embodiments of the present invention do not limit this here.

[0143] S7702. When the running duration is less than the preset duration, execute to obtain the rotation position of the drive motor; when the drive motor rotates to the preset position, it is determined that the drive motor has completed the target action.

[0144] Specifically, after determining the running duration of the drive motor in step S76 above and comparing it with the preset duration, when the running duration is less than the preset duration, the rotation position of the drive motor is obtained in a loop; when the drive motor rotates to the preset position, it is determined that the drive motor has completed the target action and other steps, which have been described in detail above, and the embodiments of the present invention are not limited herein.

[0145] In another embodiment of the invention, the drive motor may further include a differential lock control motor. The working principle is as follows: Wheel speed sensors are installed on the left and right tires of the tractor to detect the left wheel speed sensor and the right wheel speed sensor respectively, and the monitored wheel speed data is sent to the TCU controller in real time. When the wheel speed difference reaches the threshold, the TCU controller will automatically control the action of the electro-hydraulic differential lock cylinder, thereby realizing the automatic differential lock function.

[0146] Optionally, the status information is transmitted to the instrument panel via the CAN bus.

[0147] Specifically, the status information of the whole vehicle is transmitted to the instrument panel of the tractor via the Controller Area Network (CAN) bus.

[0148] Figure 9 It is a block diagram of a rear axle assembly control device for a tractor provided by an embodiment of the present invention. Figure 10 It is a mechanical structure diagram of a rear axle assembly control device for a tractor provided by an embodiment of the present invention; refer to Figure 9 and Figure 10 According to the same inventive concept, an embodiment of the present invention also provides a rear axle assembly control device for a tractor. The rear axle assembly 6 is controlled by an electrical signal to perform corresponding actions. The rear axle assembly 6 includes a collection circuit, a drive circuit, a drive motor, and a controller; the collection circuit collects the signal of the drive motor and feeds it back to the controller, the controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions; the rear axle assembly control device includes:

[0149] An action acquisition module 100, configured to acquire the target action of the rear axle assembly 6.

[0150] An instruction generation module 200, configured to determine a corresponding control instruction according to the target action.

[0151] An execution module 300, configured to send the control instruction to the drive module to control the execution action of the tractor.

[0152] As Figure 10As shown, the TCU controller 1 receives the actual parking position signal obtained by collecting the angle sensor of the parking control motor 2, obtains the difference by comparing it with the set position, and then uses the positional formula to control the speed of the parking control motor 2 through proportional integral (PI) regulation, so that the actual speed closely follows the target position, improving the stability of the parking control motor 2, accurately controlling the rotation angle of the motor, and thus realizing the electronic parking function; the TCU controller 1 receives the actual four-wheel drive position signal obtained by collecting the angle sensor of the four-wheel drive shift motor 3, obtains the difference by comparing it with the set position, and then uses the positional formula to control the speed of the four-wheel drive control motor 3 through proportional integral (PI) regulation, so that the actual speed closely follows the target position, improving the stability of the four-wheel drive control motor 3, accurately controlling the rotation angle of the motor, and thus realizing the function of starting the four-wheel drive; the TCU controller 1 receives the actual shifting position signal obtained by collecting the angle sensor of the shift control motor 4, obtains the difference by comparing it with the set position, and then uses the positional formula to control the speed of the shift control motor 4 through proportional integral (PI) regulation, so that the actual speed closely follows the target position, improving the stability of the shift control motor 4, accurately controlling the rotation angle of the motor, and thus realizing the shifting function.

[0153] Figure 11 FIG. is a mechanical structure diagram of another rear axle assembly control device of a tractor provided by an embodiment of the present invention. Refer to Figure 10 and Figure 11 , in another embodiment of the present invention, the drive motor may further include a differential lock control motor 8, and the working principle is as follows: a left wheel speed sensor 5 and a right wheel speed sensor 7 are installed on both sides of the tractor to respectively detect the left wheel speed sensor 5 and the right wheel speed sensor 7, and the monitored wheel speed data is sent to the TCU controller 1 in real time. When the wheel speed difference reaches the threshold, the TCU controller 1 will automatically control the action of the electronic control differential lock oil cylinder, thereby realizing the function of the automatic differential lock.

[0154] According to the same inventive concept, an embodiment of the present invention further provides a tractor, including a controller and the rear axle assembly control device of the tractor described in the above embodiment.

[0155] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for the rear axle assembly of a tractor, characterized in that, The rear axle assembly is controlled by an electrical signal to perform corresponding actions. The rear axle assembly includes a collection circuit, a drive circuit, a drive motor, and a controller. The collection circuit collects signals of the drive motor and feeds them back to the controller. The controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions. The control method includes: Obtain the target action of the rear axle assembly; Determine a corresponding control instruction according to the target action; Send the control instruction to the drive motor to control the execution action of the tractor.

2. The control method of the rear axle assembly of the tractor according to claim 1, wherein, The target actions include a parking action or a release of the parking action, a connection or disconnection of the four-wheel drive action, and a gear shifting action or a maintaining of the gear position action.

3. The control method for the rear axle assembly of a tractor according to claim 1, characterized in that, Determining a corresponding control instruction according to the target action includes: Determine whether there is a pending instruction; If there is at least one such pending instruction, determine whether there is a mutually exclusive relationship between the pending instruction and the target action; If there is no such pending instruction, obtain the status information of the drive motor; When the status information is a busy state, wait until the current execution action is completed, and then continue to execute the target action; When the status information is an idle state, generate a corresponding control instruction according to the target action. Wherein, the drive motor includes a parking control motor, a four-wheel drive control motor, and a gear shifting control motor.

4. The control method for the rear axle assembly of a tractor according to claim 3, characterized in that, If there is at least one such pending instruction, determining whether there is a mutually exclusive relationship between the pending instruction and the target action includes: If the relationship between the pending instruction and the target action is a compatible relationship, ignore the target action; If the relationship between the pending instruction and the target action is a mutually exclusive relationship, clear the pending instruction, and the target action enters the waiting queue; If there is no mutually exclusive or compatible relationship between the pending instruction and the target action, the target action enters the waiting queue to wait for execution.

5. The control method of the rear axle assembly of the tractor according to claim 1, characterized in that Sending the control instruction to the drive motor to control the execution action of the tractor includes: Obtain the rotational position of the drive motor; When the drive motor rotates to a preset position, it is determined that the drive motor has completed the target action; When the rotational position of the drive motor is different from the preset position, determine the number of times that the rotational position of the drive motor is different from the preset position.

6. The control method of the rear axle assembly of a tractor according to claim 5, characterized in that, When the rotational position of the drive motor is different from the preset position, determining the number of times that the rotational position of the drive motor is different from the preset position includes: When the number is greater than or equal to a first threshold, it is determined that the drive motor is in a fault state, and the current execution action of the drive motor is stopped; When the number is less than the first threshold, re-execute the target action and accumulate the number of execution failures.

7. The control method for the rear axle assembly of a tractor according to claim 5, characterized in that, After obtaining the rotational position of the drive motor; it further includes: Obtain the working current of the drive motor; When the working current is greater than or equal to a second threshold, it is determined that the drive motor is in a fault state, and the current execution action of the drive motor is stopped; When the working current is less than the second threshold, the relationship between the running duration of the drive motor and the preset duration is determined.

8. The control method for the rear axle assembly of a tractor according to claim 7, characterized in that, When the working current is less than the second threshold, further determining the relationship between the running duration of the drive motor and the preset duration includes: Obtaining the running duration of the drive motor; When the running duration is greater than or equal to the preset duration, the target action is re-executed, and the number of failed executions is accumulated; When the running duration is less than the preset duration, the rotation position of the drive motor is obtained; when the drive motor rotates to the preset position, it is determined that the drive motor has completed the target action.

9. A control device for the rear axle assembly of a tractor, characterized in that, The rear axle assembly is controlled by an electrical signal to perform corresponding actions. The rear axle assembly includes a collection circuit, a drive circuit, a drive motor, and a controller; the collection circuit collects signals of the drive motor and feeds them back to the controller, the controller provides a drive signal to the drive circuit, and the drive circuit controls the operation of the drive motor so that the rear axle assembly performs corresponding actions; The control device for the rear axle assembly includes: An action acquisition module, configured to acquire the target action of the rear axle assembly; An instruction generation module, configured to determine a corresponding control instruction according to the target action; An execution module, configured to send the control instruction to the drive module to control the execution action of the tractor.

10. A tractor, characterized in that, It includes a controller and the control device for the rear axle assembly of the tractor according to claim 9.

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