Power-reversing tractor starting quality evaluation and debugging device and method

Abstract

The present application relates to power reversing tractor starting quality evaluation and debugging device and method, belong to the field of agricultural tractor debugging technology, for detecting and evaluating the starting quality of the offline tractor, the debugging device is connected with the tractor, can collect and receive various information, determine the starting quality through the analysis of information, when the starting quality is abnormal, further analyze the abnormal stage, adjust the parameters according to the corresponding reasons of each stage, and change the parameters in the TCU controller through calibration, and then realize continuous testing until the starting quality meets the standard; the present application provides a debugging device and method for the starting quality evaluation and debugging of batch applied power reversing tractor, effectively improves the precision of quality evaluation and the debugging efficiency, at the same time, for the tractor with abnormal starting quality, realizes the optimization adjustment of control parameters, can meet the debugging demand of batch production of power reversing tractor and the evaluation demand of new product development.

Description

Technical Field

[0001] This invention relates to the field of agricultural tractor debugging technology, specifically to a device and method for evaluating and debugging the starting quality of power-reversing tractors. Background Technology

[0002] In recent years, with the growing demand from agricultural machinery users for efficient, comfortable, and intelligent tractors, power-reversing tractors have become increasingly popular. A power-reversing tractor is one that allows users to change the tractor's direction of travel without manually switching the clutch, either from a stationary or moving state, using a button or lever. Compared to traditional tractors that require stopping, depressing the clutch, shifting gears, and then releasing the clutch, power-reversing tractors automate clutch operation through electronic control and a hydraulic system, offering advantages such as no need to stop to change direction, ease of operation, high efficiency, and reduced impact.

[0003] Power-reversing tractors are products that integrate mechanical, electronic, and hydraulic components. The main functions of a power-reversing tractor include manual start, automatic start, and automatic power reversing. Manual start is controlled by the driver's clutch pedal travel, and the starting rhythm is entirely controlled by the driver. The control system basically follows the driver's input, so the starting quality of this function is not considered. For automatic start and automatic power reversing, the driver only needs to move the reversing lever to different positions to trigger different functions. Automatic start and automatic power reversing are completely controlled by the TCU (Automatic Transmission Control Unit) controller, and automatic power reversing control is highly dependent on the automatic start control method. Therefore, automatic start control is of paramount importance.

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

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a device and method for evaluating and debugging the starting quality of power-reversing tractors. This device and method can evaluate the starting quality of power-reversing tractors and has data uploading and analysis capabilities. It can provide feedback to development and debugging personnel on the causes of abnormal starting of power-reversing tractors and provide optimization solutions. This helps enterprises to efficiently develop and maintain power-reversing tractors, achieve mass application of power-reversing tractors, and reduce management costs.

[0006] To achieve the above objectives, the technical solution adopted by this invention is: a power-reversing tractor starting quality evaluation and debugging device, comprising: a debugging device controller for receiving, processing, analyzing, and outputting information; an acceleration sensor for real-time acquisition of acceleration values ​​during the movement of the power-reversing tractor; a speed sensor for acquiring the actual speed of the power-reversing tractor; a display screen for information input, display, and settings; a mobile communication terminal device for information uploading and downloading between the TCU controller and the enterprise information platform; and a diagnostic interface including CAN1 and CAN2 channels.

[0007] The debugging device controller is connected to the ECU controller, TCU controller, display screen, and mobile communication terminal equipment via CAN1 channel to achieve bidirectional communication. It is also connected to the TCU controller via CAN2 channel to obtain the request current, feedback current, and start-up control stage of the TCU controller's control process. The device collects actual control feedback data through external sensors and analyzes the data to evaluate the start-up quality. If the start-up quality is abnormal, a start-up abnormality alarm is triggered. Based on the information obtained from the TCU controller, the cause and stage of the abnormality are determined, and corresponding optimization parameters are determined. The internal parameters of the TCU controller are calibrated via CAN2 channel to optimize the start-up quality of the tractor.

[0008] Furthermore, the debugging device also includes: a pressure sensor for detecting the pressure of the power reversing tractor system, the pressure after the forward clutch valve and the reverse clutch valve; and a transmission system temperature sensor for detecting 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 CAN2 diagnostic interface 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 tractor's reserved pressure and temperature measurement interfaces.

[0009] Furthermore, during the start-up phase, the controller of the debugging device collects the acceleration value and the actual vehicle speed in real time through the acceleration sensor and the speed sensor, and calculates the impact value based on the actual vehicle speed. When the acceleration value or impact value exceeds the threshold, it is considered that the start-up quality does not meet the requirements, and an abnormal start-up alarm is triggered.

[0010] Furthermore, the display screen can input the tractor's serial number, and then retrieve the tractor's configuration and control information through the enterprise data platform.

[0011] A method for evaluating and adjusting the starting quality of a power-reversing tractor, using the aforementioned power-reversing tractor starting quality evaluation and adjustment device, includes the following steps:

[0012] Install the debugging device on the tractor, power on the vehicle, connect the various communication interfaces, sensors, and signal lines, and enter the vehicle number on the display screen to connect the debugging device with the ECU controller and TCU controller.

[0013] 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 alarm for abnormal starting is triggered.

[0014] If no start-up abnormality alarm occurs under the current operating condition, it means that the start-up requirements are met, and the start-up test under the next operating condition can continue.

[0015] If an alarm is triggered for abnormal starting 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 other working conditions will be tested.

[0016] After all operating conditions have been tested, if all operating conditions meet the test requirements and there are no start-up abnormality alarms, it means that the start-up meets the start-up requirements in all operating conditions, and the test is complete. If all operating conditions have been tested, but start-up abnormality alarms occur in some operating conditions, the debugging device controller determines the cause and stage of the start-up abnormality and formulates an adjustment strategy. By manually troubleshooting the fault or automatically modifying the control parameters of the TCU controller, the start-up stage is optimized, and the test is repeated until the start-up requirements are met in all operating conditions, and the debugging is complete.

[0017] Furthermore, during the initial stage, the acceleration or impact value exceeding the threshold specifically refers to an impact value calculated from the actual vehicle speed collected by the speed sensor that is greater than 8 m / s². 3 Or the acceleration value collected by the accelerometer is >2.5 m / s². 2 If the starting quality is considered poor, the debugging device will issue a starting abnormality alarm.

[0018] Furthermore, after a start-up anomaly alarm occurs, the procedure for determining the cause and stage of the start-up anomaly is as follows:

[0019] First, determine if the system pressure is normal. If the system pressure is abnormal, set an alarm for abnormal system pressure and perform a manual inspection.

[0020] If the system pressure is normal, continue to check if the pressure after the valve is normal. If the pressure after the valve is abnormal, set an alarm for abnormal pressure after the valve and perform manual troubleshooting.

[0021] If both the system pressure and the downstream pressure are normal, then the abnormal start-up alarm is considered to be caused by the control loop.

[0022] The debugging device controller analyzes the data from the TCU controller, the collected acceleration values, and the actual speed sensor values. Based on the timing of the impact or acceleration value exceeding the threshold, it determines whether the impact occurs during the oil filling stage, waiting stage, slippage stage, or rapid oil filling stage of the clutch control.

[0023] Furthermore, the method for judging system pressure is as follows: the commissioning device will monitor the system pressure in real time and analyze whether the system pressure is lower than the requested pressure or fluctuates significantly when the start-up abnormal alarm occurs. If it is abnormal, the system pressure is reported as abnormal, the commissioning is terminated, and manual inspection of the system pressure-related components is required until the pressure is normal.

[0024] Furthermore, the method for judging the downstream pressure is as follows: If the tractor starting abnormal alarm is not caused by abnormal system pressure, the debugging device controller will analyze the downstream pressure. The requested current and the downstream pressure have a one-to-one correspondence. When the debugging device obtains the TCU controller's requested current through the calibration mode of the CAN2 channel, it can know the required downstream pressure value and calculate the time difference ΔT between the requested current and the downstream pressure. That is, when requesting current, the downstream pressure should reach the set value within the ΔT time and allowable error ΔY range. If the set value is not reached or the downstream pressure fluctuates abnormally, an abnormal downstream pressure is reported, requiring manual inspection of the solenoid valve and related components until the downstream pressure returns to normal.

[0025] Furthermore, the adjustment strategy formulated based on the cause and stage of the start-up anomaly is as follows:

[0026] When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the oil filling time of the clutch calibration by a certain value, recalibrate it into the TCU controller, and perform debugging again.

[0027] When an alarm occurs during the waiting phase, it indicates that the KP point value is too high. Reduce the KP point value by a certain amount based on the existing value, recalibrate it into the TCU controller, and perform debugging again.

[0028] If the alarm occurs during the slippage stage, it indicates that the slippage parameter is too high and the engagement is too fast. Reduce the slippage parameter based on the existing parameters, recalibrate the TCU controller, and perform debugging again.

[0029] 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 a clutch abnormality, prompting the test personnel to check the clutch problem and perform debugging again until the starting quality standards are met under all operating conditions.

[0030] Beneficial effects: The power reversing tractor starting quality assessment 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 pressure, acceleration, actual vehicle speed, and clutch solenoid valve request current during starting. It sets and displays 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 cause of each stage. The parameters in the TCU controller are changed through calibration, so as to continue testing until the starting quality meets the standard.

[0031] This invention evaluates the starting quality of a power-reversing tractor through a debugging device controller, possessing quantitative and traceability capabilities. When an abnormality occurs during starting, it can determine the cause and stage of the abnormality, store the current gear information and data, and upload the starting data under this working condition to the enterprise data platform through a mobile communication terminal device, providing a data foundation for further analysis and tracking.

[0032] This invention provides a debugging device and method for improving the starting quality of power-reversing tractors used in mass production. It also optimizes and adjusts tractors with abnormal starting quality, effectively meeting the debugging needs of mass production of power-reversing tractors and the evaluation needs of new product development. This helps enterprises to efficiently develop and maintain power-reversing tractors, achieve mass application of power-reversing tractors, and reduce management costs. Attached Figure Description

[0033] Figure 1 This is a structural block diagram of the power reversing tractor starting quality evaluation and debugging device of the present invention;

[0034] Figure 2 This is a flowchart of the method for evaluating and debugging the starting quality of a power-reversing tractor according to the present invention;

[0035] Figure 3 This is a flowchart of the abnormality judgment stage after the start-up abnormality alarm of the present invention. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0037] The present invention relates to a power-reversing tractor starting quality assessment and debugging device, which is used to detect and assess the starting quality of off-line tractors and to perform debugging when abnormalities occur. During the debugging process, the off-line tractor needs to be driven to the debugging site and connected to the debugging device. The device parameters can be set on the display screen and the collected information can be obtained. The control process can be known through the real-time data of the TCU controller. Based on the actual pressure, acceleration and actual vehicle speed, the control stage when starting abnormality occurs can be known. Then, corresponding measures are taken according to the control stage, the TCU controller parameters are modified again and the test is repeated to solve the abnormal alarm caused by poor starting quality. This provides technical support for the batch debugging of power-reversing tractors and effectively improves the accuracy of quality assessment and debugging efficiency.

[0038] like Figure 1 As shown, the power reversing tractor starting quality evaluation and debugging device (hereinafter referred to as the debugging device) of the present invention includes, in terms of hardware, an acceleration sensor, a speed sensor, a pressure sensor, a transmission system temperature sensor, a display screen, a debugging device controller, a mobile communication terminal device, and a diagnostic interface.

[0039] The acceleration sensor is connected to the debugging device controller and can collect the tractor acceleration value and transmit the collected acceleration value to the debugging device controller.

[0040] 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 the embodiment of the present invention, the speed sensor is a speed radar.

[0041] The pressure sensors include a system pressure sensor, a forward clutch valve post-valve pressure sensor, and a reverse clutch valve post-valve pressure sensor. Each pressure sensor is connected to the debugging device controller and can transmit the collected pressure values ​​to the debugging device controller.

[0042] 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.

[0043] The diagnostic interface includes a CAN1 channel and a CAN2 channel. The CAN1 channel is used for the transmission and acquisition of basic information, and the CAN2 channel is used for the calibration of the TCU controller.

[0044] 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 bidirectional 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 to the TCU controller.

[0045] The display screen allows manual input of information and displays the received information. It communicates bidirectionally with the debugging device controller via the CAN1 channel. The tractor's serial number can be entered on the display screen, and the tractor's configuration and control information can be retrieved through the enterprise data platform. The display screen can perform functions such as information display, input, and confirmation.

[0046] The debugging device supports CCP protocol, UDS protocol and CAN communication protocol, so it can realize information interaction with control units such as ECU controller and TCU controller through the diagnostic interface.

[0047] The debugging device controller can receive signals from its external sensors and, through the CAN1 channel, acquire real-time information such as engine speed, engine torque, and throttle position from the ECU controller. It can also simultaneously acquire, through the CAN1 channel, information with lower real-time requirements such as the sensitivity knob value, reversing lever status, transmission temperature, clutch pedal position, and fault information from the TCU controller. Furthermore, it communicates with mobile communication terminal devices through the CAN1 channel. Through CAN2, it acquires data with higher real-time requirements and faster acquisition rates, such as the TCU controller's request current, actual feedback current, start-up control phase, system pressure and post-valve pressure, reversing output shaft speed, and vehicle speed sensor readings. The debugging device controller can process and analyze the received data, and evaluate the start-up quality based on the results. When the start-up quality is abnormal, it can modify the internal parameters of the TCU controller via CAN2 and output the results to the display screen.

[0048] The mobile communication terminal device can achieve two-way communication with the enterprise information platform, upload information sent by the debugging device controller to the mobile communication terminal device for subsequent data analysis, and can also send information from the enterprise information platform to the debugging device controller, and can also realize remote upgrade services for the TCU controller.

[0049] In the commissioning device, the system pressure sensor is used to monitor whether the system pressure of the hydraulic system is normal during the tractor's start-up phase. The pressure sensors after the forward clutch valve and the reverse clutch valve are used to monitor the pressure after the valve. The commissioning device controller can predict the pressure curve after the valve based on the requested current process, and can determine whether the pressure after the valve is normal based on the pressure data. Oil temperature affects the hydraulic oil flow 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, thereby correcting the solenoid valve response time and achieving more accurate prediction of control and pressure results.

[0050] If the power-reversing tractor is not equipped with system pressure and forward clutch valve post-valve pressure sensors, reverse clutch valve post-valve pressure sensors, and transmission system temperature sensors, then the pressure and temperature will be directly collected on the hydraulic valve group of the transmission system through the pressure measurement interface and temperature measurement 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.

[0051] It should be noted that, in order to accurately assess the quality of starting and turning, the debugging device needs to collect real-time values ​​from the acceleration sensor and the speed radar. The reason why this invention uses data collected by the external sensors of the debugging device to obtain acceleration and impact values, instead of using the values ​​of the tractor speed sensor to derive the acceleration or impact, is that the value calculated by the speed sensor mounted on the transmission box is the theoretical speed, which does not take into account external conditions such as slippage. Therefore, the data from the external acceleration sensor and speed radar of the debugging device are more accurate.

[0052] The debugging device can collect and filter the values ​​from its external sensors, and place them on the same timeline as the CAN information obtained through the CAN1 channel of the diagnostic interface and the control data from the TCU controller obtained through the CCP protocol through the CAN2 channel. This will place information such as actual acceleration, actual vehicle speed, theoretical vehicle speed, commutation 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.

[0053] When evaluating the starting quality, the debugging device determines the control stage based on the information obtained by the TCU controller, obtains the acceleration value based on the acceleration sensor, and calculates the impact based on the actual vehicle speed measured by the speed measuring radar. When the acceleration value or impact value exceeds the threshold, it is considered that the starting quality does not meet the requirements, and an abnormal starting alarm is triggered. The device also analyzes the cause and stage of the abnormality.

[0054] When the acceleration or impact value exceeds the threshold, first determine whether the system pressure and the pressure after the valve follow the current normally. If the system pressure or the pressure after the valve is abnormal, perform a manual inspection by the commissioning personnel to ensure that the system pressure and the pressure after the valve are normal. If the system pressure and the pressure after the valve follow the current normally, it indicates that there is an abnormality in the control stage. By determining the specific control stage in which the phenomenon occurs, an optimization scheme is determined. During the tractor starting stage, the commissioning device controller can enter the calibration mode of the TCU controller through the CAN2 channel, thereby obtaining the control status in real time with high precision. After the commissioning device determines the optimization scheme, it adjusts the parameters within the TCU controller through calibration and then continues the test.

[0055] Based on the aforementioned debugging device, this invention provides a method for evaluating and debugging the starting quality of a power-reversing tractor, the execution process of which is as follows: Figure 2 As shown, the specific steps include:

[0056] Step 1: After the tractor rolls off the production line, the debugging personnel drive the tractor to the debugging site (such as an open area). During the debugging phase, the debugging personnel are in the cab and place the debugging device in the corresponding position on the tractor. The acceleration sensor and speed radar of the debugging device are installed in the corresponding positions on the vehicle. Specifically, they can be magnetically attached to a fixed position on the vehicle body. The vehicle is powered on, and the diagnostic interface of the debugging device is connected to the diagnostic interface reserved on the tractor. At this time, after the debugging device is connected to the ECU controller and TCU controller, the display screen of the debugging device will show that Channel 1 and Channel 2 are successfully connected. Enter the vehicle number on the display screen of the debugging device, and the software information downloaded to the vehicle and the vehicle information will be displayed.

[0057] Next, the debugging device controller will check whether the tractor is equipped with a system pressure sensor, a forward clutch valve post-valve pressure sensor, a reverse clutch valve post-valve pressure sensor, and a transmission system temperature sensor. If the power reversing tractor is equipped with these sensors, 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, the debugging device display screen will show the requirement for the debugging personnel to install the corresponding sensors provided with the debugging device to the tractor's reserved pressure and temperature measurement interfaces.

[0058] Step 2: After the preparation work is completed, the debugging personnel confirm on the debugging device display screen that the debugging preparation is complete and the debugging begins. The debugging device will retrieve the preset test content based on the vehicle information and software information. The debugging device display screen requires the engine to be started and requires the debugging personnel to adjust the engine speed to the specified speed, adjust the tractor's main and auxiliary transmissions to the specified gears, and perform the starting operation of the tractor as required.

[0059] 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 commutation output shaft speed information of the tractor during the starting phase controlled by the TCU controller; 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.

[0060] When the acceleration or 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 starting abnormality alarm and display it on the display screen of the debugging device. 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, engine speed, load and other information and display them on the display screen interface. The information is also uploaded to the enterprise information platform through the mobile communication terminal device. After the debugging personnel click to confirm the information displayed by the debugging device, the process will proceed to step four to continue the test.

[0061] If the tractor does not report any abnormality when starting at this speed and gear, proceed directly to step four.

[0062] Step 4: The debugging device will prompt the debugging personnel to proceed to the next operating condition test via the display screen. Change the speed and gear and start again. If there is no abnormality in starting under this operating condition, continue to the next operating condition test until all operating condition tests are completed. If there is no starting abnormality alarm in any operating condition test, proceed to Step 6. If a starting abnormality alarm occurs under a certain operating condition, handle it according to the procedure in Step 3 and continue to test other operating conditions until all operating condition tests are completed, and then proceed to Step 5.

[0063] Step 5: For the starting abnormal alarm, the debugging device controller performs data processing and analysis and generates specific analysis results to determine the cause and stage of the starting abnormality. Then, manual inspection is carried out or calibration is performed through the built-in CCP protocol. The corresponding control parameters of the TCU controller are modified independently. 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 foundation for further analysis and tracking.

[0064] After the debugging device completes the modification of the TCU controller parameters, it will display the changed parameter information on the screen, and the debugging personnel will manually confirm it. After manual confirmation, a new round of testing will continue. Following the methods in steps three and four, the debugging personnel will start the machine at the required speed and gear, and test all operating conditions. The debugging device will optimize and set the parameters based on the further test results until all tests meet the requirements.

[0065] Step Six: After completing the above tests, it is clear that the tractor can meet the starting quality requirements under various working conditions. At this time, the display screen of the debugging device will show that the debugging has passed, reminding the debugging personnel to turn off the debugging device, turn off the engine, disconnect the debugging device from the tractor, and the debugging is complete.

[0066] Specifically, in step three, the acceleration or impact value exceeds the threshold when: during the initial stage, the impact value calculated from the actual data collected by the speed measuring radar is greater than 8 m / s². 3Or the acceleration value collected by the accelerometer is >2.5 m / s². 2 If the starting quality is considered poor, the debugging device will issue a starting abnormality alarm.

[0067] Specifically, in step three, the method by which the debugging device calculates the current actual gear is as follows: 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 by the vehicle speed sensor and the engine speed. Then, it is compared with the transmission ratio of each gear in the vehicle information to obtain the current actual gear.

[0068] 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 there is an abnormal start based on the actual pressure, acceleration and actual vehicle speed.

[0069] Typically, power reversing clutch control is divided into: oil filling stage, waiting stage, slipping stage, rapid oil filling stage, and holding stage. In the oil filling stage, the current demand rises rapidly, and the pressure also rises rapidly to eliminate the gap between the friction plates. In the waiting stage, pressure fluctuations are further eliminated, and the clutch state stabilizes, at which point the output torque is 0. In the slipping stage, the power output speed reaches a fixed speed determined by the engine and transmission ratio from 0. In the rapid oil filling stage, the pressure rises rapidly to reach the maximum working pressure of the system. In the holding stage, the pressure stabilizes at the maximum pressure point, maintaining clutch engagement at all times.

[0070] like Figure 3 As shown, in step five, after the start-up anomaly alarm, the process by which the debugging device controller determines the cause and stage of the start-up anomaly is as follows:

[0071] Step 5.1: The debugging device enters the calibration state via the CCP protocol, simultaneously monitoring the requested current, system pressure, valve downstream pressure, commutation output shaft speed, acceleration value, and actual vehicle speed. It also calculates the impact based on the actual vehicle speed. When the acceleration or impact value exceeds the threshold, the debugging device will detect the system pressure. First, it will determine whether the system pressure is lower than the requested pressure or fluctuates significantly. If abnormal, it will report a system pressure abnormality, terminate the debugging, and require manual inspection of the relevant components of the system pressure. If the system pressure is normal, it will proceed to the next step of judgment.

[0072] Step 5.2: If the alarm is not caused by abnormal system pressure, the debugging device controller will analyze the downstream pressure. When the system pressure is stable, there is a one-to-one correspondence between the requested current and the downstream pressure. Therefore, when the debugging device obtains the requested current from the TCU controller through the CAN2 calibration mode, it can know the required downstream pressure value. Thus, the actual downstream pressure value can be monitored in real time through the downstream pressure sensor. Since the time difference between the requested current and the actual pressure is affected by the quality of the transmission oil, the solenoid valve, and the temperature, the time difference ΔT (in ms) can be calculated based on the temperature and solenoid valve characteristics. That is, when requesting current, the downstream pressure should reach the set value within the ΔT time and the allowable error ΔY (in ms). If the set value is not reached or the downstream pressure fluctuates abnormally, an abnormal downstream pressure is reported, requiring manual inspection of the solenoid valve and related components. If this stage is normal, proceed to the next step of judgment.

[0073] Step 5.3: If the starting abnormal alarm is not caused by abnormal pressure, then the starting abnormal alarm is considered to be caused by the control link. The clutch control stages are the oil filling stage, the waiting stage, the slipping stage, and the rapid oil filling stage.

[0074] The debugging device can analyze 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. The time interval between the request current and the acceleration and impact values ​​can be tested. Therefore, the stage at which the impact occurs can be determined based on the timing of the impact. The control parameters of the TCU controller can be modified according to the adjustment strategy to reduce the corresponding control parameters.

[0075] Step 5.4: When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the oil filling time of the clutch calibration by a certain value based on the current value. After manual confirmation and approval, recalibrate the TCU controller through the CAN2 of the debugging device and start debugging again according to step three. If it does not occur in this stage, proceed to the next step.

[0076] Step 5.5: If the alarm occurs during the waiting phase, it indicates 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 and approval, start debugging again according to Step 3. If it does not occur in this phase, proceed to the next step.

[0077] Step 5.6: If the alarm occurs during the slippage stage, it indicates that the slippage parameter is too high and the engagement is too fast. Therefore, reduce the slippage parameter based on the existing parameters, manually confirm that it is allowed, and recalibrate the TCU controller. Then, start debugging again according to Step 3. If the alarm does not occur during this stage, proceed to the next step.

[0078] Step 5.7: If the alarm is not during the oil filling stage, waiting stage, or slipping stage when the pressure is normal, it means that it must be during the rapid oil filling stage. When the impact is large and it occurs during the rapid oil filling stage, it means that the clutch is abnormal and cannot transmit power normally. At this time, the debugging device will report a clutch abnormality, prompting the debugging personnel to check the clutch problem.

[0079] The present invention relates to a device and method for evaluating and troubleshooting abnormal starting quality of power-reversing tractors. Controlled by a controller, the device can collect relevant pressure and temperature data from the tractor, understand the control data and stages of the TCU controller, and, combined with its own acceleration and speed sensors, determine the cause and stage of the starting abnormality. The device then analyzes and processes the results to formulate adjustment strategies, and modifies the TCU control parameters via CAN2 calibration, continuing testing until all operating conditions are met. This device and method provide enterprises with a quantitative method for evaluating the starting performance of power-reversing tractors, improving the accuracy and efficiency of tractor starting assessment.

[0080] Example 1

[0081] This embodiment of a power-reversing tractor starting quality assessment and debugging device 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.

[0082] The debugging device controller can receive signals from its external sensors and obtain information such as engine speed and torque load percentage from the ECU controller via CAN1; obtain information such as transmission system temperature, reversing lever status, and clutch pedal position from the TCU controller via CAN1; communicate with mobile communication terminal devices via CAN1; and obtain request current, feedback current, and start-up control phase of the TCU controller control process via CAN2. The debugging device controller can process and analyze the received data, modify the internal parameters of the TCU controller via CAN2 based on the processing results, and output the results to the display screen.

[0083] The mobile communication terminal device can communicate bidirectionally with the enterprise information platform, and can upload information sent by the debugging controller to the mobile communication terminal device, and send information from the enterprise information platform to the debugging device controller.

[0084] A method for evaluating and adjusting the starting quality of a power-reversing tractor, specifically including the following steps:

[0085] Step 1: Drive the tractor to the designated location, power on the vehicle, and connect all communication interfaces, sensors, signal lines, etc.

[0086] Step 2: Input vehicle information on the display screen, adjust engine speed and gear as required, and the debugging personnel should start the tractor in the cab as required.

[0087] Step 3: Start the engine. The vehicle setup and debugging will begin via the display screen. The debugging process will first execute the attached... Figure 2 The operating procedure.

[0088] When the tractor starts, if any relevant value exceeds the threshold, the debugging device will sound an alarm and display it on the device's screen. At this time, the current gear and other information will be displayed on the screen and uploaded to the enterprise information platform via a mobile communication terminal device. If no starting abnormality alarm is reported during this stage, the condition is considered passed.

[0089] Step 4: Continue testing. When all conditions meet the test requirements and there are no starting abnormality alarms, it indicates that the starting requirements are met under all operating conditions. Proceed to Step 6, and the test is complete. If the test is completed under all operating conditions, but a starting abnormality alarm occurs under certain speeds or gears, proceed to Step 6. Figure 3 Debug in the process shown.

[0090] Step 5: The debugging device controller performs real-time monitoring during startup. When a startup anomaly alarm is triggered, the debugging device will detect the system pressure and analyze whether the system pressure is lower than the requested pressure or fluctuates significantly. If abnormal, it will report a system pressure anomaly, terminate the debugging, and require manual inspection of the system pressure-related components. If this stage is normal, it will proceed to the next step of judgment.

[0091] If the abnormal start-up alarm is not caused by abnormal system pressure, the debugging device controller will analyze the downstream pressure and request that the current and downstream pressure have a one-to-one correspondence. If this is not achieved or the downstream pressure fluctuates abnormally, an abnormal downstream pressure will be reported, requiring manual inspection of the solenoid valve and related components. If this stage is normal, the next step of judgment will be performed.

[0092] If the start-up anomaly alarm is not caused by pressure abnormality, it is considered to be caused by the control loop. When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the clutch's calibrated oil filling time by 20ms from the current value, after manual confirmation, and recalibrate the TCU controller parameters. Then, follow the instructions in the appendix. Figure 2 The process shown is debugged; if it does not occur at this stage, proceed to the next step.

[0093] If the start-up anomaly alarm occurs during the waiting phase, it indicates that the KP point value is too high. Therefore, reduce the current value by 100 mbar, manually confirm and approve, and then recalibrate the TCU controller parameters, following the instructions in the appendix. Figure 2 The process shown is debugged; if it does not occur at this stage, proceed to the next step.

[0094] If the start-up anomaly alarm occurs during the slippage phase, it indicates that the slippage parameter is too high and engagement is too rapid. Therefore, reduce the slippage parameter by 10% from the current level. After manual confirmation and approval, recalibrate the TCU controller parameters and repeat the process as described in the attached document. Figure 2 The process shown is debugged; if it does not occur at this stage, proceed to the next step.

[0095] If the abnormal start alarm does not occur during the oil filling stage, waiting stage, or slippage stage under normal pressure, it must occur during the rapid oil filling stage. When a large impact 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 will report a clutch abnormality, prompting the debugging personnel to check the clutch problem and perform the test again.

[0096] Step Six: After completing the above tests and no abnormal alarm is reported during starting under each working condition, it indicates that the tractor can meet the starting quality requirements under each working condition. At this time, the display screen of the debugging device shows that the debugging has passed, and the debugging personnel are reminded to turn off the debugging device, turn off the engine, and disconnect the debugging device from the tractor.

[0097] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the specific implementation of the present invention with reference to the above embodiments. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the protection scope of the claims of the present invention.

Claims

1. A device for evaluating and adjusting the starting quality of a power-reversing tractor, characterized in that, include: Debugging device controller: Used to receive, process, analyze and output information; Accelerometer sensor: used to collect acceleration values ​​in real time when a power-reversing tractor is in motion; Speed ​​sensor: used to obtain the actual speed of the power-reversing tractor; Display screen: Used for information input, display, and settings; Mobile communication terminal equipment: used to enable information uploading and distribution between the TCU controller and the enterprise information platform; Diagnostic interfaces: including CAN1 and CAN2 channels; The debugging device also includes: a pressure sensor for detecting the pressure of the power reversing tractor system, the pressure after the forward clutch valve and the reverse clutch valve; and a transmission system temperature sensor for detecting 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 tractor's reserved pressure and temperature measurement interfaces. The debugging device controller is connected to the ECU controller, TCU controller, display screen, and mobile communication terminal via CAN1 channel for bidirectional communication. It is also connected to the TCU controller via CAN2 channel, using calibration mode to acquire the request current, feedback current, and start-up control phase of the TCU controller's control process. External sensors on the debugging device collect actual control feedback data, which is then analyzed to evaluate the start-up quality. During the start-up phase, the debugging device controller uses acceleration and speed sensors to collect acceleration values ​​and actual vehicle speed in real time, and calculates the impact value based on the actual vehicle speed. If the acceleration or impact value exceeds a threshold, the start-up quality is considered unsatisfactory. If the start-up quality is abnormal, a start-up anomaly alarm is triggered. Based on the information obtained from the TCU controller, the cause and stage of the anomaly are determined, and corresponding optimization parameters are determined. The internal parameters of the TCU controller are calibrated via CAN2 channel to optimize the tractor's start-up quality. After a start-up anomaly alarm occurs, the procedure for determining the cause and stage of the start-up anomaly is as follows: First, determine if the system pressure is normal. If the system pressure is abnormal, set an alarm for abnormal system pressure and perform a manual inspection. If the system pressure is normal, continue to check if the pressure after the valve is normal. If the pressure after the valve is abnormal, set an alarm for abnormal pressure after the valve and perform manual troubleshooting. If both the system pressure and the downstream pressure are normal, then the abnormal start-up alarm is considered to be caused by the control loop. The debugging device controller analyzes the data from the TCU controller, the collected acceleration values, and the actual speed sensor values. Based on the timing of the impact or acceleration value exceeding the threshold, it determines whether the impact occurs during the oil filling stage, waiting stage, slippage stage, or rapid oil filling stage of the clutch control.

2. The power-reversing tractor starting quality assessment and debugging device according to claim 1, characterized in that, The display screen can input the tractor's serial number, and then retrieve the tractor's configuration and control information through the enterprise data platform.

3. A method for evaluating and adjusting the starting quality of a power-reversing tractor, characterized in that, Using the power-reversing tractor starting quality assessment and adjustment device according to any one of claims 1-2 to assess and adjust the starting quality of a tractor includes the following steps: Install the debugging device on the tractor, power on the vehicle, and connect the various communication interfaces, sensors, and signal lines; enter the vehicle number on the display screen to connect the debugging device with the ECU controller and TCU controller; The technicians started 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 alarm for abnormal starting is triggered. If no start-up abnormality alarm occurs under the current operating condition, it means that the start-up requirements are met, and the start-up test under the next operating condition can continue. If an alarm is triggered for abnormal starting 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 other working conditions will be tested. After all operating conditions have been tested, if all operating conditions meet the test requirements and there are no start-up abnormality alarms, it means that the start-up meets the start-up requirements in all operating conditions, and the test is complete. If all operating conditions have been tested, but start-up abnormality alarms occur in some operating conditions, the debugging device controller determines the cause and stage of the start-up abnormality and formulates an adjustment strategy. By manually troubleshooting the fault or automatically modifying the control parameters of the TCU controller, the start-up stage is optimized, and the test is repeated until the start-up requirements are met in all operating conditions, and the debugging is complete.

4. The method for evaluating and adjusting the starting quality of a power-reversing tractor according to claim 3, characterized in that, In the initial stage, the acceleration or impact value exceeds the threshold specifically when the impact value calculated from the actual vehicle speed collected by the speed sensor is greater than 8 m / s². 3 Or the acceleration value collected by the accelerometer is >2.5 m / s². 2 If the starting quality is considered poor, the debugging device will issue a starting abnormality alarm.

5. The method for evaluating and adjusting the starting quality of a power-reversing tractor according to claim 3, characterized in that, After a start-up anomaly alarm occurs, the procedure for determining the cause and stage of the start-up anomaly is as follows: First, determine if the system pressure is normal. If the system pressure is abnormal, set an alarm for abnormal system pressure and perform a manual inspection. If the system pressure is normal, continue to check if the pressure after the valve is normal. If the pressure after the valve is abnormal, set an alarm for abnormal pressure after the valve and perform manual troubleshooting. If both the system pressure and the downstream pressure are normal, then the abnormal start-up alarm is considered to be caused by the control loop. The debugging device controller analyzes the data from the TCU controller, the collected acceleration values, and the actual speed sensor values. Based on the timing of the impact or acceleration value exceeding the threshold, it determines whether the impact occurs during the oil filling stage, waiting stage, slippage stage, or rapid oil filling stage of the clutch control.

6. The method for evaluating and adjusting the starting quality of a power-reversing tractor according to claim 5, characterized in that, The method for judging system pressure is as follows: the commissioning device will monitor 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 the start. If it is abnormal, the system pressure is reported as abnormal, the commissioning is terminated, and manual inspection of the system pressure-related components is required until the pressure is normal.

7. The method for evaluating and adjusting the starting quality of a power-reversing tractor according to claim 5, characterized in that, The method for judging the downstream pressure is as follows: If the tractor starting abnormal alarm is not caused by abnormal system pressure, the debugging device controller will analyze the downstream pressure. The requested current and the downstream pressure have a one-to-one correspondence. When the debugging device obtains the TCU controller's requested current through the calibration mode of the CAN2 channel, it can know the required downstream pressure value and calculate the time difference ΔT between the requested current and the downstream pressure. That is, when the current is requested, the downstream pressure should reach the set value within the ΔT time and the allowable error ΔY range. If the set value is not reached or the downstream pressure fluctuates abnormally, an abnormal downstream pressure is reported, requiring manual inspection of the solenoid valve and related components until the downstream pressure returns to normal.

8. The method for evaluating and adjusting the starting quality of a power-reversing tractor according to claim 7, characterized in that, The adjustment strategy formulated based on the cause and stage of the initial abnormality is as follows: When the alarm occurs during the oil filling stage, it indicates that the oil filling time is too long. Reduce the oil filling time of the clutch calibration by a certain value, recalibrate it into the TCU controller, and perform debugging again. When an alarm occurs during the waiting phase, it indicates that the KP point value is too high. Reduce the KP point value by a certain amount based on the existing value, recalibrate it into the TCU controller, and perform debugging again. If the alarm occurs during the slippage stage, it indicates that the slippage parameter is too high and the engagement is too fast. Reduce the slippage parameter based on the existing parameters, recalibrate the TCU controller, and perform debugging 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 a clutch abnormality, prompting the test personnel to check the clutch problem and perform debugging again until the starting quality standards are met under all operating conditions.

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