Gear shifting control method and system for electric loader

Abstract

The invention discloses a gear shifting control method and system for an electric loader, and the method comprises the steps: obtaining the speed of the loader, the opening degree of an accelerator pedal and the road condition after a reversing demand of the loader is received; the braking demand torque of the loader is determined according to the loader speed, the accelerator pedal opening degree, the road condition and the selected braking demand torque determination principle, the braking demand torque determination principle comprises the maximum torque determination principle and the demand torque determination principle, and the maximum torque determination principle converts the maximum braking torque of the loader under the loader speed into the demand torque determination principle. The torque is used as braking required torque of the loader; according to the demand torque determination principle, the braking demand torque is determined according to the loader speed, the accelerator pedal opening degree and the road condition; the loading machine is braked according to the braking demand torque of the loading machine; and when the loader is braked to the gear shifting vehicle speed, the loader is controlled to shift gears. Automatic speed reduction control over reversing of the loading machine is achieved, and then automatic gear shifting of the loading machine is achieved.

Description

Technical Field

[0001] This invention relates to the field of gear shifting control technology, and in particular to a gear shifting control method and system for an electric loader. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In actual operation, loaders need to frequently shift gears between forward (F) and reverse (R), such as... Figure 3 As shown, when the loader switches from travel path V1 to V3, the loader's F needs to be switched to R; when the loader switches from travel path V3 to V4, the loader's R needs to be switched to F; when the loader switches from travel path V4 to V5, the loader's F needs to be switched to R.

[0004] Since electric loaders do not have a hydraulic transmission device, when switching between forward and reverse gears, the driver needs to brake and slow down the loader, and then manually switch the gears, which affects the efficiency and accuracy of gear shifting, and is time-consuming and labor-intensive. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a gear shifting control method and system for an electric loader, which enables automatic switching between forward and reverse gears.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: Firstly, a shift control method for an electric loader is proposed, including: After receiving the loader's reversing request, obtain the loader's speed, throttle pedal opening, and road conditions; The braking torque requirement of the loader is determined based on the loader speed, accelerator pedal opening, road conditions, and the selected braking torque requirement determination principle. The braking torque requirement determination principle includes the maximum torque determination principle and the required torque determination principle. The maximum torque determination principle takes the maximum braking torque of the loader at the loader speed as the braking torque requirement of the loader. The required torque determination principle determines the braking torque requirement based on the loader speed, accelerator pedal opening, and road conditions. Braking is applied to the loader based on its required braking torque. When the loader brakes to the shift speed, control the loader to shift gears.

[0007] Furthermore, the specific principles for determining the required torque are as follows: When the road is flat and the accelerator pedal opening is 0, the braking torque required at the current loader speed is the braking torque required to make the loader brake according to the set braking acceleration. When the road is flat and the accelerator pedal is at its maximum opening, the braking torque required at the current loader speed is the loader's maximum braking torque. When the road conditions are flat and the accelerator pedal opening is between 0 and maximum, the braking torque required at the current loader speed changes linearly between the braking torque required when the accelerator pedal opening is 0 and the braking torque required when the accelerator pedal opening is maximum. When the road conditions are downhill or uphill, the braking torque required at each accelerator pedal opening and loader speed is the torque after adjusting the braking torque required at each accelerator pedal opening and loader speed on flat roads by using a braking torque adjustment coefficient. This torque ensures that the braking effect of the loader when going uphill or downhill is the same as the braking effect on flat roads.

[0008] Furthermore, based on the accelerator pedal opening and braking acceleration adjustment curve, the braking acceleration correction coefficient is determined; The braking acceleration correction value is obtained by correcting the set braking acceleration using the braking acceleration correction coefficient. The braking torque adjustment coefficient is determined based on the braking acceleration correction value, accelerator pedal opening, and braking torque demand adjustment curve.

[0009] Furthermore, the braking acceleration adjustment curve is the relationship curve between the accelerator pedal opening and the braking acceleration correction coefficient; when the accelerator pedal opening is 0, the braking acceleration correction coefficient is 1; the braking acceleration correction coefficient increases as the accelerator pedal opening increases.

[0010] Furthermore, the braking demand torque adjustment curve is obtained by coupling the torque correction curve and the braking acceleration correction curve; The torque correction curve is the relationship curve between road conditions and braking torque adjustment coefficient. When the road condition is flat, the braking torque adjustment coefficient is 1; when the road condition is uphill, the braking torque adjustment coefficient is less than 1 and decreases as the slope increases; when the road condition is downhill, the braking torque adjustment coefficient is greater than 1 and increases as the downhill slope increases. The braking acceleration correction curve is the relationship curve between the braking acceleration correction value and the braking demand torque adjustment coefficient. When the braking acceleration correction value is the ideal braking acceleration, the braking demand torque adjustment coefficient is 1. The braking demand torque adjustment coefficient increases as the braking acceleration correction value increases.

[0011] Furthermore, when the loader's reversing requirement is to switch to reverse gear, the loader's previous gear position is also obtained; when the loader's previous gear position is a high forward gear, the loader is first controlled to shift to a low forward gear, and then the loader is controlled to shift to reverse gear.

[0012] Secondly, a shift control system for an electric loader is proposed, including: The loader status acquisition unit is used to acquire the loader speed, throttle pedal opening and road conditions after receiving the loader's reversing request; The braking torque demand determination unit is used to determine the braking torque demand of the loader based on the loader speed, accelerator pedal opening, road conditions, and selected braking torque demand determination principles. The braking torque demand determination principles include the maximum torque determination principle and the demand torque determination principle. The maximum torque determination principle uses the maximum braking torque of the loader at the loader speed as the braking torque demand of the loader. The demand torque determination principle determines the braking torque demand based on the loader speed, accelerator pedal opening, and road conditions. The brake control unit is used to brake the loader according to the braking torque required by the loader; The shift control unit is used to control the loader to shift gears when the loader brakes to the shift speed.

[0013] Thirdly, a computer device is proposed, the device comprising: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the electric loader shift control method proposed in the first aspect.

[0014] Fourthly, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed by a processor to provide a shift control method for an electric loader as proposed in the first aspect.

[0015] Fifthly, a computer program product is proposed, which includes a computer program that, when executed by a processor, implements the electric loader shifting control method proposed in the first aspect.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention proposes a shift control method and system for an electric loader. Upon receiving a loader's reversing request, the method acquires the loader's speed, accelerator pedal opening, and road conditions. Based on the loader's speed, accelerator pedal opening, road conditions, and a selected braking torque determination principle, it determines the loader's braking torque requirement. The loader is then braked according to this braking torque requirement. When the loader brakes to the shifting speed, the system controls the loader to shift gears. This achieves active speed reduction control for the loader's shifting, thereby enabling automatic switching between forward and reverse gears, reducing driver fatigue, and improving the loader's reversing efficiency.

[0017] The method also provides two braking torque determination principles for the driver to choose from. One is the maximum torque determination principle, which uses the maximum braking torque of the loader at the loader speed as the braking torque required by the loader. When using the braking torque determined by this principle to control the braking of the loader and shift gears, it ensures that the loader has the best shifting efficiency. The other is the demand torque determination principle, which determines the braking torque required based on the loader speed, accelerator pedal opening and road conditions. Under this principle, the driver can actively adjust the speed of steering according to needs.

[0018] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0020] Figure 1 This is a flowchart of an electric loader gear shifting control method disclosed in an embodiment; Figure 2 Here is a flowchart of the braking torque demand determination method disclosed in the embodiment; Figure 3 This is a schematic diagram of the driving path of the loader disclosed in the embodiment. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Example 1 Since work efficiency and economy are the two primary considerations when operating an electric loader, improved work efficiency ensures a greater loading capacity in the same amount of time, while improved economy ensures more working time. In order to achieve automatic switching between forward and reverse gears in an electric loader and improve its work efficiency and overall economy, this embodiment discloses a gear shifting control method for an electric loader. This method actively intervenes in gear shifting control when the driver needs it, reducing the driver's driving intensity and improving work efficiency. Furthermore, it rationally designs the braking recovery intensity based on the actual conditions of the vehicle to improve the overall economy.

[0025] like Figure 1 As shown in the figure, this embodiment discloses a gear shifting control method for an electric loader, including: After receiving the loader's reversing request, obtain the loader's speed, throttle pedal opening, and road conditions; The braking torque requirement of the loader is determined based on the loader speed, accelerator pedal opening, road conditions, and the selected braking torque requirement determination principle. The braking torque requirement determination principle includes the maximum torque determination principle and the required torque determination principle. The maximum torque determination principle takes the maximum braking torque of the loader at the loader speed as the braking torque requirement of the loader. The required torque determination principle determines the braking torque requirement based on the loader speed, accelerator pedal opening, and road conditions. Braking is applied to the loader based on its required braking torque. When the loader brakes to the shift speed, control the loader to shift gears.

[0026] Specifically, when the shift lever is switched from F to R, or from R to F, it indicates that the loader's reversing request has been received, and the reversing control of the loader begins.

[0027] The loader has two braking torque determination principles. The driver can select one of the two principles in advance to determine the braking torque required when the loader changes direction.

[0028] The two principles for determining braking torque demand are the maximum torque determination principle and the demand torque determination principle.

[0029] The principle for determining the maximum torque is to take the maximum braking torque of the loader at the loader's vehicle speed as the braking torque required by the loader, and this torque is determined based on the maximum braking curve.

[0030] The maximum braking curve is the relationship curve between the loader speed and the maximum braking torque available to the motor. It is obtained by fitting each loader speed with its corresponding maximum braking torque available to the motor.

[0031] Under the principle of determining the maximum torque, the driver can achieve the maximum braking torque at that vehicle speed without intervention, thereby enabling rapid reversing, increasing reversing speed, and thus improving the loader's operating efficiency.

[0032] The principle for determining the required torque is to determine the braking torque based on the loader's speed, throttle pedal opening, and road conditions. Under this principle, the driver can proactively adjust the speed of steering changes according to demand, and, in conjunction with the actual conditions of the vehicle, rationally design the regenerative braking intensity to improve the overall vehicle economy.

[0033] The road conditions include flat roads, uphill roads, and downhill roads.

[0034] The principles for determining the required torque are explained under three road conditions: flat road, uphill, and downhill.

[0035] The specific principles for determining the required torque are as follows: When the road is flat and the accelerator pedal opening is 0, the braking torque required at the current loader speed is the braking torque required to make the loader brake according to the set braking acceleration. When the road is flat and the accelerator pedal is at its maximum opening, the braking torque required at the current loader speed is the loader's maximum braking torque. When the road conditions are flat and the accelerator pedal opening is between 0 and maximum, the braking torque required at the current loader speed changes linearly between the braking torque required when the accelerator pedal opening is 0 and the braking torque required when the accelerator pedal opening is maximum. When the road conditions are downhill or uphill, the braking torque required at each accelerator pedal opening and loader speed is the torque after adjusting the braking torque required at each accelerator pedal opening and loader speed on flat roads by using a braking torque adjustment coefficient. This torque ensures that the braking effect of the loader when going uphill or downhill is the same as the braking effect on flat roads.

[0036] When the road is flat and the accelerator pedal opening is 0, the braking torque requirement is obtained by looking up the ideal braking torque curve in the loader speed table.

[0037] The ideal braking torque curve is the relationship between the loader speed and the braking torque required to brake the loader at the set ideal braking acceleration when the loader is on a flat road. It is obtained by fitting each loader speed with its corresponding braking torque.

[0038] The ideal braking acceleration can be set according to requirements, such as 0.5 m / s². 2 ~0.6m / s 2 Any value in the range.

[0039] Specifically, if the loader is on a downhill slope, the braking torque should be increased as much as possible to increase braking capacity. If the loader is on an uphill slope, the braking torque can be appropriately reduced to reduce braking capacity, achieving the same braking effect as on a flat road.

[0040] Specifically, when the loader is on a downhill slope, the braking torque adjustment coefficient is greater than 1; when the loader is on an uphill slope, the braking torque adjustment coefficient is less than 1.

[0041] The process of determining the braking torque adjustment coefficient is as follows: Figure 2 As shown, it includes: Determine the braking acceleration correction coefficient based on the accelerator pedal opening and braking acceleration adjustment curve; The braking acceleration correction value is obtained by correcting the set braking acceleration using the braking acceleration correction coefficient. The braking torque adjustment coefficient is determined based on the braking acceleration correction value, accelerator pedal opening, and braking torque demand adjustment curve.

[0042] Among them, the braking acceleration adjustment curve is the relationship curve between the accelerator pedal opening and the braking acceleration correction coefficient; when the accelerator pedal opening is 0, the braking acceleration correction coefficient is 1; the braking acceleration correction coefficient increases as the accelerator pedal opening increases.

[0043] Preferably, when the accelerator pedal opening is at its maximum, the braking acceleration correction coefficient is the first set coefficient; when the accelerator pedal opening is between 0 and the maximum and gradually increases, the braking acceleration correction coefficient increases linearly between 1 and the first set coefficient.

[0044] The first set coefficient can be set according to requirements, such as the first set coefficient being 2.

[0045] The braking demand torque adjustment curve is obtained by coupling the torque correction curve and the braking acceleration correction curve. The torque correction curve is the relationship curve between road gradient and braking torque adjustment coefficient. When the road is flat, the braking torque adjustment coefficient is 1; when the road is uphill, the braking torque adjustment coefficient is less than 1 and decreases as the gradient increases; when the road is downhill, the braking torque adjustment coefficient is greater than 1 and increases as the downhill gradient increases.

[0046] Preferably, when the road condition is uphill and the uphill slope reaches the maximum climbing angle allowed by the loader, the braking torque adjustment coefficient is the second set coefficient; when the road condition is uphill and the uphill angle is between 0 and the maximum climbing angle, the braking torque adjustment coefficient decreases linearly between 1 and the second set coefficient. When the road condition is downhill and the maximum downhill angle allowed by the loader is reached, the braking torque adjustment coefficient is the third set coefficient; when the road condition is downhill and the downhill angle is between 0 and the maximum downhill angle, the braking torque adjustment coefficient increases linearly between 1 and the third set coefficient.

[0047] The second and third setting coefficients are set according to actual needs, with the second setting coefficient being 0.7 and the third setting coefficient being 1.5, etc.

[0048] The braking acceleration correction curve shows the relationship between the braking acceleration correction value and the braking torque demand adjustment coefficient. When the braking acceleration correction value is the ideal braking acceleration, the braking torque demand adjustment coefficient is 1. The braking torque demand adjustment coefficient increases as the braking acceleration correction value increases. The larger the acceleration, the larger the coefficient; the smaller the acceleration, the smaller the coefficient.

[0049] Preferably, when the braking acceleration correction value is at its minimum, the corresponding braking demand torque adjustment coefficient is the fourth setting coefficient, and when the braking acceleration correction value is at its maximum, the corresponding braking demand torque adjustment coefficient is the fifth setting coefficient; the minimum value, maximum value, fourth setting coefficient, and fifth setting coefficient are all determined according to the actual working conditions.

[0050] This embodiment also limits the loader to the current gear position when the loader's reversing requirement is to switch to reverse gear; when the loader's current gear position is a high forward gear, the loader is first controlled to shift to a low forward gear, and then controlled to shift to reverse gear.

[0051] It should be noted that loaders are generally configured with two gears. If you are switching from F2 to R, you need to first switch the gear from F2 to F1, and then wait for the vehicle speed to drop to a certain value before reversing the motor speed to switch to R.

[0052] When the driver shifts the gear lever from F to R, the vehicle can be stopped and reversed without any manual operation. If the driver's needs change during this process and they wish to return to F, they simply shift the lever back to F and repeat the operation. Similarly, shifting from R to F performs a similar control.

[0053] This embodiment discloses an electric loader shift control system that actively intervenes in shift control when the driver needs it, reducing the driver's driving intensity and improving work efficiency. In addition, it rationally designs the braking regenerative braking intensity based on the actual situation of the vehicle, thereby improving the overall vehicle economy.

[0054] Example 2 In this embodiment, a shift control system for an electric loader is disclosed, comprising: The loader status acquisition unit is used to acquire the loader speed, throttle pedal opening and road conditions after receiving the loader's reversing request; The braking torque demand determination unit is used to determine the braking torque demand of the loader based on the loader speed, accelerator pedal opening, road conditions, and selected braking torque demand determination principles. The braking torque demand determination principles include the maximum torque determination principle and the demand torque determination principle. The maximum torque determination principle uses the maximum braking torque of the loader at the loader speed as the braking torque demand of the loader. The demand torque determination principle determines the braking torque demand based on the loader speed, accelerator pedal opening, and road conditions. The brake control unit is used to brake the loader according to the braking torque required by the loader; The shift control unit is used to control the loader to shift gears when the loader brakes to the shift speed.

[0055] The present invention also discloses a computer device, the device comprising: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements a gear shifting control method for an electric loader disclosed in Embodiment 1.

[0056] The present invention also discloses a computer-readable storage medium storing a computer program adapted to be loaded by a processor and executed by a processor to perform a shift control method for an electric loader disclosed in Embodiment 1.

[0057] The present invention also discloses a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements an electric loader shift control method disclosed in Embodiment 1.

[0058] The method disclosed in Example 1 can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0059] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can 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.

[0060] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for controlling gear shifting in an electric loader, characterized in that, include: After receiving the loader's reversing request, obtain the loader's speed, throttle pedal opening, and road conditions; The braking torque requirement of the loader is determined based on the loader speed, accelerator pedal opening, road conditions, and the selected braking torque requirement determination principle. The braking torque requirement determination principle includes the maximum torque determination principle and the required torque determination principle. The maximum torque determination principle takes the maximum braking torque of the loader at the loader speed as the braking torque requirement of the loader. The required torque determination principle determines the braking torque requirement based on the loader speed, accelerator pedal opening, and road conditions. Braking is applied to the loader based on its required braking torque. When the loader brakes to the shift speed, control the loader to shift gears.

2. The electric loader shifting control method as described in claim 1, characterized in that, The specific principles for determining the required torque are as follows: When the road is flat and the accelerator pedal opening is 0, the braking torque required at the current loader speed is the braking torque required to make the loader brake according to the set braking acceleration. When the road is flat and the accelerator pedal is at its maximum opening, the braking torque required at the current loader speed is the loader's maximum braking torque. When the road conditions are flat and the accelerator pedal opening is between 0 and maximum, the braking torque required at the current loader speed changes linearly between the braking torque required when the accelerator pedal opening is 0 and the braking torque required when the accelerator pedal opening is maximum. When the road conditions are downhill or uphill, the braking torque required at each accelerator pedal opening and loader speed is the torque after adjusting the braking torque required at each accelerator pedal opening and loader speed on flat roads by using a braking torque adjustment coefficient. This torque ensures that the braking effect of the loader when going uphill or downhill is the same as the braking effect on flat roads.

3. The electric loader shifting control method as described in claim 2, characterized in that, Determine the braking acceleration correction coefficient based on the accelerator pedal opening and braking acceleration adjustment curve; The braking acceleration correction value is obtained by correcting the set braking acceleration using the braking acceleration correction coefficient. The braking torque adjustment coefficient is determined based on the braking acceleration correction value, accelerator pedal opening, and braking torque demand adjustment curve.

4. The electric loader shifting control method as described in claim 3, characterized in that, The braking acceleration adjustment curve is the relationship curve between the accelerator pedal opening and the braking acceleration correction coefficient; when the accelerator pedal opening is 0, the braking acceleration correction coefficient is 1; the braking acceleration correction coefficient increases as the accelerator pedal opening increases.

5. The electric loader shifting control method as described in claim 3, characterized in that, The braking demand torque adjustment curve is obtained by coupling the torque correction curve and the braking acceleration correction curve. The torque correction curve is the relationship curve between road conditions and braking torque adjustment coefficient. When the road condition is flat, the braking torque adjustment coefficient is 1; when the road condition is uphill, the braking torque adjustment coefficient is less than 1 and decreases as the slope increases; when the road condition is downhill, the braking torque adjustment coefficient is greater than 1 and increases as the downhill slope increases. The braking acceleration correction curve is the relationship curve between the braking acceleration correction value and the braking demand torque adjustment coefficient. When the braking acceleration correction value is the ideal braking acceleration, the braking demand torque adjustment coefficient is 1. The braking demand torque adjustment coefficient increases as the braking acceleration correction value increases.

6. The electric loader shifting control method as described in claim 1, characterized in that, When the loader's reversing requirement is to switch to reverse gear, the previous gear position of the loader is also obtained; when the previous gear position of the loader is a high forward gear, the loader is first controlled to shift to a low forward gear, and then the loader is controlled to shift to reverse gear.

7. A shift control system for an electric loader, characterized in that, include: The loader status acquisition unit is used to acquire the loader speed, throttle pedal opening and road conditions after receiving the loader's reversing request; The braking torque demand determination unit is used to determine the braking torque demand of the loader based on the loader speed, accelerator pedal opening, road conditions, and selected braking torque demand determination principles. The braking torque demand determination principles include the maximum torque determination principle and the demand torque determination principle. The maximum torque determination principle uses the maximum braking torque of the loader at the loader speed as the braking torque demand of the loader. The demand torque determination principle determines the braking torque demand based on the loader speed, accelerator pedal opening, and road conditions. The brake control unit is used to brake the loader according to the braking torque required by the loader; The shift control unit is used to control the loader to shift gears when the loader brakes to the shift speed.

8. An electronic device, characterized in that, The device includes: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the gear shifting control method for an electric loader as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed by the electric loader shift control method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the electric loader shift control method according to any one of claims 1-6.

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