A control method and device for a low-temperature clutch of an electrically driven gearbox of a construction machine, and a storage medium

Abstract

The application discloses an engineering machinery electric drive gearbox low-temperature clutch control method and device and a storage medium, and belongs to the technical field of engineering machinery. The method comprises the following steps: low-temperature starting in a static state: controlling the real-time given speed of the driving motor to be 0, and controlling the real-time given current of the starting gear clutch solenoid valve according to the clutch package pressure; low-temperature starting in a running state: controlling the real-time given current of the starting gear clutch solenoid valve according to the clutch package pressure, and controlling the real-time speed of the driving motor according to the clutch output end speed; low-temperature gear shifting in a static state: controlling the real-time given torque of the driving motor to be 0, and controlling the real-time given current of the combined clutch solenoid valve according to the clutch package pressure; and low-temperature gear shifting in a running state: controlling the real-time given current of the combined clutch solenoid valve according to the clutch package pressure, and controlling the real-time torque of the driving motor based on the clutch input and output end speed difference, so that the smoothness of the starting and gear shifting processes is improved.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, and in particular relates to a method, device and storage medium for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery. Background Technology

[0002] With the increasing demand for energy conservation and emission reduction in the construction machinery market, an electric fully automatic transmission has been developed to meet this need. The electric fully automatic transmission uses a wet clutch to achieve uninterrupted power control. Considering the overall machine requirements, an electric oil pump is used to provide the pressure and lubrication flow required for the fully automatic transmission.

[0003] In low-temperature environments, wet clutches in construction machinery face problems such as a dramatic increase in oil viscosity (viscosity can reach more than 10 times that at room temperature at -30℃), leading to prolonged pressure build-up time (50%~80%), increased shift shock force (peak shock force >2000 N·m), and low transmission efficiency, and even causing power interruption. How to solve the problems of clutch sluggish response or shift shock in low-temperature environments, and how to achieve optimal control of wet clutches in electric drive transmissions under low-temperature conditions, are urgent technical problems to be solved in this field.

[0004] Existing technologies mostly rely on single temperature or pressure compensation, depending solely on oil temperature correction, without integrating multiple parameters such as motor winding temperature and ambient temperature, resulting in large errors in low-temperature pressure build-up time; the staged control of the clutch fails to achieve real-time matching between motor torque and clutch pressure, resulting in significant shift delays and potentially even power interruptions, failing to meet the stable operation requirements of construction machinery; under low-temperature conditions, traditional preheating relies on the engine or independent heaters, resulting in a high energy consumption ratio, which is not conducive to the energy distribution of the entire electric drive machine. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device and storage medium for controlling the low temperature clutch of an electric drive gearbox for engineering machinery. The operating conditions are subdivided according to the overall machine status, and different collaborative control strategies are adopted for different operating conditions. While fully protecting the life of the wet clutch, the smoothness of the gearbox starting and shifting is guaranteed.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides a method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery, comprising:

[0008] Acquire real-time operating condition related status signals of the whole vehicle, and determine the current operating condition of the electric drive transmission based on the real-time operating condition related status signals;

[0009] When entering the low-temperature start control state of the wet clutch stationary state:

[0010] The drive motor is controlled to have a real-time speed of 0, and the real-time current of the starting gear clutch solenoid valve is controlled according to the preset solenoid valve current curve. The solenoid valve current curve has feature points that characterize the turning point of the clutch solenoid valve current. Different feature points correspond to different preset values ​​of clutch pressure.

[0011] When using low-temperature start control while in wet clutch driving mode:

[0012] The real-time current of the starting gear clutch solenoid valve is controlled according to the preset solenoid valve current curve, and the real-time speed of the drive motor is given according to the speed of the clutch output end.

[0013] When entering the low-temperature shift control state of the wet clutch at rest:

[0014] The drive motor is controlled to have a real-time torque of 0, and the real-time current of the clutch solenoid valve is controlled according to the preset solenoid valve current curve.

[0015] When engaging low-temperature shift control while driving with a wet clutch:

[0016] The real-time current of the clutch solenoid valve is controlled according to the preset solenoid valve current curve, and the real-time torque of the drive motor is given based on the speed difference between the input and output ends of the clutch.

[0017] Optionally, acquiring the real-time operating condition-related status signals of the entire vehicle and determining the current operating condition of the electric drive transmission based on the real-time operating condition-related status signals includes:

[0018] Real-time transmission fluid temperature signal, output speed signal, and real-time lever gear position signal are collected respectively;

[0019] The current control state of the electric drive transmission is determined by the real-time transmission fluid temperature signal and the real-time gear shift signal, and the current operating condition of the electric drive transmission is obtained by combining the real-time transmission output speed signal.

[0020] Optionally, the step of determining the current control state of the electric drive transmission based on the real-time transmission fluid temperature signal and the real-time gear shift signal, and obtaining the current operating condition of the electric drive transmission by combining the real-time transmission output speed signal, includes:

[0021] When the current transmission fluid temperature is greater than the preset minimum transmission temperature threshold, the transmission is determined to be in normal temperature control state; when the current transmission fluid temperature is less than the preset minimum transmission temperature threshold, the transmission is determined to be in low temperature control state.

[0022] When the current lever position is in the starting gear, it is determined that the transmission is performing a starting condition; when the current lever position is in the shifting state, it is determined that the transmission is performing a shifting condition.

[0023] When the current vehicle speed is less than the preset vehicle speed threshold, the vehicle is determined to be stationary; when the current vehicle speed is not less than the vehicle speed threshold, the vehicle is determined to be in motion.

[0024] By combining the transmission fluid temperature, gear position, and vehicle speed information, the current operating condition of the transmission can be determined.

[0025] Optionally, when entering the low-temperature start control state of the wet clutch at rest, the following coordinated control steps are performed on the wet clutch and the drive motor:

[0026] The solenoid valve corresponding to the starting gear clutch assembly is controlled to have its current set to its maximum value. When the pressure of the starting gear clutch assembly exceeds a preset fast-charging stage pressure threshold, the solenoid valve current is reduced to a preset value. Point demand current;

[0027] Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold, the increment The formula for calculating control is as follows:

[0028] ,

[0029] ,

[0030] in, Indicates the current of the solenoid valve. This is the proportionality coefficient. The integral coefficient is... For the first The deviation value of the clutch pressure at any given time. For the first The deviation value of the clutch pressure at any given time. For the first Clutch pressure at any given moment For the first The clutch pressure at any given moment;

[0031] Increase the current supplied to the solenoid valve of the starting gear clutch to its maximum value;

[0032] During the process of controlling the current given to the solenoid valve of the starting gear clutch, the drive motor is synchronously controlled to be in speed control mode, and the real-time speed is given to 0.

[0033] Optionally, when entering the low-temperature start control mode of wet clutch driving state, the following coordinated control steps are performed on the wet clutch and drive motor:

[0034] The solenoid valve corresponding to the starting gear clutch assembly is controlled to have its current set to its maximum value. When the pressure of the starting gear clutch assembly exceeds a preset fast-charging stage pressure threshold, the solenoid valve current is reduced to a preset value. Point demand current;

[0035] Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold;

[0036] Increase the current supplied to the solenoid valve of the starting gear clutch to its maximum value;

[0037] During the process of controlling the current supplied to the solenoid valve of the clutch engagement package, the drive motor is synchronously controlled in speed control mode, and the real-time speed of the drive motor is given according to the output speed of the clutch rear end. The calculation formula is as follows:

[0038] ,

[0039] in, To provide real-time rotational speed, This refers to the starting gear ratio. This provides the real-time output speed for the gearbox.

[0040] Optionally, when entering the low-temperature shift control state of the wet clutch at rest, the following coordinated control steps are performed on the wet clutch and the drive motor:

[0041] The solenoid valve current corresponding to the disengaged clutch is reduced to 0, while the solenoid valve current corresponding to the currently engaged clutch is increased to its maximum value. When the pressure of the currently engaged clutch exceeds a preset fast-charging stage pressure threshold, the solenoid valve current for the engaged clutch is reduced to a preset value. Point demand current;

[0042] Use incremental Control The system controls the clutch solenoid valve based on the given current, maintaining the current clutch pressure at a preset level. Stage pressure threshold;

[0043] Increase the current supplied to the solenoid valve of the engagement clutch package to its maximum value;

[0044] During the process of controlling the current given to the solenoid valve of the clutch assembly, the drive motor is synchronously controlled to be in torque control mode, and the real-time torque is given as 0.

[0045] Optionally, when entering the low-temperature shift control state of wet clutch driving, the following coordinated control steps are performed on the wet clutch and drive motor: the solenoid valve given current corresponding to the disengaged clutch is reduced to 0, and the solenoid valve given current corresponding to the currently engaged clutch is increased to its maximum value; when the pressure of the currently engaged clutch exceeds the preset fast-charging stage pressure threshold, the solenoid valve given current of the engaged clutch is reduced to a preset value. Point demand current;

[0046] Use incremental Control The system controls the clutch solenoid valve based on the given current, maintaining the current clutch pressure at a preset level. Stage pressure threshold;

[0047] Increase the current supplied to the solenoid valve of the engagement clutch package to its maximum value;

[0048] During the process of controlling the current set by the solenoid valve of the engagement clutch, the drive motor is synchronously controlled in torque control mode. First, the real-time torque setpoint of the drive motor is reduced to less than the preset speed difference threshold based on the speed difference between the front and rear ends of the engagement clutch. After the speed is synchronized, the real-time torque setpoint of the drive motor is increased based on the motor torque value at the time of speed synchronization. The calculation formula is as follows:

[0049] ,

[0050] in, To disengage the gear ratio, In order to combine the gear ratio, This is the real-time torque given to the drive motor when the gearbox speed is synchronized. This refers to the real-time torque of the drive motor before the gearbox shifts gears.

[0051] Optionally, the control method further includes: when the transmission is in a low-temperature control state, increasing the current speed of the electric oil pump to a preset maximum speed, and stopping heat dissipation until the current transmission oil temperature is greater than a preset maximum transmission temperature threshold.

[0052] In a second aspect, the present invention provides a low-temperature clutch control device for an electric drive gearbox in engineering machinery, comprising:

[0053] Real-time operating condition judgment module: used to acquire real-time operating condition related status signals of the whole vehicle, and judge the current operating condition of the electric drive transmission based on the real-time operating condition related status signals;

[0054] Low-temperature start control module in stationary state: used to control the drive motor to enter the speed control mode where the real-time given speed is 0, and to control the real-time given current of the start gear clutch solenoid valve according to the preset solenoid valve current curve. The solenoid valve current curve has feature points that characterize the turning point of the clutch solenoid valve given current. Different feature points correspond to different preset values ​​of clutch pressure.

[0055] Low-temperature start control module under driving conditions: It is used to control the real-time given current of the start gear clutch solenoid valve according to the preset solenoid valve current curve, and to give the real-time speed of the drive motor according to the speed of the clutch output end, and control the drive motor to enter the speed control mode.

[0056] Low-temperature shift control module in static state: used to control the drive motor to enter the torque control mode where the real-time given torque is 0, and to control the real-time given current of the clutch solenoid valve according to the preset solenoid valve current curve.

[0057] Low-temperature shift control module during driving: It is used to control the real-time given current of the clutch solenoid valve according to the preset solenoid valve current curve, and to give the real-time torque of the drive motor based on the speed difference between the clutch input and output ends, and control the drive motor to enter the torque control mode.

[0058] Thirdly, the present invention provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the low-temperature clutch control method for an electric drive gearbox for engineering machinery as described in any of the first aspects.

[0059] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: The operating conditions are subdivided according to the overall machine status, and different collaborative control strategies are adopted for different operating conditions. The drive motor speed, drive motor torque, and wet clutch solenoid valve current are collaboratively controlled. While fully protecting the lifespan of the wet clutch, this makes the machine's start-up or shifting control faster and smoother in low-temperature conditions. In the starting condition, the invention distinguishes between stationary and driving conditions, collaboratively controlling the real-time speed of the drive motor and the engagement current of the starting gear clutch under different conditions. That is, the entire engagement process is controlled in real-time based on the threshold pressure, achieving rapid start-up while eliminating speed jumps during engagement, resulting in a smoother process. In the shifting condition, the invention distinguishes between stationary and driving conditions, collaboratively controlling the real-time torque of the drive motor, the disengaged clutch, and the given current of the engaged clutch under different conditions. That is, the entire engagement process is controlled based on the threshold pressure and real-time speed difference. The shifting process can achieve rapid pressure build-up of the engaged clutch and rapid synchronization of the front and rear clutch speeds without power interruption, improving the smoothness of the shifting process. Attached Figure Description

[0060] Figure 1The diagram shown is a flowchart of a low-temperature clutch control method for an electric drive gearbox of engineering machinery in one embodiment of the present invention.

[0061] Figure 2 The diagram shown is a block diagram of a wet clutch power shift transmission control system for engineering machinery in one embodiment of the present invention.

[0062] Figure 3 The diagram shown is a hardware connection schematic of the electric drive wet clutch power shift transmission control system in one embodiment of the present invention.

[0063] Figure 4 The diagram shown is a flowchart of the control process for starting the low-temperature clutch of the drive gearbox in one embodiment of the present invention.

[0064] Figure 5 The diagram shown is a timing diagram of the start-up and stationary control of the low-temperature clutch of the electric drive gearbox in one embodiment of the present invention.

[0065] Figure 6 The diagram shown is a timing diagram of the control of the low-temperature clutch of the electric drive gearbox for starting and driving in one embodiment of the present invention.

[0066] Figure 7 The diagram shown is a control flowchart for the low-temperature clutch shifting condition of an electric drive gearbox in one embodiment of the present invention.

[0067] Figure 8 The diagram shown is a timing diagram of the control of the electric drive gearbox under static shifting conditions at low temperature.

[0068] Figure 9 The diagram shown is a timing diagram of the control of the electric drive transmission under low-temperature clutch shifting driving conditions in one embodiment of the present invention. Detailed Implementation

[0069] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0070] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0071] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0072] Example 1

[0073] like Figure 2 As shown, this embodiment provides a cryogenic clutch control system for an electric drive transmission in engineering machinery. This system coordinates the control of the drive motor and wet clutch in the fully automatic electric drive transmission. The cryogenic clutch control system consists of a transmission control unit (TCU), a drive motor control unit (MCU), an electric oil pump control unit (EOP), a vehicle control unit (VCU), a transmission cooling fan, a power battery, a shift lever, an output speed sensor, a pressure sensor, and a temperature sensor. The MCU, EOP, and transmission cooling fan are connected to the power battery via high-voltage wiring harnesses. The shift lever is directly connected to the TCU. Sensor signals collected by the output speed sensor, pressure sensor, and temperature sensor, which detect the transmission status, are directly transmitted to the TCU. Information exchange between the TCU, MCU, EOP, cooling fan, and VCU is completed via a CAN bus, allowing for status control of each component.

[0074] The transmission control unit (TCU) receives information from the gear shift lever to determine whether the transmission is in a starting or shifting state; it also receives information from the output speed sensor to calculate the overall vehicle speed and determine whether the vehicle speed threshold has been triggered. The system receives pressure sensor information to detect the engagement state of the wet clutch and determines whether the pressure threshold for the fast charging phase has been triggered. , Stage pressure threshold The system receives information from temperature sensors to detect the temperature status of the transmission body and the environment, and determines whether to trigger the transmission fluid temperature threshold. Ambient temperature threshold The TCU collects the actual output torque of the drive motor via the bus to determine whether the torque threshold is triggered. The system collects internal speed data to determine the actual operating state of the wet clutch engagement process. Transmission fluid is cooled via a cooling fan. The transmission's internal pressure oil supply, provided by the EOP (Extended Operating Position), enables the wet clutch to engage, thereby transmitting power.

[0075] The hardware connection diagram of the electric drive transmission low-temperature clutch coordinated control system is shown below. Figure 3 As shown, the TCU collects relevant signals from the shift lever, speed sensor, pressure sensor, and temperature sensor for comprehensive judgment. After calculation, the TCU directly controls the solenoid valve of the wet clutch inside the power shift transmission via the wiring harness, and achieves the exchange of shift torque by providing different current curves. The drive motor is directly connected to the power shift transmission. The TCU sends the speed or torque requirements to the MCU via the CAN bus according to the starting or shifting needs. The MCU changes the corresponding drive current, thereby changing the input speed or torque of the power shift transmission. The transmission provides a pressurized oil source through the EOP to provide pressure to the wet clutch and lubricate the power shift transmission bearings and other components. The transmission output shaft is directly connected to the vehicle's drive shaft or drive axle to drive the wheels and tires. The cooling fan ensures that the transmission's operating temperature is within a reasonable range.

[0076] The automatic transmission shift clutch engagement logic in this embodiment is shown in Table 1. The transmission uses three clutch packs to create three forward gears and three reverse gears. It has no directional clutches, and the forward or reverse movement of the entire machine is achieved by changing the rotation direction of the drive motor.

[0077] Table 1. A gearbox shift logic table

[0078] C1 C2 C3 F1 √ F2 √ F3 √ R1 √ R2 √ R3 √

[0079] The control flow of the cryogenic clutch control method for the electric drive gearbox of engineering machinery implemented through the aforementioned cryogenic clutch control system is as follows: Figure 1 As shown, based on the characteristics of power transmission in a gearbox, a specific control strategy for the electric oil pump is designed, and the specific steps are as follows:

[0080] S1: First, each control unit performs a power-on self-test. If no shutdown fault is detected, proceed to the next step. After the entire unit's high-voltage power-on is detected (the vehicle control unit (VCU) will provide feedback after the high-voltage power-on is complete),... (Signal) The TCU makes a comprehensive judgment based on the collected information on the lever gear position, gearbox speed, pressure, and temperature, and then executes the next operation.

[0081] S2: If the current temperature of the transmission fluid... Temperature greater than the minimum threshold for transmission temperature If the transmission is in normal temperature control mode, it is considered to be in low temperature control mode; otherwise, it enters low temperature control mode. In low temperature control mode, the current EOP speed of the electric oil pump needs to be increased to its maximum value. Temporarily turn off the cooling fan to allow the transmission fluid to warm up. When the current temperature of the transmission fluid... Temperature greater than the maximum threshold of the transmission temperature Or the current temperature of the environment greater than the ambient temperature threshold Only then should you consider turning on the cooling fan to cool the transmission fluid.

[0082] S3: Based on the gear information monitored by the transmission, the TCU determines whether the transmission is in a starting condition or not. If the transmission is in a shifting condition, the TCU will perform low-temperature mode start-up control; if the transmission is in a shifting condition, the TCU will perform low-temperature mode shifting control; otherwise, it will perform return-to-zero control.

[0083] The control flow of the clutch coordination control subroutine for the low-temperature start-up condition of the electric drive transmission in this embodiment is as follows: Figure 4 As shown, the specific steps are as follows:

[0084] S31: After entering the low-temperature start control program, it detects relevant information such as the speed sensor. If the current vehicle speed... Less than the vehicle speed threshold When the clutch is stationary, the starting control will be activated; otherwise, the starting control will be activated while the clutch is in motion.

[0085] S311: Timing diagram for start-up coordination control of wet clutch in stationary state is as follows Figure 5 As shown.

[0086] When the machine is stationary, the drive motor is controlled to enter speed control mode, and a real-time speed is given. Simultaneously, the solenoid valve corresponding to the starting gear clutch is kept fully open (in conjunction with the solenoid valve's given current). While ensuring the transmission fluid viscosity is overcome, quickly establish the corresponding clutch chamber pressure; detect the clutch chamber pressure, and the current engaged clutch chamber pressure. Slowly reduce the given current of the clutch assembly until the preset value is reached. Point demand current This is to prevent the clutch from engaging and impacting rapidly, which could affect the clutch's lifespan. Incremental phase By controlling the solenoid valve current, the clutch pressure can be precisely maintained at a certain level. A certain amount of time can ensure stable pressure during the slow bonding process.

[0087] Increment The controls are as follows:

[0088] ,

[0089] in, Indicates the current of the solenoid valve. This is the proportionality coefficient. The integral coefficient is... Let k be the deviation value of the pressure. For the first The deviation value of the clutch pressure in each step. For the first The clutch pressure at each step. For the first The clutch pressure at each step.

[0090] Clutch pressure maintained at After a certain period of time, rapidly increase the current supplied to the clutch assembly to its maximum value. This enables a rapid and stable start-up of the machine from a stationary state.

[0091] S312: Timing diagram for start-up coordination control under wet clutch driving state is as follows Figure 6 As shown.

[0092] When the machine is in motion, to ensure rapid pressure build-up of the starting gear clutch, the corresponding solenoid valve is kept fully open, and the current engagement clutch pressure... Slowly reduce the corresponding current to This phase still uses incremental methods. Control, clutch pressure maintained at After a certain period of time, rapidly increase the current supplied to the clutch assembly to its maximum value. This process ensures rapid pressure build-up while achieving rapid clutch engagement; simultaneously, it controls the drive motor to enter speed control mode. To maintain the speed difference between the front and rear ends of the clutch in starting gear, the real-time speed of the drive motor is given based on the output speed of the rear end of the clutch. The corresponding given speeds are shown below:

[0093] ,

[0094] in, This refers to the starting gear ratio. This provides the real-time output speed for the gearbox.

[0095] By controlling the real-time speed of the drive motor, the speed difference between the front and rear ends of the starting clutch is eliminated, resulting in a smoother engagement process without speed jumps.

[0096] The control flow of the clutch coordination control subroutine for low-temperature shifting conditions of an electric drive transmission in this invention is as follows: Figure 7 As shown, the specific steps are as follows:

[0097] S32: After entering the low-temperature shift control program, it detects relevant information such as the speed sensor; if the current vehicle speed... Less than the vehicle speed threshold When the wet clutch is stationary, the shift control enters the wet clutch stationary state; otherwise, the shift control enters the wet clutch driving state.

[0098] S321: Timing diagram for shift coordination control of wet clutch in stationary state is as follows Figure 8 As shown.

[0099] When the machine is stationary, the drive motor is controlled to enter torque control mode, and a real-time torque is given. Simultaneously, the current of the solenoid valve corresponding to the disengaged clutch is rapidly reduced to the closed state, while the solenoid valve corresponding to the engaged clutch is kept fully open (the current of the engaged solenoid valve is given). ), currently combined with clutch pack pressure At that time, slowly reduce the current of the solenoid valve engaging the clutch to... This phase still uses incremental methods. Control, combined with clutch pressure maintained at After a certain period of time, rapidly increase the current supplied to the clutch assembly to its maximum value. This process ensures rapid pressure build-up while achieving rapid clutch engagement, enabling fast and stable gear shifting while the machine is stationary.

[0100] S322: Timing diagram of shift coordination control under wet clutch driving state is as follows Figure 9 As shown.

[0101] When the machine is in motion, to ensure rapid pressure build-up of the engagement clutch, the current of the solenoid valve corresponding to the disengagement clutch needs to be controlled to quickly decrease to a certain level and then maintained to ensure sufficient pressure on the disengagement clutch and prevent power interruption. Subsequently, as the speed difference between the front and rear ends of the engagement clutch gradually decreases to a certain extent, the solenoid valve for disengagement clutch is directly closed; simultaneously, the solenoid valve corresponding to the engagement clutch is controlled to be fully open, and the current engagement clutch pressure... At that time, slowly reduce the current of the solenoid valve engaging the clutch to... This phase still uses incremental methods. Control, clutch pressure maintained at After a certain period of time, rapidly increase the current supplied to the clutch assembly to its maximum value. This process ensures rapid pressure build-up while achieving rapid clutch engagement. Simultaneously, the drive motor is controlled to enter torque control mode. To ensure synchronized speeds at the front and rear ends of the clutch during gear shifting, the real-time torque of the drive motor is reduced based on the speed difference between the engaged and disengaged clutch ends, waiting for the speed difference to fall below a threshold value. Then, increase the real-time torque of the drive motor to ensure the overall power performance of the machine. The setpoint value of the drive motor torque after speed synchronization is shown below:

[0102] ,

[0103] in, To disengage the gear ratio, In order to combine the gear ratio, This is the real-time torque given to the drive motor when the gearbox speed is synchronized. This refers to the real-time torque of the drive motor before the gearbox shifts gears.

[0104] By coordinating the real-time torque of the drive motor and the clutch coil current and pressure, gear shifting can be performed in real time while driving, ensuring no power interruption, enabling the clutch to quickly build pressure, and the front and rear speeds to quickly synchronize during the gear shifting process, thus improving the smoothness of the gear shifting process.

[0105] Example 2

[0106] This embodiment provides a low-temperature clutch control device for an electric drive gearbox in engineering machinery, including:

[0107] Real-time operating condition judgment module: used to acquire real-time operating condition related status signals of the whole vehicle, and judge the current operating condition of the electric drive transmission based on the real-time operating condition related status signals;

[0108] Low-temperature start control module in stationary state: used to control the drive motor to enter the speed control mode where the real-time given speed is 0, and to control the real-time given current of the start gear clutch solenoid valve according to the preset solenoid valve current curve. The solenoid valve current curve has feature points that characterize the turning point of the clutch solenoid valve given current. Different feature points correspond to different preset values ​​of clutch pressure.

[0109] Low-temperature start control module under driving conditions: It is used to control the real-time given current of the start gear clutch solenoid valve according to the preset solenoid valve current curve, and to give the real-time speed of the drive motor according to the speed of the clutch output end, and control the drive motor to enter the speed control mode.

[0110] Low-temperature shift control module in static state: used to control the drive motor to enter the torque control mode where the real-time given torque is 0, and to control the real-time given current of the clutch solenoid valve according to the preset solenoid valve current curve.

[0111] Low-temperature shift control module during driving: It is used to control the real-time given current of the clutch solenoid valve according to the preset solenoid valve current curve, and to give the real-time torque of the drive motor based on the speed difference between the clutch input and output ends, and control the drive motor to enter the torque control mode.

[0112] Example 3

[0113] This embodiment provides a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the low-temperature clutch control method for an electric drive gearbox of engineering machinery as described in any step of Embodiment 1.

[0114] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0116] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0117] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0118] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery, characterized in that, include: Acquire real-time operating condition related status signals of the whole vehicle, and determine the current operating condition of the electric drive transmission based on the real-time operating condition related status signals; When entering the low-temperature start control state of the wet clutch stationary state: The drive motor is controlled to have a real-time speed of 0, and the real-time current of the starting gear clutch solenoid valve is controlled according to the preset solenoid valve current curve. The solenoid valve current curve has feature points that characterize the turning point of the clutch solenoid valve current. Different feature points correspond to different preset values ​​of clutch pressure. When the vehicle is in wet clutch driving mode and low temperature start control is applied: The real-time current of the starting gear clutch solenoid valve is controlled according to the preset solenoid valve current curve, and the real-time speed of the drive motor is given according to the speed of the clutch output end. When entering the low-temperature shift control state of the wet clutch at rest: The drive motor is controlled to have a real-time torque of 0, and the real-time current of the clutch solenoid valve is controlled according to the preset solenoid valve current curve. When engaging low-temperature shift control while driving with a wet clutch: The real-time current of the solenoid valve is controlled according to the preset solenoid valve current curve, and the real-time torque of the drive motor is given based on the speed difference between the input and output ends of the clutch. The step of acquiring real-time operating condition-related status signals of the entire vehicle and determining the current operating condition of the electric drive transmission based on these signals includes: Real-time transmission fluid temperature signal, output speed signal, and real-time lever gear position signal are collected respectively. The current control status of the electric drive transmission is determined by the real-time transmission fluid temperature signal and the real-time gear lever position signal, and the current operating condition of the electric drive transmission is obtained by combining the real-time transmission output speed signal. When entering the low-temperature start-up control state of the wet clutch at rest, the following coordinated control steps are performed on the wet clutch and the drive motor: The solenoid valve corresponding to the starting gear clutch assembly is controlled to have its current set to its maximum value. When the pressure of the starting gear clutch assembly exceeds a preset fast-charging stage pressure threshold, the solenoid valve current is reduced to a preset value. Point demand current; Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold, the increment The formula for calculating control is as follows: ， ， in, Indicates the current combined with the solenoid valve. This is the proportionality coefficient. The integral coefficient is... For the first The deviation value of the clutch pressure at any given time. For the first The deviation value of the clutch pressure at any given time. For the first Clutch pressure at any given moment For the first The clutch pressure at any given moment; Increase the current supplied to the solenoid valve of the starting gear clutch to its maximum value; During the process of controlling the current given to the solenoid valve of the starting gear clutch, the drive motor is synchronously controlled to be in speed control mode, and the real-time speed is given to 0.

2. The method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery according to claim 1, characterized in that, The step of determining the current control state of the electric drive transmission based on the real-time transmission fluid temperature signal and the real-time gear shift signal, and obtaining the current operating condition of the electric drive transmission by combining the real-time transmission output speed signal, includes: When the current transmission fluid temperature is greater than the preset minimum transmission temperature threshold, the transmission is determined to be in normal temperature control state; when the current transmission fluid temperature is less than the preset minimum transmission temperature threshold, the transmission is determined to be in low temperature control state. When the current lever position is in the starting gear, it is determined that the transmission is performing a starting condition; when the current lever position is in the shifting state, it is determined that the transmission is performing a shifting condition. When the current vehicle speed is less than the preset vehicle speed threshold, the vehicle is determined to be stationary; when the current vehicle speed is not less than the vehicle speed threshold, the vehicle is determined to be in motion. By combining the transmission fluid temperature, gear position, and vehicle speed information, the current operating condition of the transmission can be determined.

3. The method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery according to claim 1, characterized in that, When entering the low-temperature start control mode while driving with a wet clutch, the following coordinated control steps are performed on the wet clutch and the drive motor: The solenoid valve corresponding to the starting gear clutch assembly is controlled to have its current set to its maximum value. When the pressure of the starting gear clutch assembly exceeds a preset fast-charging stage pressure threshold, the solenoid valve current is reduced to a preset value. Point demand current; Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold; Increase the current supplied to the solenoid valve of the starting gear clutch to its maximum value; During the process of controlling the current supplied to the solenoid valve of the clutch engagement package, the drive motor is synchronously controlled in speed control mode, and the real-time speed of the drive motor is given according to the output speed of the clutch rear end. The calculation formula is as follows: ， in, To provide real-time rotational speed, This refers to the starting gear ratio. This provides the real-time output speed for the gearbox.

4. The method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery according to claim 1, characterized in that, When entering the low-temperature shift control state of the wet clutch at rest, the following coordinated control steps are performed on the wet clutch and the drive motor: The solenoid valve current corresponding to the disengaged clutch is reduced to 0, while the solenoid valve current corresponding to the currently engaged clutch is increased to its maximum value. When the pressure of the currently engaged clutch exceeds a preset fast-charging stage pressure threshold, the solenoid valve current for the engaged clutch is reduced to a preset value. Point demand current; Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold; Increase the current supplied to the solenoid valve of the engagement clutch package to its maximum value; During the process of controlling the current given to the solenoid valve of the clutch assembly, the drive motor is synchronously controlled to be in torque control mode, and the real-time torque is given as 0.

5. The method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery according to claim 1, characterized in that, When entering the low-temperature shift control mode of wet clutch driving, the following coordinated control steps are performed on the wet clutch and drive motor: the solenoid valve current corresponding to the disengaged clutch is reduced to 0, and the solenoid valve current corresponding to the currently engaged clutch is increased to its maximum value. When the pressure of the currently engaged clutch exceeds the preset fast-charging stage pressure threshold, the solenoid valve current of the engaged clutch is reduced to the preset value. Point demand current; Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold; Increase the current supplied to the solenoid valve of the engagement clutch package to its maximum value; During the process of controlling the current set by the solenoid valve of the engagement clutch, the drive motor is synchronously controlled in torque control mode. First, the real-time torque setpoint of the drive motor is reduced to less than the preset speed difference threshold based on the speed difference between the front and rear ends of the engagement clutch. After the speed is synchronized, the real-time torque setpoint of the drive motor is increased based on the motor torque value at the time of speed synchronization. The calculation formula is as follows: ， in, To disengage the gear ratio, In order to combine the gear ratio, This is the real-time torque given to the drive motor when the gearbox speed is synchronized. This refers to the real-time torque of the drive motor before the gearbox shifts gears.

6. The method for controlling the low-temperature clutch of an electric drive gearbox for engineering machinery according to claim 2, characterized in that, Also includes: When the transmission is in low-temperature control mode, the current speed of the electric oil pump is increased to the preset maximum speed, and the cooling is stopped until the current transmission oil temperature is greater than the preset maximum transmission temperature threshold.

7. A cryogenic clutch control device for an electric drive gearbox in engineering machinery, characterized in that, The apparatus is used to perform the cryogenic clutch control method for an electric drive gearbox of engineering machinery as described in any one of claims 1-6, the apparatus comprising: Real-time operating condition judgment module: used to acquire real-time operating condition related status signals of the whole vehicle, and judge the current operating condition of the electric drive transmission based on the real-time operating condition related status signals; Low-temperature start control module in stationary state: used to control the drive motor to enter the speed control mode where the real-time given speed is 0, and to control the real-time given current of the start gear clutch solenoid valve according to the preset solenoid valve current curve. The solenoid valve current curve has feature points that characterize the turning point of the clutch solenoid valve given current. Different feature points correspond to different preset values ​​of clutch pressure. Low-temperature start control module under driving conditions: It is used to control the real-time given current of the start gear clutch solenoid valve according to the preset solenoid valve current curve, and to give the real-time speed of the drive motor according to the speed of the clutch output end, and control the drive motor to enter the speed control mode. Low-temperature shift control module in static state: used to control the drive motor to enter the torque control mode where the real-time given torque is 0, and to control the real-time given current of the clutch solenoid valve according to the preset solenoid valve current curve. Low-temperature shift control module during driving: It is used to control the real-time given current of the clutch solenoid valve according to the preset solenoid valve current curve, and to give the real-time torque of the drive motor based on the speed difference between the clutch input and output ends, and control the drive motor to enter the torque control mode. The step of acquiring real-time operating condition-related status signals of the entire vehicle and determining the current operating condition of the electric drive transmission based on these signals includes: Real-time transmission fluid temperature signal, output speed signal, and real-time lever gear position signal are collected respectively. The current control status of the electric drive transmission is determined by the real-time transmission fluid temperature signal and the real-time gear lever position signal, and the current operating condition of the electric drive transmission is obtained by combining the real-time transmission output speed signal. When entering the low-temperature start-up control state of the wet clutch at rest, the following coordinated control steps are performed on the wet clutch and the drive motor: The solenoid valve corresponding to the starting gear clutch assembly is controlled to have its current set to its maximum value. When the pressure of the starting gear clutch assembly exceeds a preset fast-charging stage pressure threshold, the solenoid valve current is reduced to a preset value. Point demand current; Use incremental Control The starting gear clutch solenoid valve is controlled by a given current to maintain the starting gear clutch pressure at a preset level. Stage pressure threshold, the increment The formula for calculating control is as follows: ， ， in, Indicates the current combined with the solenoid valve. This is the proportionality coefficient. The integral coefficient is... For the first The deviation value of the clutch pressure at any given time. For the first The deviation value of the clutch pressure at any given time. For the first Clutch pressure at any given moment For the first The clutch pressure at any given moment; Increase the current supplied to the solenoid valve of the starting gear clutch to its maximum value; During the process of controlling the current given to the solenoid valve of the starting gear clutch, the drive motor is synchronously controlled to be in speed control mode, and the real-time speed is given to 0.

8. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the low-temperature clutch control method for electric drive gearboxes of engineering machinery as described in any one of claims 1-6.

Images