Power reversing tractor starting quality evaluation and debugging device and method

Abstract

The invention relates to a power reversing tractor starting quality evaluation and debugging device and method, belongs to the technical field of agricultural tractor debugging, and is used for detecting and evaluating the off-line tractor starting quality condition, the debugging device is connected with a tractor, various information can be collected and received, the starting quality is determined by analyzing the information, and the debugging efficiency is improved. When the starting quality is abnormal, the abnormal stages are further analyzed, parameters are adjusted according to reasons corresponding to all the stages, parameters in the TCU controller are changed in a calibration mode, and then continuous testing is achieved till the starting quality reaches the standard; the debugging device and method are provided for starting quality evaluation and debugging of the power reversing tractors applied in batches, the quality evaluation accuracy and debugging efficiency are effectively improved, and meanwhile control parameter optimization adjustment is achieved for the tractors with abnormal starting quality; and the debugging requirement of batch production of the power reversing tractors and the evaluation requirement of new product development can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural tractor debugging, and in particular to a device and method for evaluating and debugging the starting quality of a power reversing tractor. Background Art

[0002] In recent years, as agricultural machinery users demand more efficient, comfortable, and intelligent tractors, power-shuttle tractors have become increasingly popular. A power-shuttle tractor allows users to change direction with a single button or joystick, without manually shifting the clutch, whether stationary or moving. Compared to traditional tractors, which require stopping, clutching, shifting, and then releasing the clutch, power-shuttle tractors automate clutch operation through electronic controls and hydraulic systems. This offers advantages such as no need to stop for reversing, ease of operation, high efficiency, and reduced impact.

[0003] A power-shut tractor is a product that integrates closely related mechanical, electronic, and hydraulic components. The main operating functions of a power-shut tractor include manual start, automatic start, and automatic power reversing. Manual start is controlled by the driver's clutch pedal stroke, and the starting rhythm is completely controlled by the driver. The control system is basically controlled according to the driver's input, so the starting quality of this function is not considered. For the automatic start and automatic power reversing functions, the driver only needs to move the reversing lever to different positions to trigger different functions. The automatic start function and automatic power reversing are completely automatically controlled by the TCU (automatic transmission control unit) controller, and the automatic power reversing control is more dependent on the automatic start control method. Therefore, automatic start control is of paramount importance.

[0004] Currently, the starting quality assessment and adjustment devices for mass-produced power reversing tractors face two main problems: 1. When adjusting different series of power reversing products, the assessment of starting quality relies on the subjective evaluation and feelings of developers and testers, and the data lacks quantitative analysis and traceability capabilities. 2. Even for a certain model of mass-produced tractors, a small number of tractors may have abnormal starting performance due to differences in parts and assembly processes. For OEMs, how to evaluate and locate the cause of this phenomenon and quickly resolve the problem can help companies reduce management costs and improve product quality. Summary of the Invention

[0005] In response to the shortcomings of the prior art, the purpose of the present invention is to provide a device and method for evaluating and debugging the starting quality of a power reversing tractor, which can evaluate the starting quality of a power reversing tractor and has the ability to upload and analyze data. It can provide feedback to development and debugging personnel on the causes of abnormal starting of the power reversing tractor and provide optimization solutions to help enterprises efficiently develop and maintain power reversing tractors, realize the mass application of power reversing tractors and reduce management costs.

[0006] To achieve the above-mentioned object, the technical solution adopted by the present invention is: a device for evaluating and debugging the starting quality of a power reversing tractor, comprising: a debugging device controller for receiving, processing, analyzing, and outputting information; an acceleration sensor for collecting acceleration values ​​of the power reversing tractor in real time while it is traveling; a speed sensor for obtaining the actual speed of the power reversing tractor; a display for inputting, displaying, and setting information; a mobile communication terminal for uploading and sending information between the TCU controller and the enterprise information platform; and a diagnostic interface including a CAN1 channel and a CAN2 channel. The debugging device controller is connected to the ECU controller, TCU controller, display screen, and mobile communication terminal equipment through the CAN1 channel to achieve two-way communication. It is connected to the TCU controller through the CAN2 channel to obtain the request current, feedback current, and starting control stage of the TCU controller's control process. The actual control feedback data is collected through the debugging device's external sensors, and combined with various data for analysis to evaluate and judge the starting quality. If the starting quality is abnormal, an abnormal starting alarm is issued. The cause and stage of the abnormality are determined based on the information obtained by the TCU controller, and then the corresponding optimization parameters are determined. The internal parameters of the TCU controller are calibrated through the CAN2 channel to optimize the tractor's starting quality.

[0007] Furthermore, the debugging device also includes: a pressure sensor: used to detect the pressure of the power reversing tractor system, the pressure behind the forward clutch valve and the reverse clutch valve; a transmission system temperature sensor, used to detect the actual temperature of the oil in the transmission system; if the tractor is equipped with a pressure sensor and a transmission system temperature sensor, the debugging device receives the pressure and temperature data in real time through the diagnostic interface CAN2 channel; if the tractor is not equipped with a pressure sensor or a transmission system temperature sensor, the corresponding sensors attached to the debugging device are installed to the pressure measurement interface and temperature measurement interface reserved on the tractor.

[0008] Furthermore, the debugging device controller collects acceleration values ​​and actual vehicle speeds in real time through acceleration sensors and speed sensors during the starting phase, and obtains impact values ​​based on the actual vehicle speed. When the acceleration value or impact value exceeds a threshold, it is considered that the starting quality does not meet the requirements, and an abnormal starting alarm is issued.

[0009] Furthermore, the display screen can input the tractor unit number, and then call out the tractor unit configuration and control information through the enterprise data platform.

[0010] The method for evaluating and debugging the starting quality of a power reversing tractor is provided, wherein the method uses the device for evaluating and debugging the starting quality of a power reversing tractor to evaluate and debug the starting quality of the tractor, and comprises the following steps: Install the debugging device on the tractor, power on the vehicle, connect the communication interfaces, sensors, and signal lines, enter the vehicle number on the display, and connect the debugging device to the ECU controller and TCU controller; The commissioning personnel start the tractor according to the indicated speed and gear. When the tractor starts, the commissioning device controller monitors and analyzes the requested current curve, various pressures, acceleration values, and impact values ​​in real time. If the acceleration value or impact value exceeds the threshold, an abnormal start alarm is issued. If no abnormal start alarm occurs in the current working condition, it means that the starting requirements are met and the next working condition starting test is continued; If an abnormal start alarm is triggered under a certain working condition, the current gear information and data will be stored, and the starting data under that working condition will be uploaded to the enterprise data platform via a mobile communication terminal device, and then the test of other working conditions will continue; After all working conditions are tested, when all working conditions meet the test requirements and there is no abnormal starting alarm, it means that the starting requirements are met in all working conditions and the test is completed; when all working conditions are tested, but abnormal starting alarms appear in certain working conditions, the debugging device controller determines the cause and stage of the abnormal starting and formulates an adjustment strategy, and optimizes the starting stage by manually troubleshooting or automatically modifying the TCU controller control parameters, and tests again until the test meets the starting requirements under all working conditions and the debugging is completed.

[0011] Furthermore, in the starting phase, the acceleration value or the impact value exceeds the threshold value when: the impact value calculated by the actual vehicle speed collected by the speed sensor is greater than 8m / s 3 Or the acceleration value collected by the acceleration sensor is >2.5m / s 2 When the vehicle starts to move, it is considered that the starting quality is poor, and the debugging device will issue an abnormal starting alarm.

[0012] Furthermore, after the abnormal start alarm occurs, the process of determining the cause and stage of the abnormal start is as follows: First determine whether the system pressure is normal. If the system pressure is abnormal, an alarm will be issued and a manual inspection will be carried out; If the system pressure is normal, continue to determine whether the pressure after the valve is normal. If the pressure after the valve is abnormal, alarm the pressure after the valve is abnormal and conduct manual inspection; If the system pressure and the pressure after the valve are normal, it is considered that the abnormal start alarm is caused by the control link; The debugging device controller analyzes the data from the TCU controller, the collected acceleration values, and the actual speed sensor values, and determines whether the impact occurs in the filling stage, waiting stage, slipping stage, or rapid filling stage of the clutch control based on the timing when the impact value or acceleration value exceeds the threshold.

[0013] Furthermore, the method for determining the system pressure is as follows: the debugging device will detect the system pressure in real time, and analyze whether the system pressure is lower than the requested pressure or fluctuates significantly when the abnormal alarm is triggered at startup. If abnormal, the system pressure abnormality will be reported, the debugging will be terminated, and manual inspection of the system pressure-related components will be required until the pressure returns to normal.

[0014] Furthermore, the method for judging the post-valve pressure is as follows: if the abnormal alarm of the tractor starting is not caused by abnormal system pressure, the debugging device controller will analyze the post-valve pressure, and the requested current and the post-valve pressure have a one-to-one correspondence. When the debugging device obtains the requested current of the TCU controller through the calibration mode of the CAN2 channel, the required post-valve pressure value can be known, and the time difference ΔT between the requested current and the post-valve pressure can be calculated. That is, when the current is requested, the post-valve pressure should reach the set value within the ΔT time and the allowable error ΔY. If the set value is not reached or the post-valve pressure fluctuates abnormally, the post-valve pressure abnormality will be reported, and manual inspection of the solenoid valve and related components is required until the post-valve pressure returns to normal.

[0015] Furthermore, the adjustment strategy formulated based on the cause and stage of abnormal start is as follows: When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the clutch calibrated oil filling time by a certain value based on the current value, recalibrate it into the TCU controller, and debug again. When the alarm occurs in the waiting stage, it means that the KP point value is too large. On the existing basis, reduce the KP point value by a certain value, recalibrate it into the TCU controller, and debug again; If the alarm occurs during the sliding stage, it means that the sliding parameter is too large and the engagement is too fast. Reduce the sliding parameter on the existing basis, recalibrate it into the TCU controller, and debug again; When the alarm occurs during the rapid oil filling stage, it indicates that the clutch is abnormal, resulting in the inability to transmit power normally. At this time, the debugging device reports the clutch abnormality, prompting the tester to check the clutch problem and debug again; until the starting quality standards are met under all working conditions.

[0016] Beneficial effects: The power reversing tractor starting quality evaluation and debugging device of the present invention is simple in equipment and easy to operate. The debugging controller in the debugging device can collect and receive information such as engine speed, system pressure, clutch valve rear pressure, acceleration, actual vehicle speed, clutch solenoid valve request current, etc. at the time of starting, and set and display relevant content through the display screen. Finally, the starting quality is determined by analyzing the information. When the starting quality is abnormal, the abnormal stage is further analyzed, and the parameters are adjusted according to the corresponding causes of each stage. The parameters in the TCU controller are changed through calibration, and then the test is continued until the starting quality meets the standard.

[0017] The present invention evaluates the starting quality of a power reversing tractor through a debugging device controller, and has quantitative and traceable capabilities. When an abnormality occurs in the start, the cause and stage of the abnormality can be determined, the current gear information and data can be stored, and the starting data under the working condition can be uploaded to the enterprise data platform through a mobile communication terminal device, providing a data basis for subsequent further analysis and tracking.

[0018] The present invention provides a debugging device and method for the starting quality of power reversing tractors used in batches, and at the same time realizes optimization and adjustment for tractors with abnormal starting quality, which can effectively promote the debugging needs of batch production of power reversing models and the evaluation needs of new product development, thereby helping enterprises to efficiently develop and maintain power reversing tractors, realize the batch application of power reversing tractors and reduce management costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural block diagram of the starting quality evaluation and debugging device for a power reversing tractor according to the present invention; Figure 2 This is a flow chart of the method for evaluating and debugging the starting quality of a power reversing tractor according to the present invention; Figure 3 This is a flow chart of the abnormality determination stage after the abnormality alarm is started in the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The power reversing tractor starting quality evaluation and debugging device of the present invention is used to detect and evaluate the starting quality of tractors off the production line and implement debugging when an abnormality occurs. During the debugging process, the tractors off the production line need to be driven to the debugging site and connected to the debugging device. The debugging device parameters can be set and the collected information can be obtained on the display screen. The control process can be known through the real-time data of the TCU controller. The control stage when the starting is abnormal can be known based on the actual pressure, acceleration and actual vehicle speed. Then, corresponding measures can be taken according to the control stage, and the TCU controller parameters can be independently modified and tested again to solve the abnormal alarm caused by poor starting quality. This provides technical support for batch debugging of power reversing tractors and effectively improves the accuracy of quality evaluation and debugging efficiency.

[0022] like Figure 1 As shown, the starting quality evaluation and debugging device for a power reversing tractor of the present invention (hereinafter referred to as the debugging device) includes an acceleration sensor, a speed sensor, a pressure sensor, a transmission system temperature, a display screen, a debugging device controller, a mobile communication terminal device, and a diagnostic interface in terms of hardware.

[0023] The acceleration sensor is connected to the debugging device controller, can collect the tractor acceleration value, and transmit the collected acceleration value to the debugging device controller.

[0024] The speed sensor is connected to the debugging device controller, and can collect the actual speed of the tractor and transmit the collected actual speed value to the debugging device controller; in an embodiment of the present invention, the speed sensor is a speed radar.

[0025] The pressure sensors include a system pressure sensor, a forward clutch valve rear pressure sensor, and a reverse clutch valve rear pressure sensor. Each pressure sensor is connected to the debugging device controller and can transmit the collected pressure value to the debugging device controller.

[0026] The transmission system temperature sensor can collect the transmission system oil temperature value and transmit the collected oil temperature value to the debugging device controller.

[0027] The diagnostic interface includes a CAN1 channel and a CAN2 channel. The CAN1 channel is used to transmit and obtain basic information, and the CAN2 channel is used to calibrate the TCU controller.

[0028] The debugging device controller is connected to the "vehicle CAN" of the ECU (electronic control unit) controller and the TCU controller through the CAN1 channel to achieve two-way communication. The debugging device controller is connected to the "calibration CAN" of the TCU controller through the CAN2 channel to realize the calibration function of the debugging device controller on the TCU controller.

[0029] The display screen enables manual input of information and displays the received information. It realizes two-way communication with the debugging device controller through the CAN1 channel. The tractor unit number can be input on the display screen, and then the tractor unit configuration, control information, etc. can be called up through the enterprise data platform. The display screen can realize functions such as information display, input, and confirmation.

[0030] The debugging device supports the CCP protocol, UDS protocol, and CAN communication protocol, and can therefore implement information interaction with control units such as the ECU controller and TCU controller through a diagnostic interface.

[0031] The debugging device controller can receive signals input by its external sensors, and obtain information such as engine speed, engine torque, throttle position, etc. in real time through the ECU controller through the CAN1 channel, and obtain information with lower real-time requirements such as sensitivity knob value, reversing handle status, transmission system temperature, clutch pedal position, faults, etc. output by the transmission system controller through the TCU controller through the CAN1 channel; realize communication with mobile communication terminal equipment through the CAN1 channel; realize data information with higher real-time requirements and faster acquisition rate such as request current, actual feedback current, starting control stage, system pressure and valve rear pressure, reversing output shaft speed, vehicle speed sensor, etc. of the control process of the TCU controller through CAN2. The debugging device controller can process and analyze the signals according to the received data, and evaluate the starting quality based on the processing and analysis results. When the starting quality is abnormal, the internal parameters of the TCU controller can be modified with the help of CAN2, and the results can be output to the display screen.

[0032] The mobile communication terminal device can realize two-way communication with the enterprise information platform, can upload information sent by the debugging device controller to the mobile communication terminal device for subsequent data analysis, and can send information from the enterprise information platform to the debugging device controller, and can also realize remote upgrade services of the TCU controller.

[0033] In the debugging device, the system pressure sensor is used to monitor whether the system pressure of the hydraulic system is normal during the starting stage of the tractor. The forward clutch valve rear pressure sensor and the reverse clutch valve rear pressure sensor are used to monitor the valve rear pressure. The debugging device controller can predict the valve rear pressure curve according to the requested current process, and can determine whether the valve rear pressure is normal based on the valve rear pressure data; the oil temperature will affect the flow of hydraulic oil and the characteristics of the solenoid valve. Temperature detection can improve the accuracy of the prediction results. The transmission system temperature sensor is used to understand the transmission system temperature, and then correct the solenoid valve response time to achieve more accurate follow-up prediction of the control and pressure results.

[0034] If the power-reversing tractor is not equipped with system pressure and forward clutch valve rear pressure sensor, reverse clutch valve rear pressure sensor, and transmission system temperature sensor, then the pressure and temperature will be collected directly on the hydraulic valve group of the transmission system through the pressure measuring interface and temperature measuring interface of the debugging device. If the power-reversing tractor transmission system is already equipped with temperature and pressure monitoring devices, the debugging device will directly read and record the relevant values ​​through the CCP protocol.

[0035] It should be noted that in order to accurately evaluate the starting and reversing quality, the debugging device needs to collect real-time values ​​of the acceleration sensor and the speed radar. The present invention uses the data collected by the external sensor of the debugging device to obtain the acceleration value and the impact value, but does not use the numerical value of the tractor speed sensor to derive the acceleration or impact value. The reason is that the value calculated by the speed sensor installed on the transmission box is the theoretical vehicle speed, which does not take into account various external conditions such as slipping. Therefore, the data of the acceleration sensor and speed radar external to the debugging device are more accurate.

[0036] The debugging device can collect and filter the values ​​of its external sensors and place them on the same timeline together with the CAN information obtained through the diagnostic interface CAN1 channel and the control data in the TCU controller obtained through the CAN2 channel through the CCP protocol. This will place information such as actual acceleration, actual vehicle speed, theoretical vehicle speed, reversing output shaft speed, engine speed, engine torque, engine throttle opening, sensitivity knob, system pressure, transmission system temperature, valve request current, valve feedback current, and actual pressure after the valve on the same timeline, providing data support for subsequent information processing and judgment.

[0037] When evaluating the launch quality, the debugging device determines the control stage based on information obtained by the TCU controller, obtains the acceleration value from the acceleration sensor, and calculates the impact degree by taking the derivative based on the actual vehicle speed measured by the speed radar. If the acceleration value or the impact degree value exceeds a threshold, the launch quality is considered to be unsatisfactory, an abnormal launch alarm is issued, and the cause and stage of the abnormality are analyzed.

[0038] When the acceleration value or impact value exceeds the threshold, first determine whether the system pressure and valve downstream pressure follow the current normally. If the system pressure or valve downstream pressure is abnormal, perform manual inspection, and have the debugging personnel inspect and maintain it to ensure that the system pressure and valve downstream pressure are normal. If the system pressure and valve downstream pressure follow the current normally, it means that there is an abnormality in the control stage. By determining the specific control stage where the phenomenon occurs, determine the optimization plan. During the tractor starting stage, the debugging device controller can enter the calibration mode of the TCU controller through the CAN2 channel, and then obtain the control status in real time and with high precision. After the debugging device determines the optimization plan, it adjusts the parameters in the TCU controller through calibration, and then continues testing.

[0039] Based on the above debugging device, the present invention provides a method for evaluating and debugging the starting quality of a power reversing tractor. The execution process is as follows: Figure 2 As shown, the specific steps include: Step 1: After the tractor is offline, the debugging personnel will drive the tractor to the debugging site (such as an open area). During the debugging phase, the debugging personnel will be in the cab, place the debugging device at the corresponding position on the tractor, and install the acceleration sensor and speed radar of the debugging device at the corresponding position of the vehicle. Specifically, they can be adsorbed to a fixed position on the vehicle body through a magnetic device; power on the vehicle and connect the diagnostic interface of the debugging device to the diagnostic interface reserved for the tractor. At this time, after the debugging device is connected to the ECU controller and TCU controller, the successful connection of channel 1 and channel 2 will be displayed on the display screen of the debugging device. Enter the vehicle number on the display screen of the debugging device to display the software information downloaded by the vehicle and the entire vehicle information.

[0040] Next, the debugging device controller will detect whether the tractor is equipped with a system pressure sensor, a forward clutch valve rear pressure sensor, a reverse clutch valve rear pressure sensor, and a transmission temperature sensor; if the power reversing tractor is equipped with a system pressure sensor, a forward clutch valve rear pressure sensor, a reverse clutch valve rear pressure sensor, and a transmission temperature sensor, the pressure and temperature data can be received in real time through the diagnostic interface CAN2; if the tractor is not equipped with the corresponding sensors, it will be displayed on the debugging device display screen to require the debugging personnel to install the corresponding sensors attached to the debugging device to the pressure measurement interface and temperature measurement interface reserved on the tractor.

[0041] Step 2: After the preparation work is completed, the debugging personnel confirms that the debugging preparation is complete on the debugging device display screen. The debugging begins. The debugging device will call out the preset test content based on the vehicle information and software information. The debugging device display screen requires the engine to start and requires the debugging personnel to adjust the engine speed to the specified speed, adjust the tractor's main and auxiliary speed change to the specified gear, and start the tractor as required.

[0042] Step 3: The debugging device controller obtains the tractor speed and torque information controlled by the ECU controller, and obtains the starting operation, request current, feedback current, vehicle speed, and reversing output shaft speed information controlled by the TCU controller during the tractor starting phase; when the tractor starts, the debugging device controller monitors and analyzes the request current curve, various pressures, acceleration values, and impact values ​​in real time.

[0043] When the acceleration value or the impact value exceeds the threshold, it is considered that the starting quality of the current working condition does not meet the requirements. The debugging device will issue a start abnormality alarm and display it on the debugging device's display screen. At this time, the debugging device will calculate the current actual gear based on the engine speed and theoretical vehicle speed, and then store the current gear information as well as engine speed, load and other information and display them on the display screen interface. The information is uploaded to the enterprise information platform via a mobile communication terminal device. After the debugging personnel clicks to confirm the information displayed by the debugging device, the process proceeds to step 4 to continue the test; If the tractor does not report any abnormality when starting at this speed and gear, go directly to step 4.

[0044] Step 4. The debugging device will require the debugging personnel to enter the test of the next working condition through the display screen, change the speed and gear and start again. If there is no abnormality in starting under this working condition, continue to the test of the next working condition until the test of each working condition is completed; if there is no abnormal starting alarm in the test under each working condition, proceed to step 6; if an abnormal starting alarm occurs under a certain working condition, handle it according to the process of step 3 and continue to test other working conditions until the test under each working condition is completed, and then proceed to step 5.

[0045] Step 5. For the abnormal start alarm condition, the debugging device controller performs data processing and analysis and generates specific analysis results to determine the cause and stage of the abnormal start. Then, manual inspection or calibration function is implemented through the built-in CCP protocol to autonomously modify the corresponding control parameters of the TCU controller. At the same time, the relevant vehicle number and parameter information are uploaded to the enterprise information platform through the mobile terminal interface to provide a data basis for subsequent further analysis and tracking.

[0046] After the debugging device completes the TCU controller parameter modification, it will display the changed parameter information on the display screen, and the debugging personnel will manually confirm it. After manual confirmation, a new round of testing will continue. According to the methods of steps three and four, the debugging personnel will start at the required speed and gear and test all working conditions. The debugging device will optimize and set parameters based on further test results until all tests meet the requirements.

[0047] Step 6. After completing the above tests, it means that the tractor can meet the starting quality requirements under all working conditions. At this time, the debugging device display screen shows debugging passed, reminding the debugging personnel to close the debugging device, turn off the engine, and remove the connection between the debugging device and the tractor. The debugging is completed.

[0048] Specifically, in step 3, the acceleration value or the impact value exceeds the threshold value when: at the starting stage, the impact value calculated from the actual value collected by the speed measuring radar is greater than 8m / s 3 Or the acceleration value collected by the acceleration sensor is >2.5m / s 2 When the vehicle starts to move, it is considered that the starting quality is poor, and the debugging device will issue an abnormal starting alarm.

[0049] Specifically, in step three, the debugging device calculates the current actual gear position in the following manner: after the clutch is fully engaged, power is transmitted through the engine, clutch, main transmission, and auxiliary transmission. The vehicle speed sensor on the transmission box can collect the corresponding rotational speed. The actual transmission ratio can be calculated through the vehicle speed sensor and the engine speed, and then compared with the transmission ratio of each gear in the vehicle information to obtain the current actual gear position.

[0050] The debugging device controller can know the control process through the real-time data of the TCU controller, and can know the control stage when the start is abnormal based on the actual pressure, acceleration and actual vehicle speed.

[0051] Generally, the power reversing clutch control is divided into: filling stage, waiting stage, slipping stage, rapid filling stage, and holding stage; in the filling stage, the current request rises rapidly and the pressure also rises rapidly to eliminate the gap between the friction plates; in the waiting stage, the pressure fluctuations are further eliminated, the clutch state is stable, and the output torque is 0 at this time; in the slipping stage, the power output speed reaches a fixed speed stage determined by the engine and transmission ratio from 0; in the rapid filling stage: the pressure rises rapidly to reach the maximum working pressure of the system; in the holding stage, the pressure is stabilized at the maximum pressure point, and the clutch is always kept engaged.

[0052] like Figure 3 As shown, in step 5, after the abnormal start alarm, the debugging device controller determines the cause and stage of the abnormal start as follows: Step 5.1: The debugging device enters the calibration state through the CCP protocol, and simultaneously monitors the requested current, system pressure, valve outlet pressure, reversing output shaft speed, acceleration value, actual vehicle speed, and calculates the impact degree based on the actual vehicle speed. When the acceleration value or impact degree value exceeds the threshold, the debugging device will detect the system pressure and first determine whether the system pressure is lower than the requested pressure or fluctuates significantly. If abnormal, the system pressure abnormality will be reported, the debugging will be terminated, and manual inspection of system pressure-related components will be required; if the system pressure is normal, the next step of judgment will be entered.

[0053] Step 5.2: If the alarm is not caused by abnormal system pressure, the debugging device controller will analyze the valve outlet pressure. When the system pressure is stable, the requested current and the valve outlet pressure have a one-to-one correspondence. Therefore, when the debugging device obtains the requested current from the TCU controller through the CAN2 calibration mode, it can know the required valve outlet pressure value. Therefore, the actual valve outlet pressure value can be monitored in real time through the valve outlet pressure sensor. Because the time difference between the requested current and the actual pressure is affected by the transmission oil quality, solenoid valve, temperature, etc., the time difference ΔT (unit: ms) can be calculated based on the temperature and solenoid valve characteristics. That is, when the current is requested, the valve outlet pressure should reach the set value within the ΔT time and the allowable error ΔY (unit: ms). If the set value is not reached or the valve outlet pressure fluctuates abnormally, the valve outlet pressure abnormality will be reported, requiring manual inspection of the solenoid valve and related components. If this stage is normal, proceed to the next step of judgment.

[0054] Step 5.3: If the abnormal start alarm is not caused by abnormal pressure, it is considered that the abnormal start alarm is caused by the control link. The clutch control stages are oil filling stage, waiting stage, slipping stage, and fast oil filling stage.

[0055] The debugging device can perform analysis based on the data from the TCU controller, the collected acceleration values, and the actual speed radar values. The curve and time of the valve request current are known and can be monitored, and the time interval between the request current and the acceleration value and the impact value can be tested. Therefore, the stage at which the impact occurs can be determined based on the timing of the impact, and the control parameters of the TCU controller can be modified according to the adjustment strategy to reduce the corresponding control parameters.

[0056] Step 5.4: When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the clutch calibrated oil filling time by a certain value based on the current value. After manual confirmation, re-calibrate the CAN2 of the debugging device into the TCU controller and start debugging again according to step 3. If it does not occur at this stage, proceed to the next step.

[0057] Step 5.5: If the alarm occurs during the waiting phase, it means that the KP point value is too large. Therefore, reduce the value by a certain amount based on the existing value and recalibrate it into the TCU controller. After manual confirmation, start debugging again according to step 3. If it does not occur during this phase, proceed to the next step.

[0058] Step 5.6: If the alarm occurs during the slip phase, it means that the slip parameter is too large and the engagement is too fast. Therefore, reduce the slip parameter on the existing basis, manually confirm the permission, and recalibrate it into the TCU controller. Start debugging again according to step 3. If it does not occur at this stage, proceed to the next step.

[0059] Step 5.7: Under normal pressure conditions, if the alarm does not occur during the oil filling, waiting, or sliding stages, it must be during the rapid oil filling stage. If a large impact occurs during the rapid oil filling stage, it indicates that the clutch is abnormal, resulting in failure to transmit power normally. At this time, the debugging device reports a clutch abnormality, prompting the debugging personnel to check the clutch problem.

[0060] The present invention's power-reversing tractor start quality abnormality assessment and debugging device and method, controlled by a debugging device controller, collects tractor-related pressures and temperatures, understands control data and stages of the TCU controller, and, in combination with its own acceleration and speed sensors, determines the cause and stage of abnormal start quality. It then analyzes and processes the results to formulate an adjustment strategy, adjusts TCU control parameters via CAN2 calibration, and continues testing until all operating conditions pass the test. This device and method provides companies with a quantitative method for evaluating the start quality of power-reversing tractors, improving the accuracy and efficiency of tractor start assessments.

[0061] Example 1 A power reversing tractor starting quality assessment and debugging device of this embodiment includes an acceleration sensor, a speed measuring radar, a pressure sensor, a transmission system temperature sensor, a display screen, a debugging device controller, a mobile communication terminal device, and a diagnostic interface.

[0062] The debugging device controller can receive signals input by its external sensors and obtain information such as engine speed and torque load percentage from the ECU controller through CAN1; obtain information such as powertrain temperature, reversing handle status, clutch pedal position, etc. from the TCU controller through CAN1; communicate with mobile communication terminal equipment through CAN1; obtain the request current, feedback current, and starting control stage of the TCU controller's control process through CAN2; the debugging device controller can process and analyze the signals based on the received data, and modify the internal parameters of the TCU controller based on the processing results using CAN2, and output the results to the display screen.

[0063] The mobile communication terminal device can realize two-way communication with the enterprise information platform, can upload information sent to the mobile communication terminal device by the debugging controller, and send information from the enterprise information platform to the debugging device controller.

[0064] A method for evaluating and debugging the starting quality of a power reversing tractor comprises the following steps: Step 1: Drive the tractor to the designated location, power on the vehicle, and connect all communication interfaces, sensors, signal cables, etc.

[0065] Step 2: Enter the vehicle information on the display screen, adjust the engine speed and gear as required, and the debugging personnel perform the starting operation as required in the tractor cab.

[0066] Step 3: Start the engine and start the vehicle debugging through the display screen. The debugging first executes the following Figure 2 operating procedures.

[0067] When the tractor starts, if the relevant value exceeds the threshold, the debugging device will alarm and display it on the display screen of the debugging device. At this time, the current gear and other information stored are displayed on the display screen interface, and the information is uploaded to the enterprise information platform through the mobile communication terminal device. If no abnormal starting alarm is reported at this stage, the working condition is passed.

[0068] Step 4: Continue the test. When all conditions meet the test requirements and there is no abnormal start alarm, it means that the start requirements are met in all working conditions. Go to step 6 and the test is completed. When the test is completed under all working conditions, but there is an abnormal start alarm under certain speed or gear conditions, go to step 7. Figure 3 Debugging in the process shown.

[0069] Step 5: The debugging device controller realizes real-time monitoring while starting. When the abnormal alarm is triggered at the start, the debugging device will detect the system pressure and analyze whether the system pressure is lower than the requested pressure or fluctuates significantly. If it is abnormal, the system pressure abnormality will be reported, the debugging will be terminated, and manual inspection of the system pressure-related components will be required. If this stage is normal, the next step of judgment will be entered.

[0070] If the abnormal starting alarm is not caused by abnormal system pressure, the debugging device controller will analyze the pressure behind the valve and request that the current have a one-to-one correspondence with the pressure behind the valve. If it is not reached or the pressure behind the valve fluctuates abnormally, the pressure behind the valve will be reported as abnormal, requiring manual inspection of the solenoid valve and related components. If this stage is normal, proceed to the next step of judgment.

[0071] If the abnormal start alarm is not caused by abnormal pressure, it is considered that the abnormal start alarm is caused by the control link. If the alarm occurs in the oil filling stage, it indicates that the oil filling time is too long. Reduce the clutch calibrated oil filling time by 20ms based on the current basis. After manual confirmation, recalibrate the TCU controller parameters and follow the attached instructions again. Figure 2 Debug the process shown. If it does not occur at this stage, go to the next step.

[0072] If the abnormal start alarm occurs in the waiting stage, it means that the KP point value is too large, so reduce it by 100mbar on the existing basis, manually confirm the permission, and recalibrate the TCU controller parameters, and then follow the attached Figure 2 Debug the process shown. If it does not occur at this stage, go to the next step.

[0073] When the abnormal alarm of starting occurs in the slip phase, if so, it means that the slip parameter is too large and the engagement is too fast. Therefore, reduce the slip parameter by 10% on the existing basis, manually confirm the permission, and recalibrate the TCU controller parameters. Figure 2 Debug the process shown. If it does not occur at this stage, go to the next step.

[0074] Under normal pressure conditions, if the abnormal starting alarm does not occur in the oil filling stage, waiting stage, or sliding stage, it means it must have occurred in the rapid oil filling stage. When a large impact occurs in the rapid oil filling stage, it means that the clutch is abnormal, resulting in the inability to transmit power normally. At this time, the debugging device reports a clutch abnormality, prompting the debugging personnel to check the clutch problem and test again.

[0075] Step 6. After completing the above tests and no abnormal alarm is reported during starting under various working conditions, it means that the tractor can meet the starting quality requirements under various working conditions. At this time, the debugging device display screen shows that the debugging is passed, reminding the debugging personnel to turn off the debugging device, turn off the engine, and remove the connection between the debugging device and the tractor.

[0076] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Those skilled in the art should understand that the specific implementation methods of the present invention can be modified or replaced with equivalents with reference to the above embodiments. Any modifications or equivalent replacements that do not separate the spirit and scope of the present invention are within the scope of protection of the claims of the present invention.

Claims

1. A device for evaluating and debugging the starting quality of a power reversing tractor, characterized in that: include: Debugging device controller: used to receive, process, analyze and output information; Acceleration sensor: used to collect acceleration values ​​of the power reversing tractor in real time; Speed ​​sensor: used to obtain the actual speed of the power reversing tractor; Display screen: used for information input, display and setting; Mobile communication terminal equipment: used to upload and send information between the TCU controller and the enterprise information platform; Diagnostic interface: including CAN1 channel and CAN2 channel; The debugging device controller is connected to the ECU controller, TCU controller, display screen, and mobile communication terminal equipment through the CAN1 channel to achieve two-way communication. It is connected to the TCU controller through the CAN2 channel and uses the calibration mode to obtain the request current, feedback current, and starting control stage of the TCU controller's control process. The actual control feedback data is collected through the debugging device's external sensors, and combined with the data for analysis, the starting quality is evaluated and judged. If the starting quality is abnormal, an abnormal starting alarm is issued. The cause and stage of the abnormality are determined based on the information obtained by the TCU controller, and then the corresponding optimization parameters are determined. The internal parameters of the TCU controller are calibrated through the CAN2 channel to optimize the tractor's starting quality.

2. The starting quality evaluation and debugging device for a power reversing tractor according to claim 1, characterized in that: The debugging device also includes: a pressure sensor: used to detect the pressure of the power reversing tractor system, the pressure behind the forward clutch valve and the reverse clutch valve; a transmission system temperature sensor, used to detect the actual temperature of the oil in the transmission system; if the tractor is equipped with a pressure sensor and a transmission system temperature sensor, the debugging device receives pressure and temperature data in real time through the diagnostic interface CAN2 channel; if the tractor is not equipped with a pressure sensor or a transmission system temperature sensor, the corresponding sensors attached to the debugging device are installed to the pressure measurement interface and temperature measurement interface reserved for the tractor.

3. The starting quality evaluation and debugging device for a power reversing tractor according to claim 1, characterized in that: During the starting phase, the debugging device controller collects acceleration values ​​and actual vehicle speed in real time through an acceleration sensor and a speed sensor, and calculates a shock value based on the actual vehicle speed. When the acceleration value or the shock value exceeds a threshold, it is considered that the starting quality does not meet the requirements and an abnormal starting alarm is issued.

4. The starting quality evaluation and debugging device for a power reversing tractor according to claim 1, characterized in that: The display screen can input the tractor unit number, and then call out the tractor unit configuration and control information through the enterprise data platform.

5. A method for evaluating and debugging the starting quality of a power reversing tractor, characterized in that: The method of using the power reversing tractor starting quality evaluation and debugging device according to any one of claims 1 to 4 to evaluate and debug the starting quality of a tractor comprises the following steps: Install the debugging device on the tractor, power on the vehicle, and connect the communication interfaces, sensors, and signal lines. Enter the vehicle number on the display to connect the debugging device to the ECU and TCU controllers. The commissioning personnel start the tractor according to the indicated speed and gear; When the tractor starts, the debugging device controller monitors and analyzes the requested current curve, various pressures, acceleration values, and impact values ​​in real time; if the acceleration value or impact value exceeds the threshold, an abnormal start alarm is issued; If no abnormal start alarm occurs in the current working condition, it means that the starting requirements are met and the next working condition starting test is continued; If an abnormal start alarm is triggered under a certain working condition, the current gear information and data will be stored, and the starting data under that working condition will be uploaded to the enterprise data platform via a mobile communication terminal device, and then the test of other working conditions will continue; After all working conditions are tested, when all working conditions meet the test requirements and there is no abnormal starting alarm, it means that the starting requirements are met in all working conditions and the test is completed; when all working conditions are tested, but abnormal starting alarms appear in certain working conditions, the debugging device controller determines the cause and stage of the abnormal starting and formulates an adjustment strategy, and optimizes the starting stage by manually troubleshooting or automatically modifying the TCU controller control parameters, and tests again until the test meets the starting requirements under all working conditions and the debugging is completed.

6. The method for evaluating and debugging the starting quality of a power reversing tractor according to claim 5, characterized in that: During the starting phase, the acceleration value or the impact value exceeds the threshold value when the impact value calculated from the actual vehicle speed collected by the speed sensor is greater than 8m / s 3 Or the acceleration value collected by the acceleration sensor is >2.5m / s 2 When the vehicle starts to move, it is considered that the starting quality is poor, and the debugging device will issue an abnormal starting alarm.

7. The method for evaluating and debugging the starting quality of a power reversing tractor according to claim 5, characterized in that: After the abnormal start alarm occurs, the process of determining the cause and stage of the abnormal start is as follows: First determine whether the system pressure is normal. If the system pressure is abnormal, an alarm will be issued and a manual inspection will be carried out; If the system pressure is normal, continue to determine whether the pressure after the valve is normal. If the pressure after the valve is abnormal, alarm the pressure after the valve is abnormal and conduct manual inspection; If the system pressure and the pressure after the valve are normal, it is considered that the abnormal start alarm is caused by the control link; The debugging device controller analyzes the data from the TCU controller, the collected acceleration values, and the actual speed sensor values, and determines whether the impact occurs in the filling stage, waiting stage, slipping stage, or rapid filling stage of the clutch control based on the timing when the impact value or acceleration value exceeds the threshold.

8. The method for evaluating and debugging the starting quality of a power reversing tractor according to claim 7, characterized in that: The method for judging the system pressure is as follows: the debugging device will detect the system pressure in real time, and analyze whether the system pressure is lower than the requested pressure or fluctuates significantly when the abnormal alarm is triggered at startup. If abnormal, the system pressure abnormality will be reported, the debugging will be terminated, and manual inspection of the system pressure-related components will be required until the pressure returns to normal.

9. The method for evaluating and debugging the starting quality of a power reversing tractor according to claim 7, characterized in that: The method for judging the post-valve pressure is as follows: if the abnormal alarm of the tractor starting is not caused by abnormal system pressure, the debugging device controller will analyze the post-valve pressure. The requested current and the post-valve pressure have a one-to-one correspondence. When the debugging device obtains the requested current of the TCU controller through the calibration mode of the CAN2 channel, the required post-valve pressure value can be known, and the time difference ΔT between the requested current and the post-valve pressure can be calculated. That is, when the current is requested, the post-valve pressure should reach the set value within the ΔT time and the allowable error ΔY. If the set value is not reached or the post-valve pressure fluctuates abnormally, the post-valve pressure abnormality will be reported, and manual inspection of the solenoid valve and related components is required until the post-valve pressure returns to normal.

10. The method for evaluating and debugging the starting quality of a power reversing tractor according to claim 9, characterized in that: The adjustment strategies formulated based on the causes and stages of abnormal starts are as follows: When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the clutch calibrated oil filling time by a certain value based on the current value, recalibrate it into the TCU controller, and debug again. If the alarm occurs in the waiting stage, it means that the KP point value is too large. Reduce the KP point value by a certain value on the existing basis, recalibrate it into the TCU controller, and debug again; If the alarm occurs during the sliding stage, it means that the sliding parameter is too large and the engagement is too fast. Reduce the sliding parameter on the existing basis, recalibrate it into the TCU controller, and debug again; When the alarm occurs during the rapid oil filling stage, it indicates that the clutch is abnormal, resulting in the inability to transmit power normally. At this time, the debugging device reports the clutch abnormality, prompting the tester to check the clutch problem and debug again; until the starting quality standards are met under all working conditions.

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