Power takeoff control method and device

Abstract

The invention provides a power takeoff control method and device.The method comprises the steps that in response to a signal that a gearbox is engaged into a power takeoff gear, a drive motor is controlled to output preset torque; monitoring the current rotating speed value of the driving motor under the driving of the preset torque; according to the current rotating speed value, a preset no-load rotating speed value corresponding to the current moment when the driving motor is in the no-load state and a preset mounting rotating speed value corresponding to the current moment when the power takeoff is mounted on the driving motor and the power takeoff is in the no-load state, delay confirmation time is determined; and confirming that the driving motor enters a power take-off mode based on the delay confirmation time, so that the driving motor enters the power take-off mode and executes operation. The technical problem that the transmission of a power system is unstable due to the fact that the gear of the driving motor and the gear of the power takeoff are not combined in place and teeth of the gearbox are broken is solved, and the technical effects that it is ensured that the power takeoff is correctly hung into the gearbox, and the transmission of the power system is stable are achieved.

Description

Technical Field

[0001] The present application relates to the field of automobile manufacturing technology, and in particular to a power take-off control method and device. Background Art

[0002] When the transmission torque transmission switches from the normal driving path to the power take-off path, the enabling solenoid valve drives the transmission to engage the PTO (Power Take-Off) gear to achieve a smooth transition to the PTO mode.

[0003] However, in the prior art, after receiving the PTO engagement signal, the drive motor is often directly determined to enter the PTO mode and perform the PTO operation without reconfirming the PTO engagement position. As a result, when the drive motor gear and the PTO gear are not properly engaged, the drive motor speed increases too quickly, causing the gearbox to clatter, thereby causing wear on the gearbox hardware. Summary of the Invention

[0004] In view of this, the present application provides a power take-off control method and device, which solves the technical problem of gearbox gear knocking caused by improper engagement between the drive motor gear and the PTO gear, resulting in unstable power system transmission, and achieves the technical effect of ensuring that the PTO is correctly engaged in the gearbox and ensuring stable power system transmission.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions: in response to the signal of the gearbox engaging the power take-off gear, the drive motor is controlled to output a preset torque; and the current speed value of the drive motor driven by the preset torque is monitored; according to the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with the power take-off and the power take-off is no-loaded, the delayed confirmation time is determined; based on the delayed confirmation time, the entry of the drive motor into the power take-off mode is confirmed, so that the drive motor enters the power take-off mode and performs the operation.

[0006] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling, including: when the absolute value of the difference between the current speed value and the preset no-load speed value is less than a first threshold value, it is determined that the power take-off is not mounted in the gearbox, and the delayed confirmation time is determined to be the first preset delay time.

[0007] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling, and also includes: when the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to a first threshold, calculating the first time for the drive motor to be loaded from the initial speed value to the preset no-load speed value; under the drive of a preset torque, calculating the second time for the drive motor to be loaded from the initial speed value to the preset mounting speed value; when the first time is greater than the second time, determining that the power take-off is mounted on the gearbox, and determining that the delayed confirmation time is the second preset delay time, and the second preset delay time is less than the first preset delay time.

[0008] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling. It also includes: when the first time is less than or equal to the second time, the delayed confirmation time is determined to be a third preset delay time based on the preset no-load speed value and the preset mounting speed value of the drive motor, wherein the third preset delay time is greater than the second preset delay time and less than the first preset delay time.

[0009] In one embodiment of the present application, the third preset delay time varies linearly with the speed difference, wherein the speed difference is the speed difference between a preset no-load speed value and a preset loaded speed value.

[0010] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling. It also includes: when the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to a first threshold value, calculating the difference between the current speed value at the current moment and the preset mounted speed value to obtain a first difference; calculating the difference between the preset no-load speed value at the current moment and the preset mounted speed value to obtain a second difference; obtaining a time coefficient based on the quotient of the first difference and the second difference; determining the delayed confirmation time based on the maximum value of the time coefficient and the preset value and the longest delay time, wherein the longest delay time is used to represent the preset longest delay time for the drive motor to enter the power take-off mode.

[0011] In one embodiment of the present application, the method further includes: in response to a signal of the transmission engaging the power take-off gear, controlling the start timer to perform timing; obtaining a first change curve of the speed value and time at a preset torque when the drive motor is idling; obtaining a second change curve of the speed value and time at a preset torque when the drive motor is mounted on the power take-off and the power take-off is idling; searching for a corresponding preset no-load speed value in the first change curve according to the current moment; and searching for a corresponding preset mounting speed value in the second change curve according to the current moment.

[0012] In one embodiment of the present application, the method further includes: adding the delayed confirmation times within the first preset time period that are greater than or equal to the preset time threshold to obtain a first value; based on the first value, subtracting the delayed confirmation times within the first preset time period that are less than the preset time threshold to obtain a second value; when the second value is greater than the preset value, accumulating the number of delayed confirmations within the first preset time period to obtain the number of delayed confirmations; when the number of delayed confirmations is less than the preset number, after receiving the signal that the transmission is engaged in the power take-off gear within the second preset time period after the first preset time period, directly confirming that the drive motor enters the power take-off mode.

[0013] In one embodiment of the present application, the method further includes: when the number of delayed confirmations is greater than or equal to a preset number, resetting the second value and the number of delayed confirmations.

[0014] As a second aspect of the present application, the present application also provides a power take-off control device, including: a monitoring module for controlling the drive motor to output a preset torque in response to a signal from the gearbox engaging the power take-off gear; and monitoring the current speed value of the drive motor driven by the preset torque; a determination module for determining a delayed confirmation time based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is no-load, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load; a power take-off module for confirming that the drive motor enters the power take-off mode based on the delayed confirmation time, so that the drive motor enters the power take-off mode and performs operations.

[0015] As a third aspect of the present application, the present application further provides a computer program product, comprising a computer program, which implements any power take-off control method when executed by a processor.

[0016] The power take-off control method provided in the present application controls the drive motor to output a preset torque in response to a signal from the transmission engaging the power take-off gear; and monitors the current speed value of the drive motor driven by the preset torque; determines a delayed confirmation time based on the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-load, and a preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load; based on the delayed confirmation time, confirms that the drive motor has entered a power take-off mode, so that the drive motor enters the power take-off mode and performs operations. It is easy to notice that after receiving the signal that the gearbox is engaged with the power take-off, the speed change of the drive motor is observed by controlling the drive motor to output a preset torque. The current speed value of the drive motor, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with the power take-off and the power take-off is idling are used to delay the judgment on the drive motor entering the power take-off mode to confirm that the drive motor has completely entered the power take-off mode and performs the operation, thereby achieving the purpose of delaying the judgment on the drive motor entering the PTO mode after receiving the PTO engagement signal to ensure that the PTO is completely engaged in the gearbox, solving the technical problem of gearbox clashing caused by improper engagement of the drive motor gear with the PTO gear, resulting in unstable power system transmission, and achieving the technical effect of ensuring that the PTO is correctly engaged in the gearbox and ensuring stable power system transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0018] Figure 1 Shown is a flow chart of a power take-off control method provided in one embodiment of the present application.

[0019] Figure 2 Shown is a schematic diagram of power take-off path switching provided by an embodiment of the present application.

[0020] Figure 3 FIG2 is a schematic diagram of calculating the delayed confirmation time provided by an embodiment of the present application.

[0021] Figure 4 The figure shows a schematic diagram of obtaining a preset no-load speed value and a preset loaded speed value under a set torque provided by an embodiment of the present application.

[0022] Figure 5 Shown is a schematic diagram of a power take-off control device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] When the transmission torque transmission switches from the normal driving path to the power take-off path, the enabling solenoid valve drives the transmission to engage the PTO gear, achieving a smooth transition to PTO mode. However, in the prior art, upon receiving the PTO engagement signal, the drive motor is often directly determined to have entered PTO mode and executed PTO operation without reconfirming the PTO engagement position. As a result, when the drive motor gear and the PTO gear are not properly engaged, the drive motor speed increases too quickly, causing gear rattling in the transmission, thereby causing wear on the transmission hardware.

[0024] After research, the inventors of this application have proposed: a power take-off control method, which, after receiving a signal that the transmission is engaged in the power take-off gear, observes the speed change of the drive motor by controlling the drive motor to output a preset torque, and delays the judgment on the drive motor entering the power take-off mode by using the current speed value of the drive motor, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with the power take-off and the power take-off is idling, so as to confirm that the drive motor has completely entered the power take-off mode and performs the operation, thereby achieving the purpose of delaying the judgment on the drive motor entering the PTO mode after receiving the PTO engagement signal to ensure that the PTO is completely engaged in the transmission, solving the technical problem of transmission gear clashing caused by improper engagement of the drive motor gear with the PTO gear, resulting in unstable power system transmission, and achieving the technical effect of ensuring that the PTO is correctly engaged in the transmission and ensuring stable power system transmission.

[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] As a first aspect of the present application, the present application provides a power take-off control method, Figure 1 FIG. 1 is a flow chart of a power take-off control method provided by an embodiment of the present application, as shown in FIG. Figure 1 As shown, the method includes the following steps:

[0027] Step S101, in response to a signal from the transmission that the power take-off gear is engaged, controlling the drive motor to output a preset torque; and monitoring the current speed of the drive motor under the preset torque drive;

[0028] Specifically, the above-mentioned power take-off (PTO) is a group or multiple groups of speed gears, also known as a power output device. It is generally composed of a gearbox, a clutch, and a controller. It is connected to the low-speed gear of the transmission or the output shaft of the auxiliary box to output power to an external working device, such as a lifting pump.

[0029] When it is confirmed that the transmission is fully engaged in the power take-off gear, it means that the current power output of the drive motor has been switched from the transmission output shaft to the PTO path. At this time, the vehicle power mode can be determined to be PTO mode, and the PTO driving operation can be realized.

[0030] Figure 2 The figure shows a schematic diagram of the power taking path switching provided by an embodiment of the present application. Figure 2 As shown, when the drive motor is connected to the gearbox output shaft, the power output of the drive motor is transmitted to the gearbox output shaft; when the drive motor is connected to the PTO, the power output of the drive motor is transmitted to the PTO path.

[0031] It's important to note that when PTO engagement is required, the solenoid valve drives the transmission to engage the PTO gear. At this point, if a signal is received indicating the transmission is engaged with the power take-off (PTO), it can be preliminarily determined that the drive motor's power output has switched to the PTO path. Because errors can occur during signal transmission, it's not possible to directly determine that the drive motor's power output has switched to the PTO path after receiving the signal indicating the transmission is engaged with the PTO. If the PTO is not engaged and the revs are increased to execute PTO operations, this can cause gear clashing and wear on the transmission hardware, and can also lead to unstable powertrain transmission.

[0032] In view of this, upon receiving the signal that the gearbox is engaged in the power take-off gear, the present application controls the drive motor to apply a small torque, observes the change in motor speed, and then determines whether the gearbox is fully engaged in the power take-off gear.

[0033] The above-mentioned preset torque can be used to represent the preset torque output by the drive motor, which can be 20N·m or 30N·m. The preset torque is not specifically set here and can be adjusted according to actual conditions.

[0034] Applied to an optional embodiment, after receiving the signal that the transmission is engaged in the power take-off gear, it is not possible to directly determine that the transmission is engaged in the power take-off gear. It is necessary to control the drive motor to output a preset torque and monitor the current speed value of the drive motor under the preset torque drive. By comparing the current speed value or the speed establishment time, a comprehensive analysis is performed to determine whether the transmission is completely engaged in the power take-off gear.

[0035] Among them, when monitoring the current speed value of the drive motor under the preset torque drive, a torque sensor and a speed sensor can be used for monitoring; a multi-functional torque testing system can also be used to monitor the speed. The speed monitoring method is not specifically limited here and can be confirmed based on actual conditions.

[0036] Step S102, determining a delayed confirmation time based on the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-load, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load;

[0037] Specifically, the aforementioned preset no-load speed value can be used to represent a speed value corresponding to a predetermined time when the drive motor is in a no-load condition, and the preset no-load speed value varies based on the time. For example, the preset no-load speed value at time t1 is 400 r / min, the preset no-load speed value at time t2 is 500 r / min, and so on. The preset no-load speed value is not uniquely set herein.

[0038] The preset mounted speed value described above can be used to represent the speed value corresponding to the moment when the power take-off is connected to the drive motor and the power take-off is operating at no load. The preset mounted speed value varies at different times. For example, the preset no-load speed value at time t1 is 200 r / min, the preset no-load speed value at time t2 is 300 r / min, and so on. The preset mounted speed value is not set uniquely.

[0039] The aforementioned delayed confirmation time may be used to indicate the delay time for determining whether the transmission is fully engaged in the power take-off gear.

[0040] Applied in an optional embodiment, in the process of determining whether the gearbox is engaged in the power take-off gear, the determination can be made based on the above-mentioned current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is unloaded, and the preset mounted speed value corresponding to the current moment when the drive motor is mounted on the power take-off and the power take-off is unloaded. Specifically, when the current speed value of the drive motor quickly approaches the preset no-load speed value, it means that the current PTO is not engaged in gear, and it is necessary to delay the determination time for the drive motor to enter the power take-off mode. The current delayed confirmation time can be T1; when the establishment time of the preset no-load speed value of the drive motor is greater than the establishment time of the preset mounted speed value, it means that the current PTO is engaged in gear, and there is no need to delay the determination of the drive motor entering the power take-off mode. That is, the current delayed confirmation time can be T2. Generally, T2 can be set to 0, etc., thereby achieving the purpose of delaying the determination of the drive motor entering the PTO mode after receiving the PTO engagement signal to ensure that the PTO is completely engaged in the gearbox.

[0041] Step S103 : confirming that the drive motor enters the power take-off mode based on the delayed confirmation time, so that the drive motor enters the power take-off mode and performs the operation.

[0042] Specifically, in the process of confirming that the drive motor has entered the power take-off mode based on the delayed confirmation time, the delayed confirmation time can be compared with a preset time. Generally, the preset time can be set to a smaller value, which can be 1 or 0. The preset time is not specifically limited here. If the delayed confirmation time is greater than the preset time, it means that the drive motor has not entered or has not fully entered the power take-off mode; conversely, if the delayed confirmation time is less than or equal to the preset time, it means that the drive motor has fully entered the power take-off mode. Furthermore, when the drive motor has not entered or has not fully entered the power take-off mode, it is necessary to delay confirmation of the drive motor entering the power take-off mode so that the drive motor enters the power take-off mode; when the drive motor has fully entered the power take-off mode, the power take-off can be controlled to perform operations in the power take-off mode.

[0043] The power take-off control method provided in the present application controls the drive motor to output a preset torque in response to a signal from the transmission engaging the power take-off gear; and monitors the current speed value of the drive motor driven by the preset torque; determines a delayed confirmation time based on the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-load, and a preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load; based on the delayed confirmation time, confirms that the drive motor has entered a power take-off mode, so that the drive motor enters the power take-off mode and performs operations. It is easy to notice that after receiving the signal that the gearbox is engaged with the power take-off, the speed change of the drive motor is observed by controlling the drive motor to output a preset torque. The current speed value of the drive motor, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with the power take-off and the power take-off is idling are used to delay the judgment on the drive motor entering the power take-off mode to confirm that the drive motor has completely entered the power take-off mode and performs the operation, thereby achieving the purpose of delaying the judgment on the drive motor entering the PTO mode after receiving the PTO engagement signal to ensure that the PTO is completely engaged in the gearbox, solving the technical problem of gearbox clashing caused by improper engagement of the drive motor gear with the PTO gear, resulting in unstable power system transmission, and achieving the technical effect of ensuring that the PTO is correctly engaged in the gearbox and ensuring stable power system transmission.

[0044] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling, including: when the absolute value of the difference between the current speed value and the preset no-load speed value is less than a first threshold value, it is determined that the power take-off is not mounted in the gearbox, and the delayed confirmation time is determined to be the first preset delay time.

[0045] Specifically, the first threshold mentioned above can be used to represent a preset smaller value, which can be 2 r / min, or 1 r / min, etc. The first threshold is not specifically set here and can be adjusted according to actual conditions.

[0046] In the process of determining the delayed confirmation time based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is no-load, and the preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load, the delayed confirmation time can be determined by comparing the speed values.

[0047] In an optional embodiment, the absolute value of the difference between the current speed value and the preset no-load speed value can be obtained. If the absolute value of the difference between the current speed value and the preset no-load speed value is less than a first threshold, it indicates that the current speed value is infinitely close to the preset no-load speed value, which further indicates that the current power take-off is not engaged in the transmission, that is, the PTO is not in gear. The delayed confirmation time can be determined to be a first preset delay time, that is, the time required to delay the determination of the drive motor entering the power take-off mode. Exemplarily, the above-mentioned first delay time can be 5 minutes, 6 minutes, etc. The first delay time is not specifically limited here and can be adjusted according to actual conditions.

[0048] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling, and also includes: when the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to a first threshold, calculating the first time for the drive motor to be loaded from the initial speed value to the preset no-load speed value; under the drive of a preset torque, calculating the second time for the drive motor to be loaded from the initial speed value to the preset mounting speed value; when the first time is greater than the second time, determining that the power take-off is mounted on the gearbox, and determining that the delayed confirmation time is the second preset delay time, and the second preset delay time is less than the first preset delay time.

[0049] Specifically, the first time and the second time can be obtained by timing a timing device. That is, after receiving a signal that the transmission has engaged the power take-off gear, the timing device is controlled to time the drive motor from an initial speed value to a preset no-load speed value, thereby obtaining the first time. The second time can be obtained by calculating the time it takes the drive motor to increase from the initial speed value to a preset loaded speed value.

[0050] If the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to the first threshold, it means that the difference between the current speed value and the preset no-load speed value is large, that is, the power of the drive motor is not fully transmitted to the gearbox output shaft under the preset torque. At this time, the speed establishment time can be compared to determine whether the power take-off is engaged in the gearbox.

[0051] In an optional embodiment, when determining whether a power take-off (PTO) is engaged with a transmission by comparing speed establishment times, a first time can be calculated by calculating the time it takes for the drive motor to load from an initial speed value to a preset no-load speed value under a preset torque drive, and a second time can be calculated by calculating the time it takes for the drive motor to load from an initial speed value to a preset mounted speed value under a preset torque drive. The first time and the second time are then compared. If the first time is greater than the second time, it indicates that the time it takes for the drive motor to load from the initial speed value to the preset no-load speed value is slower than the time it takes for the drive motor to load from the initial speed value to the preset mounted speed value, indicating that the PTO is engaged with the transmission and the current delay confirmation time is the second preset delay time. Since the PTO is engaged with the transmission, this indicates that the PTO is fully engaged and no additional delay time is required. Therefore, the second preset delay time can be 0. At the same time, the second preset delay time is less than the first preset delay time.

[0052] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling. It also includes: when the first time is less than or equal to the second time, the delayed confirmation time is determined to be a third preset delay time based on the preset no-load speed value and the preset mounting speed value of the drive motor, wherein the third preset delay time is greater than the second preset delay time and less than the first preset delay time.

[0053] Specifically, if the first time is less than or equal to the second time, it means that the time for the drive motor to load from the initial speed value to the preset mounted speed value is slower than the time for the drive motor to load from the initial speed value to the preset no-load speed value. Therefore, it can be determined that the power take-off is not fully engaged in the gearbox, and the delayed confirmation time can be determined as the third preset delay time, wherein the third preset delay time is greater than the second preset delay time and less than the first preset delay time.

[0054] In an optional embodiment, the confirmation delay time can be determined as a third preset delay time based on a preset no-load speed value and a preset mounted speed value of the drive motor. Specifically, the third preset delay time can be set linearly or nonlinearly based on the preset no-load speed value and the preset mounted speed value of the drive motor.

[0055] In one embodiment of the present application, the third preset delay time varies linearly with the speed difference, wherein the speed difference is the speed difference between a preset no-load speed value and a preset loaded speed value.

[0056] Specifically, in the process of linearly setting the third preset delay time according to the preset no-load speed value and the preset mounted speed value of the drive motor, the speed difference between the preset no-load speed value and the preset mounted speed value can be obtained, and then the third preset delay time can be linearly set based on the speed difference.

[0057] For example, based on the linear relationship between the speed difference and the third preset delay time, if the third preset delay time corresponding to 1000 r is 30 s, the third preset delay time corresponding to 500 r is 15 s, and so on.

[0058] In one embodiment of the present application, the delayed confirmation time is determined based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is idling. It also includes: when the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to a first threshold value, calculating the difference between the current speed value at the current moment and the preset mounted speed value to obtain a first difference; calculating the difference between the preset no-load speed value at the current moment and the preset mounted speed value to obtain a second difference; obtaining a time coefficient based on the quotient of the first difference and the second difference; determining the delayed confirmation time based on the maximum value of the time coefficient and the preset value and the longest delay time, wherein the longest delay time is used to represent the preset longest delay time for the drive motor to enter the power take-off mode.

[0059] Specifically, when determining the delayed confirmation time based on the current speed value, the preset no-load speed value corresponding to the current moment when the drive motor is unloaded, and the preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is unloaded, if the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to a first threshold, it indicates that the difference between the current speed value and the preset no-load speed value is significant. In this case, the delayed confirmation time can be calculated based on the current speed value, the preset no-load speed value, and the preset mounted speed value.

[0060] Figure 3The figure shows a schematic diagram of calculating the delay confirmation time provided by an embodiment of the present application, wherein input ② represents the preset loading speed value, and input ① represents the preset no-load speed value. Figure 3 As shown, the difference between the current speed value at the current moment and the preset mounted speed value (i.e., input ②) is calculated to obtain a first difference; the difference between the preset no-load speed value at the current moment (i.e., input ①) and the preset mounted speed value is calculated to obtain a second difference; the time coefficient is obtained according to the quotient of the first difference and the second difference, and the time coefficient is compared with the preset value (value 0) for a larger value to obtain the maximum value, and then the product of the maximum value and the longest delay time is calculated to obtain the above-mentioned delayed confirmation time.

[0061] In one embodiment of the present application, the method further includes: in response to a signal of the transmission engaging the power take-off gear, controlling the start timer to perform timing; obtaining a first change curve of the speed value and time at a preset torque when the drive motor is idling; obtaining a second change curve of the speed value and time at a preset torque when the drive motor is mounted on the power take-off and the power take-off is idling; searching for a corresponding preset no-load speed value in the first change curve according to the current moment; and searching for a corresponding preset mounting speed value in the second change curve according to the current moment.

[0062] Specifically, the preset no-load speed value corresponding to the current moment when the drive motor is no-loaded and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded can be obtained by searching according to the speed value and time change curve.

[0063] Figure 4 The figure shows a schematic diagram of obtaining the preset no-load speed value and the preset loaded speed value under the set torque provided by an embodiment of the present application, wherein E represents the start timer and R represents the end timer. Figure 4 As shown, after receiving the signal that the transmission is engaged in the power take-off gear (that is, preliminarily determining the PTO mode state), the start timer can be controlled to start timing. Conversely, if the signal that the transmission is engaged in the power take-off gear is not received, no timing is started. Then, after starting the timing, the first change curve of the speed value and time at the preset torque when the drive motor is idling (that is, the set torque idling-speed curve) is obtained. At the same time, the second change curve of the speed value and time at the preset torque when the drive motor is mounted on the power take-off and the power take-off is idling is obtained (that is, the preset torque PTO no-load time-speed curve). Then, the corresponding preset no-load speed value (that is, output ①) can be searched in the first change curve according to the current moment, and the corresponding preset mounting speed value (that is, output ②) can be searched in the second change curve according to the current moment.

[0064] In one embodiment of the present application, the method further includes: adding the delayed confirmation times within the first preset time period that are greater than or equal to the preset time threshold to obtain a first value; based on the first value, subtracting the delayed confirmation times within the first preset time period that are less than the preset time threshold to obtain a second value; when the second value is greater than the preset value, accumulating the number of delayed confirmations within the first preset time period to obtain the number of delayed confirmations; when the number of delayed confirmations is less than the preset number, after receiving the signal that the transmission is engaged in the power take-off gear within the second preset time period after the first preset time period, directly confirming that the drive motor enters the power take-off mode.

[0065] Specifically, in order to ensure that the PTO mode is accurately engaged while minimizing the PTO delay time, the embodiment of the present application counts the delayed confirmation time for each time in the current time period, and based on the statistical results, determines whether to directly confirm that the drive motor enters the power take-off mode after receiving the signal that the transmission is engaged in the power take-off gear again, or to accumulate the delayed confirmation time to delay the confirmation of the transmission engaging in the power take-off gear, thereby achieving the purpose of minimizing the PTO delay time.

[0066] The above-mentioned preset time threshold can be used to represent a preset delayed confirmation time, which can be 3 seconds, 4 seconds, etc. The preset time threshold is not specifically set here and can be adjusted according to actual conditions.

[0067] The above-mentioned preset value can be used to represent a preset delayed confirmation time, and the preset value is greater than the above-mentioned preset time threshold. The preset value can be 10s or 11s, etc. The preset value is not specifically set here and can be adjusted according to actual conditions.

[0068] The above-mentioned preset number of times can be used to represent a preset number of delayed confirmation times, which can be 10 times or 11 times. The preset number of times is not specifically set here and can be adjusted according to actual conditions.

[0069] In an optional embodiment, the delayed confirmation times within the first preset time period that are greater than or equal to the preset time threshold can be added together to obtain a first value, which represents the result of accumulating the delayed confirmation times greater than or equal to the preset time threshold within the first preset time period; at the same time, based on the first value, the delayed confirmation times within the first preset time period that are less than the preset time threshold can be subtracted to obtain a second value, which represents the result of accumulating the delayed confirmation times less than the preset time threshold within the first preset time period. If the second value is greater than the above-mentioned preset value, the number of delayed confirmations within the first preset time period can be accumulated to obtain the number of delayed confirmations, and then the number of delayed confirmations can be compared with the preset number. If the number of delayed confirmations is less than the preset number, if a signal indicating that the transmission is engaged in the power take-off gear is received again within the second preset time period, the drive motor is directly confirmed to enter the power take-off mode, wherein the second preset time period is after the first preset time period.

[0070] For example, each delayed confirmation time within 1 hour can be counted. If 6 delayed confirmations are counted within 1 hour, and the delayed confirmation time of each time is 1s, 3s, 4s, 5s, 6s, and 7s, the delayed confirmation times whose delayed confirmation time is greater than or equal to the preset time threshold (3s) can be added, that is, 3+4+5+6+7=25, that is, the above-mentioned first value is 25; at the same time, based on the first value 25, the delayed confirmation times whose delayed confirmation time within the first preset time is less than the preset time threshold (3s) can be subtracted, that is, 25-1=24s, that is, the above-mentioned second value is 24; at the same time, in the second When the value 24 is greater than the above-mentioned preset value (10s), the number of delayed confirmations within the first preset time period can be accumulated to obtain the number of delayed confirmations. It can be seen that the number of delayed confirmations is 6 times. Further, when the number of delayed confirmations (6 times) is less than the preset number (10 times), if the signal of the transmission being engaged in the power take-off gear is received again within the second preset time period, it is directly confirmed that the drive motor enters the power take-off mode. That is, if the signal of the transmission being engaged in the power take-off gear is received again within the next 1 hour, it can be directly confirmed that the drive motor enters the power take-off mode, that is, the judgment on the drive motor entering the power take-off mode is no longer delayed.

[0071] In one embodiment of the present application, the method further includes: when the number of delayed confirmations is greater than or equal to a preset number, resetting the second value and the number of delayed confirmations.

[0072] Specifically, applied to the above exemplary embodiment, if the number of delayed confirmations within the first preset time is greater than or equal to the preset number, that is, the number of delayed confirmations counted in the current time period has exceeded the preset number, then the second value and the number of delayed confirmations need to be reset, that is, the second value and the number of delayed confirmations are cleared to zero, and the above statistical cycle is repeated, so that it can satisfy the PTO to avoid wasting delay time when the combination is good, and at the same time ensure that the PTO can be fully engaged when there is a delay requirement to prevent the occurrence of gear jamming.

[0073] In addition, in order to prevent the delay confirmation time calculated after the drive motor is powered off from being lost, the delay confirmation time calculated can be stored before the drive motor is powered off, so that the subsequent delay judgment of the drive motor entering the power take-off mode can be made based on the stored delay confirmation time.

[0074] As a second aspect of the present application, the present application also provides a power take-off control device, Figure 5 FIG. 1 is a schematic diagram of a power take-off control device provided by an embodiment of the present application, as shown in FIG. Figure 5 As shown, the device includes:

[0075] The monitoring module 51 is configured to control the drive motor to output a preset torque in response to a signal indicating that the transmission is engaged in a power take-off gear; and to monitor a current speed of the drive motor under the preset torque.

[0076] a determination module 52 for determining a delayed confirmation time based on a current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-load, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load;

[0077] The power take-off module 53 is configured to confirm that the drive motor enters the power take-off mode based on the delayed confirmation time, so that the drive motor enters the power take-off mode and performs work.

[0078] The power take-off control device provided in the present application controls the drive motor to output a preset torque in response to a signal from the transmission engaging the power take-off gear; and monitors the current speed value of the drive motor driven by the preset torque; determines a delayed confirmation time based on the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-load, and a preset mounting speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-load; based on the delayed confirmation time, confirms that the drive motor has entered a power take-off mode, so that the drive motor enters the power take-off mode and performs operations. It is easy to notice that after receiving the signal that the gearbox is engaged with the power take-off, the speed change of the drive motor is observed by controlling the drive motor to output a preset torque. The current speed value of the drive motor, the preset no-load speed value corresponding to the current moment when the drive motor is idling, and the preset mounting speed value corresponding to the current moment when the drive motor is mounted with the power take-off and the power take-off is idling are used to delay the judgment on the drive motor entering the power take-off mode to confirm that the drive motor has completely entered the power take-off mode and performs the operation, thereby achieving the purpose of delaying the judgment on the drive motor entering the PTO mode after receiving the PTO engagement signal to ensure that the PTO is completely engaged in the gearbox, solving the technical problem of gearbox clashing caused by improper engagement of the drive motor gear with the PTO gear, resulting in unstable power system transmission, and achieving the technical effect of ensuring that the PTO is correctly engaged in the gearbox and ensuring stable power system transmission.

[0079] As a third aspect of the present application, the present application further provides a computer program product, comprising a computer program, which implements any power take-off control method when executed by a processor.

[0080] The methods described herein may be implemented in whole or in part via software, hardware, firmware, or any combination thereof. When implemented using software, they may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions that, when loaded and executed on a computer, fully or partially execute the processes or functions described herein. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM, or other programmable device.

[0081] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0082] The computer program or instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired or wireless method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0083] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of a power take-off control method described in any of the above embodiments of this specification.

[0084] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0085] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0086] The steps in the methods of the various embodiments of the present application can be adjusted in order, combined, or deleted according to actual needs, and the technical features recorded in the various embodiments can be replaced or combined. The devices in the various embodiments of the present application can be combined, divided, or deleted according to actual needs.

[0087] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0088] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0089] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0090] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A power take-off control method, characterized in that: The method comprises: In response to a signal from the transmission engaging a power take-off gear, controlling the drive motor to output a preset torque; and monitoring a current speed value of the drive motor driven by the preset torque; Determining a delayed confirmation time according to the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded; Based on the delayed confirmation time, it is confirmed that the drive motor enters the power take-off mode, so that the drive motor enters the power take-off mode and performs the work.

2. The power take-off control method according to claim 1, characterized in that: The determining of the delayed confirmation time according to the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded includes: When the absolute value of the difference between the current speed value and the preset no-load speed value is less than a first threshold, it is determined that the power take-off is not engaged with the gearbox, and the delayed confirmation time is determined to be a first preset delay time.

3. The power take-off control method according to claim 2, characterized in that: The determining of the delayed confirmation time according to the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded further includes: When the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to the first threshold, calculating a first time for the drive motor to be loaded from the initial speed value to the preset no-load speed value; Under the drive of the preset torque, calculating a second time for the drive motor to be loaded from an initial speed value to a preset mounting speed value; When the first time is greater than the second time, it is determined that the power take-off is engaged with the transmission, and the delayed confirmation time is determined to be a second preset delay time, which is less than the first preset delay time.

4. The power take-off control method according to claim 3, characterized in that: The determining of the delayed confirmation time according to the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded further includes: When the first time is less than or equal to the second time, the delayed confirmation time is determined to be a third preset delay time based on the preset no-load speed value and the preset loaded speed value of the drive motor, wherein the third preset delay time is greater than the second preset delay time and less than the first preset delay time.

5. The power take-off control method according to claim 4, characterized in that: The third preset delay time varies linearly with the speed difference, wherein the speed difference is the speed difference between the preset no-load speed value and the preset loaded speed value.

6. The power take-off control method according to claim 2, characterized in that: The determining of the delayed confirmation time according to the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded further includes: When the absolute value of the difference between the current speed value and the preset no-load speed value is greater than or equal to the first threshold, calculating the difference between the current speed value and the preset loaded speed value at the current moment to obtain a first difference value; Calculating the difference between the preset no-load speed value and the preset loaded speed value at the current moment to obtain a second difference; Obtaining a time coefficient according to a quotient of the first difference and the second difference; The delay confirmation time is determined according to the maximum value and the longest delay time among the time coefficient and the preset value, wherein the longest delay time is used to represent the preset longest delay time for the drive motor to enter the power take-off mode.

7. The power take-off control method according to claim 1, characterized in that: The method further comprises: In response to a signal that the transmission is engaged with a power take-off gear, controlling a start timer to start timing; Obtaining a first variation curve of the rotational speed value and time of the drive motor at the preset torque when the drive motor is unloaded; Obtaining a second variation curve of the rotational speed value and time at the preset torque when the drive motor is mounted with the power take-off and the power take-off is unloaded; Searching for a corresponding preset no-load speed value in the first variation curve at the current moment; The corresponding preset mounting speed value is searched in the second variation curve according to the current moment.

8. The power take-off control method according to claim 1, characterized in that: The method further comprises: Adding the delayed confirmation times within the first preset time period that are greater than or equal to the preset time threshold to obtain a first value; Based on the first value, subtract the delayed confirmation time within the first preset time that is less than the preset time threshold to obtain a second value; When the second value is greater than the preset value, the number of delayed confirmations within the first preset time period is accumulated to obtain the number of delayed confirmations; When the number of delayed confirmations is less than the preset number, after receiving a signal that the transmission is engaged in the power take-off gear within a second preset time period after the first preset time period, it is directly confirmed that the drive motor enters the power take-off mode.

9. The power take-off control method according to claim 8, characterized in that: The method further comprises: When the number of delayed confirmations is greater than or equal to the preset number, the second value and the number of delayed confirmations are reset.

10. A power take-off control device, characterized in that: The device comprises: a monitoring module, configured to control the drive motor to output a preset torque in response to a signal indicating that the transmission is engaged in a power take-off gear; and to monitor a current speed value of the drive motor driven by the preset torque; a determination module, configured to determine a delayed confirmation time based on the current speed value, a preset no-load speed value corresponding to the current moment when the drive motor is no-loaded, and a preset mounted speed value corresponding to the current moment when the drive motor is mounted with a power take-off and the power take-off is no-loaded; The power take-off module is used to confirm that the drive motor enters the power take-off mode based on the delayed confirmation time, so that the drive motor enters the power take-off mode and performs work.

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