Tractor fender power output shaft rotating speed control method and device and related equipment

Abstract

The invention relates to the technical field of tractor control, and particularly discloses a rotating speed control method and device for a power output shaft of a tractor fender and related equipment.The method comprises the steps that in response to a pressing signal of a fender button, the current of an electromagnetic valve is gradually increased, and the rotating speed is monitored; when the rotating speed reaches a threshold value, increasing is stopped; setting a target rotating speed and performing closed-loop control; torque and sliding friction duration are monitored, and the clutch is pressed when the limit is exceeded; and controlling the clutch state according to the current value in response to the button release signal. Low-speed step-by-step control of the power output shaft is achieved by controlling the current of the electromagnetic valve, the problem that spline butt joint is difficult due to the fact that the rotating speed is too high in the prior art is solved, safety and stability during hooking are guaranteed by combining closed-loop adjustment and torque detection, and meanwhile operation convenience and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tractor control technology, and in particular to a tractor mudguard power output shaft speed control method, device and related equipment. BACKGROUND

[0002] When the tractor is used in conjunction with the machine, the rear power output shaft needs to rotate slowly to facilitate the spline butt joint. However, in the prior art, the rear power output shaft of the tractor usually runs at a high speed when the machine is connected, which is difficult to meet the low speed requirement of the spline butt joint, thereby reducing the efficiency of the machine connection.

[0003] Therefore, there is an urgent need to provide a technical solution to solve the above problems. SUMMARY

[0004] To solve the above technical problems, the present application provides a tractor mudguard power output shaft speed control method, device and related equipment.

[0005] In a first aspect, the present application provides a tractor mudguard power output shaft speed control method, and the technical scheme of the method is as follows: In response to the pressing signal of the mudguard button of the tractor, the current of the electromagnetic valve of the clutch of the tractor is gradually increased according to the first current value and the first time interval, and the current speed of the power output shaft of the tractor is monitored; when the current speed is not less than the preset speed threshold, the current of the electromagnetic valve is stopped. The target speed of the power output shaft is set, and the absolute value of the difference between the current speed and the target speed is calculated; when the absolute value of the difference is greater than the preset tolerance, the current of the electromagnetic valve is controlled according to the difference; In the process of executing the closed loop control, the torque of the power output shaft and the slip time of the clutch are monitored; when the torque exceeds the preset torque threshold or the slip time exceeds the preset maximum time, the current of the electromagnetic valve is controlled to increase according to a fixed slope until the clutch is compressed; In response to the release signal of the mudguard button, the current of the electromagnetic valve is controlled according to the comparison result of the current value of the electromagnetic valve and the preset current threshold: if the current value is less than the preset current threshold, the current of the electromagnetic valve is controlled to zero; if the current value is greater than or equal to the preset current threshold, the electromagnetic valve is controlled to keep energized to keep the clutch in the combined state.

[0006] The beneficial effects of a tractor mudguard power output shaft speed control method of the present application are as follows: The method of the present application realizes low-speed step-by-step control of the power output shaft by controlling the solenoid current, solves the problem of spline butt joint difficulty caused by excessively high speed in the prior art, and guarantees safety and stability during the connection by combining closed-loop regulation and torque detection, while improving operation convenience and efficiency.

[0007] On the basis of the above-mentioned scheme, the tractor mudguard power output shaft speed control method of the present application can be further improved as follows.

[0008] In an alternative way, the preset speed threshold is determined based on the product of the engine speed of the tractor and the speed ratio of the transmission system.

[0009] In an alternative way, the step of closed-loop control of the current of the solenoid according to the difference value comprises: querying a preset current offset table according to the positive and negative and size of the difference value to obtain a target current offset; adding the target current offset to a basic current value to obtain a control current value of the solenoid, and using the control current value to control the solenoid.

[0010] In an alternative way, the current offset table contains a plurality of continuous numerical intervals, and each continuous numerical interval corresponds to a preset current offset.

[0011] In an alternative way, the fixed slope is a constant value preset according to the friction plate characteristics and allowable heat load of the clutch.

[0012] In an alternative way, the preset torque threshold is set as a safety threshold lower than the maximum transmission torque of the clutch.

[0013] In an alternative way, the preset maximum time length is determined according to the allowable heat load of the clutch.

[0014] In a second aspect, the present application provides a tractor mudguard power output shaft speed control device, and the technical scheme of the device is as follows: comprising: a first control module, a second control module, a third control module and a fourth control module; The first control module is used for: in response to a press signal of the mudguard button of the tractor, gradually increasing the current of the solenoid of the clutch of the tractor according to a first current value and a first time interval, and monitoring the current speed of the power output shaft of the tractor; when the current speed is not less than a preset speed threshold, stopping increasing the current of the solenoid. The second control module is configured to set a target rotating speed of the power output shaft, and calculate an absolute value of a difference between the current rotating speed and the target rotating speed; when the absolute value of the difference is greater than a preset tolerance, the current of the electromagnetic valve is closed-loop controlled according to the difference. The third control module is configured to monitor a torque of the power output shaft and a slip time length of the clutch during the closed-loop control, and control the current of the electromagnetic valve to increase at a fixed slope until the clutch is compressed when the torque exceeds a preset torque threshold or the slip time length exceeds a preset maximum time length. The fourth control module is configured to, in response to a release signal of the mudguard button, control the current of the electromagnetic valve according to a comparison result of a current value of the electromagnetic valve and a preset current threshold: if the current value is less than the preset current threshold, the current of the electromagnetic valve is controlled to be zero; and if the current value is greater than or equal to the preset current threshold, the electromagnetic valve is controlled to remain energized so that the clutch remains in a combined state.

[0015] The tractor mudguard power output shaft rotating speed control device has the following beneficial effects: The device controls the current of the electromagnetic valve to gradually control the rotating speed of the power output shaft at a low speed, solves the problem of spline butt joint difficulty caused by excessively high rotating speed in the prior art, and guarantees the safety and stability during connection by combining closed-loop regulation and torque detection, while improving the operation convenience and efficiency.

[0016] In a third aspect, a technical scheme of an electronic device is as follows: The electronic device comprises a memory, a processor, and a program stored in the memory and running on the processor, and the processor implements the steps of the tractor mudguard power output shaft rotating speed control method of the present application when executing the program.

[0017] In a fourth aspect, the present application provides a tractor adopting the following technical scheme: The tractor comprises the tractor mudguard power output shaft rotating speed control device of the second aspect.

[0018] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, the technical scheme can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are only used to show the embodiments and are not considered as limiting the present application. Moreover, the same reference signs are used to represent the same parts throughout the drawings. In the drawings: Figure 1 Figure 1 is a flowchart of an embodiment of a tractor mudguard power output shaft speed control method according to the present application; Figure 2 Figure 2 is a timing diagram of a protection control triggered by a slip duration exceeding a limit; Figure 3 Figure 3 is a timing diagram of a protection control triggered by a torque exceeding a limit; Figure 4 Figure 4 is a timing diagram of a control when the mudguard button is released and the current value is below a preset threshold; Figure 5 Figure 5 is a timing diagram of a control when the mudguard button is released and the current value is above a preset threshold; Figure 6 Figure 6 is a complete flowchart; Figure 7 Figure 7 is a structural diagram of an embodiment of a tractor mudguard power output shaft speed control device according to the present application; Figure 8 Figure 8 is a structural diagram of an embodiment of an electronic device according to the present application. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present application will be described in detail with reference to the drawings. Although exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0021] Figure 1 Figure 1 is a flowchart of an embodiment of a tractor mudguard power output shaft speed control method according to the present application, which can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the tractor mudguard power output shaft speed control method by calling computer-readable instructions stored in a memory through a processor. As shown in Figure 1, the method comprises the following steps: Figure 1 S1, in response to a press signal of a mudguard button of a tractor, gradually increase the current of an electromagnetic valve of a clutch of the tractor according to a first current value and a first time interval, and monitor the current speed of a power output shaft of the tractor; when the current speed is not less than a preset speed threshold, stop increasing the current of the electromagnetic valve. ​

[0022] Wherein, tractor refers to: a kind of agricultural power machinery, used for traction and driving operation tools;For example, when the rotary mower is connected, the tractor provides power and controls the rotating speed of the power output shaft. Mudguard button refers to: a physical button installed on the mudguard of the tractor, used to trigger the power output shaft control signal;For example, after the operator presses the button, the rotating speed control process of the power output shaft is started. Pressing signal refers to: the electrical signal generated when the mudguard button is pressed;For example, when the button is pressed, the controller receives the signal and starts to gradually increase the solenoid current. The first current value refers to: the pre-set step increment of the solenoid current;For example, the control program takes 0.1A as the first current value, and gradually increases the current. The first time interval refers to: the time period for gradually increasing the solenoid current;For example, the control program takes 100ms as the first time interval, and periodically increases the current. Clutch refers to: a device used to combine or separate power in the transmission system;For example, the wet clutch in the rear axle of the tractor controls the power connection between the power output shaft and the engine. Solenoid valve refers to: an electromagnetic drive valve that controls the opening and closing of the hydraulic circuit;For example, the proportional solenoid valve in the clutch hydraulic circuit adjusts the hydraulic pressure through the current. Power output shaft refers to: the shaft that outputs power at the rear of the tractor, used to drive the connected tools;For example, the spline shaft of the rotary mower is connected to the power output shaft. Current rotating speed refers to: the real-time rotating speed of the power output shaft;For example, the current rotating speed of the power output shaft is monitored by the rotating speed sensor to be 50 r / min. The preset rotating speed threshold refers to: the rotating speed threshold set in the program;For example, the preset rotating speed threshold is 100 r / min, and the current increase is stopped when the current rotating speed reaches this value.

[0023] S2, set the target rotating speed of the power output shaft, and calculate the absolute value of the difference between the current rotating speed and the target rotating speed;When the absolute value of the difference is greater than the preset tolerance, the current of the solenoid valve is controlled in a closed loop according to the difference.

[0024] Wherein, target rotating speed refers to: the stable rotating speed that the power output shaft is expected to maintain;For example, the target rotating speed is set to 80 r / min for spline connection. The difference refers to: the numerical difference between the current rotating speed and the target rotating speed;For example, the current rotating speed is 85 r / min, the target rotating speed is 80 r / min, and the difference is 5 r / min. The preset tolerance refers to: the maximum absolute value of the allowed rotating speed deviation;For example, the preset tolerance 5 r / min, and the closed-loop control is triggered when the absolute value of the difference exceeds the value. The closed-loop control refers to a control mode that automatically adjusts the output based on a feedback signal; for example, a current offset table is queried according to the speed difference, and the solenoid valve current is adjusted to stabilize the speed.

[0025] S3, in the process of executing the closed-loop control, the torque of the power output shaft and the slip time of the clutch are monitored; when the torque exceeds a preset torque threshold or the slip time exceeds a preset maximum time, the current of the solenoid valve is controlled to increase at a fixed slope until the clutch is compressed.

[0026] Wherein, the torque refers to the rotational moment transmitted by the power output shaft; for example, the power output shaft torque is monitored to be 200 N·m. The slip time refers to the time when the clutch is in the slip state; for example, the duration from the start of the clutch slip to the current time is 30 s. The preset torque threshold refers to the torque safety limit value set in the program; for example, the preset torque threshold is 300 N·m, and the clutch is compressed when the value is exceeded. The preset maximum time refers to the maximum time allowed for the clutch to slip; for example, the preset maximum time is 60 s, and the clutch is compressed when the time is exceeded. The fixed slope refers to the constant rate of current increase over time; for example, the solenoid valve current is controlled to increase at a fixed slope of 0.5 A / s.

[0027] As shown in Figure 2 , in order to ensure that the rear power output shaft control clutch does not stay in the slip state for a long time, the target speed is set to maintain for a certain time, and when the slip time exceeds Tmax, the clutch is controlled to rise at a fixed slope and compress the clutch. Specifically, in response to the press signal of the mudguard button, the solenoid valve control current of the clutch is gradually increased in steps according to the first current value I1 and the first time interval T1; in this process, the actual speed of the power output shaft gradually rises from the static state (N1); when it is monitored that the actual speed reaches the preset speed threshold Ns (N2), the current increase is stopped; then the target speed (N3) is set, and the actual speed is dynamically stabilized around the target value through closed-loop control; if the slip time of the clutch reaches the preset maximum time Tmax, the solenoid valve current is controlled to increase at a fixed slope to compress the clutch, thereby avoiding damage to the clutch due to long-term slip.

[0028] As shown in Figure 3 , in order to ensure that the clutch is still in the slip state after sudden loading, the torque judgment condition is added, and the current torque T exceeds the set torque threshold When the clutch solenoid valve no longer maintains the target speed of the power output shaft, it directly follows a fixed slope to compress the clutch. Specifically, during normal closed-loop control (control current is adjusted in steps), if the torque T of the power output shaft is monitored to exceed the preset torque threshold , the target speed-based closed-loop regulation logic is immediately interrupted, the power output shaft target speed is no longer maintained, and the current of the solenoid valve is directly controlled to increase according to a preset fixed slope, thereby rapidly compressing the clutch to cope with sudden loads and protect the transmission system.

[0029] S4, in response to the release signal of the mud flap button, controlling the current of the solenoid valve according to the comparison result of the current value of the solenoid valve and the preset current threshold: if the current value is less than the preset current threshold, the current of the solenoid valve is controlled to zero; if the current value is greater than or equal to the preset current threshold, the solenoid valve is controlled to remain energized to keep the clutch in the engaged state.

[0030] Wherein, the release signal refers to the electrical signal generated when the mud flap button is released; for example, after the operator releases the button, the controller determines the clutch state according to the current value. The comparison result refers to the comparison conclusion of the current value and the preset current threshold; for example, the current value is 1.5 A and the preset current threshold is 1.0 A, the comparison result is greater than the threshold. The engaged state refers to the state in which the clutch is fully engaged and power is reliably transmitted; for example, after the clutch is compressed, the power output shaft is rigidly connected to the engine.

[0031] When responding to the release signal of the mud flap button, as shown in Figure 4 , it is determined that the current value of the solenoid valve is less than the preset current threshold I Close , the current of the solenoid valve is controlled to zero, the clutch is disconnected, and the power output shaft stops power transmission; as shown in Figure 5 , it is detected that the current value of the solenoid valve has reached and exceeded the preset current threshold I Close , the solenoid valve is controlled to remain energized (continue to charge oil), and the clutch is kept engaged, thereby ensuring that the rear power output shaft continuously outputs power.

[0032] The technical solution of the embodiment controls the current of the solenoid valve to gradually control the speed of the power output shaft, solves the problem of spline butt joint difficulty caused by excessive speed in the prior art, and guarantees safety and stability during connection by combining closed-loop regulation and torque detection, while improving operation convenience and efficiency.

[0033] In an alternative way, the preset speed threshold is determined based on the product of the engine speed of the tractor and the speed ratio of the transmission system.

[0034] Engine speed refers to the rotational speed of the tractor engine; for example, an engine speed of 2000 r / min. Transmission ratio refers to the ratio of engine speed to the power output shaft speed; for example, a transmission ratio of 1.5:1 means an engine speed of 2000 r / min corresponds to a power output shaft speed of 1333 r / min.

[0035] Among the above-mentioned optional methods, the dynamic adjustment mechanism of the preset speed threshold has been further optimized. The threshold is dynamically determined based on the product of the tractor engine speed and the transmission system speed ratio, which can more accurately adapt to different working conditions and improve the success rate of spline docking.

[0036] In one alternative approach, the step of performing closed-loop control of the current of the solenoid valve based on the difference includes: The target current offset is obtained by querying a preset current offset table based on the sign and magnitude of the difference.

[0037] The current offset table refers to a database that stores the mapping relationship between speed difference and current offset; for example, a pre-defined table in the program contains the correspondence between difference ranges and offsets, as shown in Table 1. Target current offset This refers to the current adjustment value obtained from the current offset table; for example, when the difference is 3 r / min, the target current offset is obtained by querying the table. It is -0.2 A.

[0038] Table 1: It should be noted that, , , This is an incremental speed difference threshold used to divide different control intensity ranges. Table 1 shows that when the actual speed is lower than the target speed (negative difference) and exceeds the tolerance range, a positive current offset is applied to increase the solenoid valve current, thereby improving clutch engagement and increasing speed; when the actual speed is higher than the target speed (positive difference) and exceeds the tolerance range, a negative current offset is applied to decrease the solenoid valve current, reducing clutch engagement and decreasing speed. By consulting this table to obtain the target current offset, and superimposing it with the base current value, the final control current value is generated, achieving precise and stable closed-loop control of the power output shaft speed.

[0039] The target current offset is added to the base current value to obtain the control current value of the solenoid valve, and the solenoid valve is controlled using the control current value.

[0040] Among them, the base current value This refers to the reference value of the current in closed-loop control; for example, the base current value when closed-loop control starts. The current is 1.0 A. Control current. This refers to the final current command calculated by the control algorithm and used to directly drive the solenoid valve; for example, in closed-loop control, the target current offset obtained from the query. =-0.2 A and base current value Adding 1.0 A together yields the control current value used for precise clutch adjustment. =0.8 A.

[0041] Among the above-mentioned optional methods, the flexibility and accuracy of closed-loop control are further enhanced. By querying the current offset table through the sign and magnitude of the difference, the current of the solenoid valve is dynamically adjusted, making the speed of the power output shaft more stable and meeting the requirements of low-speed precise control.

[0042] In one alternative approach, the current offset table includes multiple consecutive numerical intervals, each corresponding to a preset current offset.

[0043] Among them, the continuous numerical range refers to the segmented range of the difference in the current offset table; for example, the difference range is 0-2 r / min, 2-4 r / min, etc., and each range corresponds to an offset.

[0044] Among the above-mentioned optional methods, the design of the current offset table has been further refined. By dividing continuous numerical intervals and corresponding preset current offsets, more precise current adjustment is achieved, improving control accuracy and adaptability.

[0045] In one alternative approach, the fixed slope is a constant value predetermined based on the friction plate characteristics and allowable thermal load of the clutch.

[0046] Among them, friction plate characteristics refer to the material, wear, and coefficient of friction properties of the clutch friction plate; for example, the allowable coefficient of friction of the friction plate is 0.3, used to set a fixed slope. Allowable thermal load refers to the maximum heat energy accumulation that the clutch can withstand; for example, based on the heat dissipation capacity of the friction plate, the allowable thermal load is 500 kJ, used to set the preset maximum duration.

[0047] Among the above-mentioned optional methods, the current increase strategy has been further optimized. Based on the characteristics of the clutch friction plate and the allowable thermal load, a fixed slope is preset to ensure that the current increase process is smooth and reliable, reduce friction loss and protect the clutch.

[0048] In one alternative approach, the preset torque threshold is set to a safe threshold below the maximum transmit torque of the clutch.

[0049] The maximum transmitted torque refers to the maximum torque value that the clutch can transmit; for example, the maximum transmitted torque of the clutch is 500 N·m. The safety threshold refers to the safety limit set to protect the system; for example, the preset torque threshold is set to 60% of the maximum transmitted torque, i.e., 300 N·m, as the safety threshold.

[0050] Among the above-mentioned optional methods, the safety design standard of the preset torque threshold is further clarified, which is set as a reasonable and safe proportion of the maximum transmitted torque of the clutch, effectively protecting the clutch from overload damage and improving operational safety.

[0051] In one alternative approach, the preset maximum duration is determined based on the allowable thermal load of the clutch.

[0052] Among the above-mentioned optional methods, the slip control logic is further optimized. The preset maximum slip duration is determined based on the allowable thermal load of the clutch. When the slip duration exceeds the limit, the clutch is pressed in time to avoid overheating and damage to the clutch due to excessive slip duration.

[0053] In this embodiment, as Figure 6 As shown, after the process begins, it is first determined whether the mudguard button is pressed; if so, the solenoid valve is controlled to gradually increase the current according to the first current value I1 and the first time interval T1, until the speed N is detected to be not less than the preset speed threshold. Subsequently, the monitoring of the speed difference (N-) was initiated. The closed-loop control stage involves real-time adjustment of the control current. During this stage, it monitors in parallel whether the clutch slippage time t exceeds the preset maximum time Tmax, and whether the torque T of the power output shaft exceeds a preset threshold. If either the slippage duration or torque exceeds the limit, the closed-loop control exits, and the solenoid valve current increases at a fixed rate to tighten the clutch. If the button is released during the process, it checks whether the current I is greater than or equal to the preset current threshold I. Close This determines whether to keep the solenoid valve energized to keep the clutch engaged, or to control the current to zero to disengage the clutch, thus ending the process.

[0054] Figure 7 A schematic diagram of an embodiment of a tractor mudguard power take-off shaft speed control device 200 provided by the present invention is shown. Figure 7 As shown, the device 200 includes: a first control module 201, a second control module 202, a third control module 203, and a fourth control module 204; The first control module 201 is configured to: respond to a press signal of the mudguard button of the tractor, gradually increase the current of the solenoid valve of the clutch of the tractor according to a first current value and a first time interval, and monitor the current speed of the power output shaft of the tractor; when the current speed is not less than a preset speed threshold, stop increasing the current of the solenoid valve; The second control module 202 is used to: set the target speed of the power output shaft and calculate the absolute value of the difference between the current speed and the target speed; when the absolute value of the difference is greater than a preset tolerance, perform closed-loop control on the current of the solenoid valve according to the difference; The third control module 203 is used to: monitor the torque of the power output shaft and the slippage duration of the clutch during the execution of the closed-loop control; when the torque exceeds a preset torque threshold or the slippage duration exceeds a preset maximum duration, control the current of the solenoid valve to increase at a fixed slope until the clutch is pressed. The fourth control module 204 is used to: respond to the release signal of the mudguard button, and control the current of the solenoid valve according to the comparison result of the current current value of the solenoid valve and the preset current threshold: if the current current value is less than the preset current threshold, the current of the solenoid valve is controlled to be zero; if the current current value is greater than or equal to the preset current threshold, the solenoid valve is controlled to remain energized so that the clutch remains engaged.

[0055] In one alternative approach, the preset speed threshold is determined based on the product of the tractor's engine speed and the transmission ratio.

[0056] In one alternative embodiment, the second control module 202 is specifically used for: The target current offset is obtained by querying a preset current offset table based on the sign and magnitude of the difference. The target current offset is added to the base current value to obtain the control current value of the solenoid valve, and the solenoid valve is controlled using the control current value.

[0057] In one alternative approach, the current offset table includes multiple consecutive numerical intervals, each corresponding to a preset current offset.

[0058] In one alternative approach, the fixed slope is a constant value predetermined based on the friction plate characteristics and allowable thermal load of the clutch.

[0059] In one alternative approach, the preset torque threshold is set to a safe threshold below the maximum transmit torque of the clutch.

[0060] In one alternative approach, the preset maximum duration is determined based on the allowable thermal load of the clutch.

[0061] It should be noted that the beneficial effects of the tractor fender power take-off shaft speed control device 200 provided in the above embodiments are the same as those of the tractor fender power take-off shaft speed control method described above, and will not be repeated here. Furthermore, the device provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the device can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0062] The tractor fender power take-off shaft speed control device 200 of the present invention can be a computer program (including program code) running on a computer device. For example, the tractor fender power take-off shaft speed control device 200 of the present invention is an application software that can be used to execute the corresponding steps in the tractor fender power take-off shaft speed control method of the present invention.

[0063] In some embodiments, the tractor fender power output shaft speed control device 200 of the present invention can be implemented in a combination of hardware and software. As an example, the tractor fender power output shaft speed control device 200 of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the tractor fender power output shaft speed control method of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0064] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0065] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-described methods for controlling the speed of the tractor fender power take-off shaft. That is, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the method for controlling the speed of the tractor fender power take-off shaft according to any embodiment of the present invention by calling the computer program.

[0066] In one alternative embodiment, an electronic device is provided, such as Figure 8 As shown, Figure 8 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0067] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0068] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8The bus 4002 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0069] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0070] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0071] Among them, electronic devices can also be terminal devices. A terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0072] It should be noted that, Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0073] The present invention provides a tractor, including a tractor mudguard power output shaft speed control device 200 provided by the present invention.

[0074] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0075] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0076] Those skilled in the art will recognize that this invention can be implemented as an apparatus, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "apparatus." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the rotational speed of the power take-off shaft of a tractor mudguard, characterized in that, include: In response to the press signal of the mudguard button of the tractor, the current of the solenoid valve of the clutch of the tractor is gradually increased according to the first current value and the first time interval, and the current speed of the power output shaft of the tractor is monitored; when the current speed is not less than the preset speed threshold, the current of the solenoid valve is stopped. Set the target speed of the power output shaft and calculate the absolute value of the difference between the current speed and the target speed; when the absolute value of the difference is greater than the preset tolerance, perform closed-loop control of the current of the solenoid valve based on the difference; During the execution of the closed-loop control, the torque of the power output shaft and the slippage duration of the clutch are monitored; when the torque exceeds a preset torque threshold or the slippage duration exceeds a preset maximum duration, the current of the solenoid valve is controlled to increase at a fixed slope until the clutch is pressed. In response to the release signal of the mudguard button, the current of the solenoid valve is controlled according to the comparison result between the current current value of the solenoid valve and the preset current threshold: if the current current value is less than the preset current threshold, the current of the solenoid valve is controlled to be zero; if the current current value is greater than or equal to the preset current threshold, the solenoid valve is controlled to remain energized so that the clutch remains engaged.

2. The method for controlling the rotational speed of the tractor mudguard power take-off shaft according to claim 1, characterized in that, The preset speed threshold is determined based on the product of the tractor's engine speed and the transmission system speed ratio.

3. The method for controlling the speed of the power take-off shaft of a tractor mudguard according to claim 1, characterized in that, The step of performing closed-loop control of the current of the solenoid valve based on the difference includes: The target current offset is obtained by querying a preset current offset table based on the sign and magnitude of the difference. The target current offset is added to the base current value to obtain the control current value of the solenoid valve, and the solenoid valve is controlled using the control current value.

4. The method for controlling the speed of the power take-off shaft of a tractor mudguard according to claim 3, characterized in that, The current offset table contains multiple consecutive numerical intervals, and each consecutive numerical interval corresponds to a preset current offset.

5. The method for controlling the rotational speed of the tractor mudguard power take-off shaft according to claim 1, characterized in that, The fixed slope is a constant value preset based on the friction plate characteristics and allowable thermal load of the clutch.

6. The method for controlling the speed of the power take-off shaft of a tractor mudguard according to claim 1, characterized in that, The preset torque threshold is set to a safe threshold that is lower than the maximum transmitted torque of the clutch.

7. The method for controlling the speed of the power take-off shaft of a tractor mudguard according to claim 1, characterized in that, The preset maximum duration is determined based on the allowable thermal load of the clutch.

8. A tractor mudguard power take-off shaft speed control device, characterized in that, include: The first control module, the second control module, the third control module, and the fourth control module; The first control module is configured to: respond to a press signal of the mudguard button of the tractor, gradually increase the current of the solenoid valve of the clutch of the tractor according to a first current value and a first time interval, and monitor the current speed of the power output shaft of the tractor; when the current speed is not less than a preset speed threshold, stop increasing the current of the solenoid valve; The second control module is used to: set the target speed of the power output shaft and calculate the absolute value of the difference between the current speed and the target speed; when the absolute value of the difference is greater than a preset tolerance, perform closed-loop control on the current of the solenoid valve according to the difference; The third control module is used to: monitor the torque of the power output shaft and the slippage duration of the clutch during the execution of the closed-loop control; when the torque exceeds a preset torque threshold or the slippage duration exceeds a preset maximum duration, control the current of the solenoid valve to increase at a fixed slope until the clutch is pressed. The fourth control module is used to: respond to the release signal of the mudguard button, and control the current of the solenoid valve according to the comparison result of the current current value of the solenoid valve and the preset current threshold: if the current current value is less than the preset current threshold, the current of the solenoid valve is controlled to be zero; if the current current value is greater than or equal to the preset current threshold, the solenoid valve is controlled to remain energized so that the clutch remains engaged.

9. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to implement the tractor fender power take-off shaft speed control method as described in any one of claims 1 to 7.

10. A tractor, characterized in that, Includes the tractor mudguard power output shaft speed control device as described in claim 8.

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