Engineering machinery electric drive gearbox gear shifting control method and device and storage medium

Abstract

The invention discloses a gear shifting control method and device for an electric drive gearbox of engineering machinery and a storage medium, and belongs to the technical field of engineering machine.The gear shifting control method comprises the steps that a gear shifting request signal is received; according to the gear shifting request signal, the current complete machine gear shifting working condition is judged, and oil charging or oil drainage control over a clutch of a corresponding gear is executed; obtaining a real-time load state related signal of the whole vehicle, and obtaining a current equivalent load coefficient of the whole vehicle according to the real-time load state related signal; determining a motor torque regulation range corresponding to the current whole vehicle according to the current whole vehicle equivalent load coefficient; and according to the real-time rotating speed difference between the input end and the output end of the gearbox and the corresponding preset target rotating speed difference, the motor torque and the oil pressure of the current combined gear clutch are adjusted, the motor torque is adjusted within the motor torque adjusting and controlling range, and smooth and reliable engineering machinery electric drive gearbox gear shifting is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and in particular relates to a gear shift control method, device and storage medium for an electric drive transmission of engineering machinery. Background Art

[0002] Against the backdrop of a global push for green, low-carbon development and increasingly stringent energy conservation and emission reduction requirements, the construction machinery industry is undergoing a profound transformation from traditional fuel-powered to electric drives. Electric drive transmissions, with their significant advantages such as high efficiency, cleanliness, and energy recovery, are becoming a core power transmission component for various types of construction machinery, including excavators, loaders, and cranes.

[0003] Existing electric drive transmission shift control technologies mostly draw on experience in the automotive field. However, the driving conditions of automobiles are relatively stable, and motor torque compensation is often used directly to control the motor to achieve transmission shifting. However, due to the complex and changeable operating characteristics of construction machinery, such as high load, frequent start and stop, and reversing, there are significant differences in the shifting conditions of automobiles. Directly applying the shifting technology in the automotive field is difficult to meet the special needs of construction machinery.

[0004] Construction machinery operates under complex and ever-changing conditions, with load fluctuations ranging widely. Power requirements vary significantly from unloaded to fully loaded. Existing shift control methods for construction machinery struggle to precisely adjust shift strategies and motor output characteristics based on real-time operating conditions and load variations. Failure to properly control the shifting process during heavy-load starting or hill climbing can lead to motor overload and power shortages, compromising equipment reliability and stability. Summary of the Invention

[0005] The purpose of the present invention is to provide a shift control method, device and storage medium for an electric drive transmission of construction machinery. By calculating the equivalent load coefficient of the entire vehicle, the motor torque is accurately controlled within the motor torque control range. At the same time, the clutch oil pressure of the transmission is controlled according to the target speed difference, thereby achieving smoothness and reliability of the electric drive transmission shift.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] In a first aspect, the present invention provides a method for controlling shifting of an electric drive transmission of an engineering machinery, comprising:

[0008] receiving a gear shift request signal;

[0009] Determining the current gear shifting condition of the entire machine according to the gear shift request signal, and executing oil filling or oil draining control of the corresponding gear clutch;

[0010] Obtaining the vehicle's real-time load status related signal, and obtaining the current vehicle equivalent load coefficient based on the real-time load status related signal;

[0011] Determine the motor torque control range corresponding to the current vehicle based on the current vehicle equivalent load factor;

[0012] The motor torque and the oil pressure of the currently engaged gear clutch are adjusted based on the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference, wherein the motor torque is adjusted within the motor torque control range.

[0013] Optionally, the acquiring of a real-time load status related signal of the entire vehicle and acquiring an equivalent load coefficient of the entire vehicle according to the real-time load status related signal includes:

[0014] Collect vehicle operation mode signals, accelerator pedal real-time position, driving direction slope and real-time vehicle speed respectively;

[0015] The vehicle equivalent load coefficient is calculated based on the collected load state related signals. The calculation formula is as follows:

[0016] ,

[0017] in, represents the equivalent load factor of the vehicle, Indicates the operating mode signal, represents a pattern index, Indicates the real-time position of the accelerator pedal. Indicates the slope in the direction of travel. Indicates the real-time vehicle speed. 、 Respectively represent the weighting coefficients of the signals related to each load state.

[0018] Optionally, the strategy for setting the vehicle motor torque control range according to the vehicle equivalent load factor includes:

[0019] When the vehicle is in the upshift condition:

[0020] When the equivalent load factor of the vehicle changes from small to large, the motor torque range changes from Adjust to ,in, Indicates the minimum torque of the motor, Indicates the maximum torque of the motor, , ;

[0021] When the vehicle is in downshift mode:

[0022] When the equivalent load factor of the vehicle changes from small to large, the motor torque range changes from Adjust to ,in, , .

[0023] Optionally, judging the current whole-machine shifting condition according to the shift request signal and executing oil filling or oil draining control of the corresponding gear clutch includes:

[0024] determining a target gear position according to a gear shift request signal;

[0025] Confirm the gear shifting condition based on the current gear and the target gear;

[0026] If the gear shift operation is not performed, the on-off state of the clutch solenoid valve of each gear is maintained;

[0027] When a shift operation is performed, the control of the disengaging clutch solenoid valve is disconnected, and the control of the engaging clutch solenoid valve is connected.

[0028] Optionally, adjusting the motor torque and the oil pressure of the currently engaged gear clutch according to the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference includes:

[0029] Collect the speed of the gearbox input end and the speed of the gearbox output end respectively;

[0030] Obtain the real-time speed difference based on the speed of the input and output ends of the gearbox;

[0031] Obtain the time interval for synchronous control of the sliding friction section according to the preset target speed difference control curve ;

[0032] In the time interval The real-time speed difference is compared with the speed difference target value corresponding to the target speed difference change trend. According to the comparison result, the motor torque is adjusted within the motor torque control range, and the control current of the solenoid valve of the current gear clutch is adjusted.

[0033] Optionally, comparing the real-time speed difference with a speed difference target value corresponding to a change trend of the target speed difference, adjusting the motor torque within a motor torque control range according to the comparison result, and adjusting the control current of a solenoid valve currently engaged with a gear clutch include:

[0034] In the time interval in At this moment, the real-time speed difference The speed difference target value at the corresponding time For comparison: If , reduce the motor torque and increase the solenoid valve control current; if , increase the motor torque and reduce the solenoid valve control current.

[0035] Optionally, after adjusting the motor torque and the oil pressure of the currently engaged gear clutch, the method further includes:

[0036] According to the real-time speed difference The difference from the corresponding preset target speed Determine whether the current transmission input speed and output speed are synchronized: if they are synchronized, the gear shift is terminated; if not, continue to perform the motor torque adjustment and the current gear clutch oil pressure adjustment steps until .

[0037] Optionally, the shift control method further includes:

[0038] The current transmission shift status indication signal is sent to the vehicle display terminal, wherein the shift status includes three states: shift start, shift in progress, and shift end. The shift start state corresponds to the reception of the shift request signal, the shift end state corresponds to the synchronization of the transmission input end speed and the output end speed, and the shift in progress state corresponds to other shift control steps between the shift start and the shift end.

[0039] In a second aspect, the present invention provides a shift control device for an electric drive transmission of an engineering machinery, comprising:

[0040] Gear shift request receiving module: used for receiving gear shift request signal;

[0041] The gear clutch replacement module is used to determine the current gear shifting condition of the entire machine according to the gear shift request signal, and to perform oil filling or oil draining control of the corresponding gear clutch;

[0042] Vehicle equivalent load coefficient acquisition module: used to obtain the real-time load status related signal of the vehicle, and obtain the current vehicle equivalent load coefficient based on the real-time load status related signal;

[0043] Motor torque control range acquisition module: used to determine the motor torque control range corresponding to the current vehicle according to the current vehicle equivalent load coefficient;

[0044] Motor torque and clutch oil pressure adjustment module: used to adjust the motor torque and the oil pressure of the currently engaged gear clutch according to the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference, wherein the motor torque is adjusted within the motor torque control range.

[0045] In a third aspect, the present invention provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the shift control method of an electric drive transmission of an engineering machinery as described in any one of the first aspects is implemented.

[0046] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the equivalent load coefficient of the entire vehicle is calculated by a variety of load-related state signals, the motor torque control range can be arbitrarily matched, and according to the preset speed difference target value, it is judged whether the current speeds of the input and output ends of the transmission are synchronized, and the motor torque within the torque control range and the transmission clutch oil pressure are adjusted in real time and dynamically to achieve synchronization of the speeds of the input and output ends of the transmission during the gear shifting process, realize closed-loop control of the clutch speed difference, ensure the precise controllability of the clutch slip process, and improve the smoothness and reliability of the gear shifting of the electric drive transmission of the construction machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The figure shows a flow chart of a shift control method for an electric drive transmission of an engineering machinery in embodiment 1 of the present invention;

[0048] Figure 2 Shown is a block diagram of an electric drive gearbox system for engineering machinery in one embodiment of the present invention;

[0049] Figure 3 The figure shows a block diagram of a shift control system for an electric drive transmission of an engineering machinery in one embodiment of the present invention;

[0050] Figure 4 The figure shows a flow chart of a shift control method for an electric drive transmission of an engineering machinery in embodiment 2 of the present invention;

[0051] Figure 5 Schematic diagram showing the relationship between the motor torque and the equivalent load factor of the vehicle under upshift conditions in one embodiment of the present invention;

[0052] Figure 6 FIG2 is a schematic diagram showing the relationship between the motor torque and the equivalent load factor of the vehicle under downshift conditions in an embodiment of the present invention;

[0053] Figure 7 The figure shows the relationship between the speed difference between the input and output ends of the transmission and the clutch oil pressure in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0056] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0057] Example 1

[0058] like Figure 1 As shown, this embodiment provides a shift control method for an electric drive transmission of an engineering machinery, comprising:

[0059] receiving a gear shift request signal;

[0060] Determining the current gear shifting condition of the entire machine according to the gear shift request signal, and executing oil filling or oil draining control of the corresponding gear clutch;

[0061] Obtaining the vehicle's real-time load status related signal, and obtaining the current vehicle equivalent load coefficient based on the real-time load status related signal;

[0062] Determine the motor torque control range corresponding to the current vehicle based on the current vehicle equivalent load factor;

[0063] The motor torque and the oil pressure of the currently engaged gear clutch are adjusted based on the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference, wherein the motor torque is adjusted within the motor torque control range.

[0064] By obtaining the real-time load status of the vehicle before shifting, the equivalent load coefficient of the vehicle is calculated, and a set of motor torque control ranges are determined to achieve more precise regulation of the motor torque range. At the same time, the target speed difference control curve is set, and the dynamic coordinated transmission clutch oil pressure control is achieved to achieve smooth and reliable shifting of the construction machinery electric drive transmission.

[0065] Example 2

[0066] Based on Example 1, this example also makes the following design.

[0067] Figure 2 The diagram shows the structure of the electric drive transmission system for engineering machinery. This embodiment proposes a shift control system to control the shift of the electric drive transmission system for engineering machinery. Figure 3 As shown in the figure, the shift control system consists of a motor control unit (MCU), a complete machine operation mode acquisition unit, a gear clutch status signal acquisition unit, an accelerator pedal position acquisition unit, a ramp signal acquisition unit, a transmission input / output speed acquisition unit, a transmission clutch solenoid valve control unit, and a transmission shift status display unit. The transmission control unit (TCU) is connected to each unit of the shift control system via signal cables.

[0068] The motor control unit MCU is the core control unit responsible for determining the motor torque control range according to the equivalent load factor of the vehicle and controlling the motor torque and clutch oil pressure during the gear shifting process. The MCU obtains the operation mode signal through the whole machine operation mode acquisition unit. , used to identify the current working mode of the vehicle, where The value range is: 0-driving, 1-operation mode 1, 2-operation mode 2, 3-operation mode 3, etc.; the gear shift clutch state is obtained through the gear clutch state signal acquisition unit, the gear shift clutch state is obtained, and the current gear and the target gear are judged. When the gear clutch state signal is 0, it indicates that the gear clutch is disengaged, and when the gear clutch state signal is 1, it indicates that the gear clutch is engaged; the accelerator pedal real-time position signal is obtained through the accelerator pedal position acquisition unit , obtain the real-time position signal of the accelerator pedal to reflect the driver's acceleration intention; obtain the current driving direction slope through the ramp signal acquisition unit ; Get the gearbox input speed through the gearbox input / output speed acquisition unit and output speed , according to the output speed Calculate real-time vehicle speed The transmission control unit TCU transmits instructions to the transmission clutch solenoid valve control unit to realize the oil filling and oil draining control of the gear clutch and indicates the gear shifting status through the display unit.

[0069] The transmission clutch solenoid valve control unit controls the oil filling and oil draining process of the gear clutch according to the instructions transmitted to the transmission control unit TCU by the motor control unit MCU, realizes the gear switching, and displays the gear shifting status of the gearbox through the gear shifting status display unit, providing the operator with intuitive gear shifting information, including three states: gear shift start, gear shifting, and gear shifting end.

[0070] like Figure 4 As shown, the steps for performing shift control on the electric drive transmission system of the construction machinery based on the shift control system are as follows:

[0071] Step S1: Signal reception and processing

[0072] Receive the gear shift request signal from the cab, indicating the start of gear shift;

[0073] Obtain the operation mode signal through the whole machine operation mode acquisition unit ;

[0074] Acquire the real-time position signal of the accelerator pedal through the accelerator pedal position acquisition unit ;

[0075] Obtain the current driving direction slope through the ramp signal acquisition unit ;

[0076] The transmission input speed is acquired through the transmission input / output speed acquisition unit and output speed .

[0077] Step S2: Calculation of vehicle equivalent load factor

[0078] The vehicle equivalent load factor is calculated in real time based on the current working mode, accelerator pedal opening, driving direction slope, and vehicle speed. The calculation formula is as follows:

[0079] ,

[0080] in, Indicates the equivalent load factor of the vehicle, which is used to determine the motor torque selection range. The schematic diagram is as follows Figure 3 As shown; The value is Any value between After the value is set, the maximum and minimum values ​​of the motor torque control can be selected; Indicates the operating mode signal, represents a pattern index, Indicates the real-time position of the accelerator pedal. Indicates the slope in the direction of travel. Indicates the real-time vehicle speed. 、 Respectively represent the weighting coefficients of the signals related to each load state.

[0081] Step S3: Determine the motor torque control range

[0082] According to the calculated equivalent load factor of the vehicle, a set of motor torque control ranges is determined.

[0083] like Figure 5 As shown in the figure, under the upshift condition, as the equivalent load coefficient of the vehicle changes from Increase to , the motor torque range is determined by Adjust to ,at this time, , , , , , , , ;For example, The smaller the value, the more likely the minimum torque value is to be negative, and the drive motor can select a torque range of [-1000, 200]; The larger the value, the more torque the drive motor can select within the range [-500, 400].

[0084] like Figure 6 As shown in the figure, under the downshift condition, as the equivalent load coefficient of the vehicle changes from Increase to , the motor torque range is determined by Adjust to ,at this time, , , , , , , , ;For example, The smaller the value, the more torque range the drive motor can select [1000, 100]; The larger the value, the more torque range the drive motor can select [800, 400].

[0085] Step S4: Gear shift determination and execution

[0086] The gear clutch status signal acquisition unit is used to confirm the current gear and the target gear, and determine whether a gear shift process occurs.

[0087] If no gear shifting operation occurs, the vehicle load factor calculation and the motor torque control range selection are maintained; if a gear shifting process occurs, the upshifting process or downshifting process is determined, the vehicle load factor is selected, and the disengaging clutch solenoid valve control electrical signal is closed to drain the oil from the disengaging clutch, and the engaging clutch solenoid valve control electrical signal is opened to fill the oil from the engaging clutch to achieve gear switching.

[0088] Step S5: Synchronous determination of the speed at the input and output ends of the transmission

[0089] like Figure 7 As shown, the change trend of the speed difference in the sliding friction section is set to , the time interval corresponding to the sliding friction section is , that is, in Moment At the speed difference, synchronous control begins; at Moment At the speed difference, the sliding friction section synchronization control is completed, and the real-time speed difference is calculated based on the collected speed of the input and output ends of the gearbox.

[0090] In the time interval According to the set speed difference change trend and the real-time speed difference, the speed of the input and output ends of the transmission are synchronously controlled, the motor torque is dynamically adjusted within the selected range of the motor torque, and the solenoid valve control current is adjusted in real time, thereby controlling the clutch oil filling process to achieve closed-loop control of the clutch speed difference until the real-time speed difference is and the corresponding The gear shift is complete.

[0091] For example, in Moment, will and Calibration, if , dynamically adjust the motor torque (decrease) and the solenoid valve control current (increase), and then control the oil filling of the clutch in the current gear; if , dynamically adjust the motor torque (increase) and the solenoid valve control current (decrease), and then control the oil filling of the clutch in the current gear.

[0092] Step S6: Gear shift status display

[0093] The indication signals of gear shift start, gear shift in progress and gear shift completion are transmitted to the display unit to prompt the driver of the current gearbox shift status.

[0094] Example 3

[0095] This embodiment provides a shift control device for an electric drive transmission of an engineering machinery, comprising:

[0096] Gear shift request receiving module: used for receiving gear shift request signal;

[0097] The gear clutch replacement module is used to determine the current gear shifting condition of the entire machine according to the gear shift request signal, and to perform oil filling or oil draining control of the corresponding gear clutch;

[0098] Vehicle equivalent load coefficient acquisition module: used to obtain the real-time load status related signal of the vehicle, and obtain the current vehicle equivalent load coefficient based on the real-time load status related signal;

[0099] Motor torque control range acquisition module: used to determine the motor torque control range corresponding to the current vehicle according to the current vehicle equivalent load coefficient;

[0100] Motor torque and clutch oil pressure adjustment module: used to adjust the motor torque and the oil pressure of the currently engaged gear clutch according to the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference, wherein the motor torque is adjusted within the motor torque control range.

[0101] Example 4

[0102] This embodiment provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the shift control method for an electric drive transmission of an engineering machinery as described in any step of Example 1 or Example 2 is implemented.

[0103] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0107] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. A method for controlling the shifting of an electric drive transmission of an engineering machinery, characterized in that: include: receiving a gear shift request signal; Determining the current gear shifting condition of the entire machine according to the gear shift request signal, and executing oil filling or oil draining control of the corresponding gear clutch; Obtaining the vehicle's real-time load status related signal, and obtaining the current vehicle equivalent load coefficient based on the real-time load status related signal; Determine the motor torque control range corresponding to the current vehicle based on the current vehicle equivalent load factor; The motor torque and the oil pressure of the currently engaged gear clutch are adjusted based on the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference, wherein the motor torque is adjusted within the motor torque control range.

2. The method for controlling the shifting of an electric drive transmission of an engineering machinery according to claim 1, characterized in that: The step of obtaining a real-time load status related signal of the vehicle and obtaining an equivalent load coefficient of the vehicle according to the real-time load status related signal includes: Collect vehicle operation mode signals, accelerator pedal real-time position, driving direction slope and real-time vehicle speed respectively; The vehicle equivalent load coefficient is calculated based on the collected signals related to each load state. The calculation formula is as follows: ， in, represents the equivalent load factor of the vehicle, Indicates the operating mode signal, represents a pattern index, Indicates the real-time position of the accelerator pedal. Indicates the slope in the direction of travel. Indicates the real-time vehicle speed. 、 Respectively represent the weighting coefficients of the signals related to each load state.

3. The shift control method for an electric drive transmission of an engineering machinery according to claim 1, characterized in that: Strategies for setting the vehicle motor torque control range based on the vehicle equivalent load factor include: When the vehicle is in the upshift condition: When the equivalent load factor of the vehicle changes from small to large, the motor torque range changes from Adjust to ,in, Indicates the minimum torque of the motor, Indicates the maximum torque of the motor, , ; When the vehicle is in downshift mode: When the equivalent load factor of the vehicle changes from small to large, the motor torque range changes from Adjust to ,in, , .

4. The method for controlling the shifting of an electric drive transmission of an engineering machinery according to claim 1, characterized in that: The determining of the current whole-machine shifting condition according to the shift request signal and executing the oil filling or oil draining control of the corresponding gear clutch includes: determining a target gear position according to a gear shift request signal; Confirm the gear shifting condition based on the current gear and the target gear; If the gear shift operation is not performed, the on-off state of the clutch solenoid valve of each gear is maintained; When a shift operation is performed, the control of the disengaging clutch solenoid valve is disconnected, and the control of the engaging clutch solenoid valve is connected.

5. The method for controlling the shifting of an electric drive transmission of an engineering machinery according to claim 1, characterized in that: The adjusting of the motor torque and the oil pressure of the currently engaged gear clutch according to the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference includes: Collect the speed of the gearbox input end and the speed of the gearbox output end respectively; Obtain the real-time speed difference based on the speed of the input and output ends of the gearbox; Obtain the time interval for synchronous control of the sliding friction section according to the preset target speed difference control curve ; In the time interval The real-time speed difference is compared with the speed difference target value corresponding to the target speed difference change trend. According to the comparison result, the motor torque is adjusted within the motor torque control range, and the control current of the solenoid valve of the current gear clutch is adjusted.

6. The method for controlling the shifting of an electric drive transmission of an engineering machinery according to claim 5, characterized in that: The method of comparing the real-time speed difference with the speed difference target value corresponding to the change trend of the target speed difference, adjusting the motor torque within the motor torque control range according to the comparison result, and adjusting the control current of the solenoid valve currently engaged with the gear clutch includes: In the time interval in At this moment, the real-time speed difference The speed difference target value at the corresponding time For comparison: If , reduce the motor torque and increase the solenoid valve control current; if , increase the motor torque and reduce the solenoid valve control current.

7. The method for controlling the shifting of an electric drive transmission of an engineering machinery according to claim 1, characterized in that: After adjusting the motor torque and the oil pressure of the currently engaged gear clutch, it also includes: According to the real-time speed difference The difference from the corresponding preset target speed Determine whether the current transmission input speed and output speed are synchronized: if they are synchronized, the gear shift is terminated; if not, continue to perform the motor torque adjustment and the current gear clutch oil pressure adjustment steps until .

8. The method for controlling the shifting of an electric drive transmission of an engineering machinery according to claim 1, characterized in that: Also includes: The current transmission shift status indication signal is sent to the vehicle display terminal, wherein the shift status includes three states: shift start, shift in progress, and shift end. The shift start state corresponds to the reception of the shift request signal, the shift end state corresponds to the synchronization of the transmission input end speed and the output end speed, and the shift in progress state corresponds to other shift control steps between the shift start and the shift end.

9. A shift control device for an electric drive transmission of an engineering machinery, characterized in that: include: Gear shift request receiving module: used for receiving gear shift request signal; The gear clutch replacement module is used to determine the current gear shifting condition of the entire machine according to the gear shift request signal, and to perform oil filling or oil draining control of the corresponding gear clutch; Vehicle equivalent load coefficient acquisition module: used to obtain the real-time load status related signal of the vehicle, and obtain the current vehicle equivalent load coefficient based on the real-time load status related signal; Motor torque control range acquisition module: used to determine the motor torque control range corresponding to the current vehicle according to the current vehicle equivalent load coefficient; Motor torque and clutch oil pressure adjustment module: used to adjust the motor torque and the oil pressure of the currently engaged gear clutch according to the real-time speed difference between the input and output ends of the transmission and the corresponding preset target speed difference, wherein the motor torque is adjusted within the motor torque control range.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the shift control method of an electric drive transmission for engineering machinery according to any one of claims 1 to 8 is implemented.

Images