Tractor mudguard power take-off shaft speed control method, device and related equipment

Abstract

This invention relates to the field of tractor control technology, specifically disclosing a method, device, and related equipment for controlling the speed of the power take-off shaft of a tractor mudguard. The method includes: gradually increasing the current of a solenoid valve and monitoring the speed in response to a mudguard button press signal; stopping the increase when the speed reaches a threshold; setting a target speed and performing closed-loop control; monitoring torque and slippage duration, and engaging the clutch when limits are exceeded; and controlling the clutch state based on the current value in response to a button release signal. This invention achieves low-speed gradual control of the power take-off shaft by controlling the solenoid valve current, solving the problem of difficult spline connection caused by excessively high speeds in existing technologies. Combined with closed-loop adjustment and torque detection, it ensures safety and stability during engagement, while also improving operational convenience and efficiency.

Description

Technical Field

[0001] This invention relates to the field of tractor control technology, and in particular to a method, device and related equipment for controlling the speed of the power take-off shaft of a tractor mudguard. Background Technology

[0002] When a tractor attaches a implement using a rear take-off shaft (RTP), the RTP needs to rotate slowly to facilitate spline connection. However, in existing technology, the RTP of a tractor typically operates at a high speed when attaching implements, which is insufficient to meet the low-speed requirements of spline connection and reduces the efficiency of implement attachment.

[0003] Therefore, there is an urgent need to provide a technical solution to address the above problems. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a method, device and related equipment for controlling the speed of the power output shaft of a tractor mudguard.

[0005] In a first aspect, the present invention provides a method for controlling the rotational speed of the power take-off shaft of a tractor mudguard, the technical solution of which is as follows:

[0006] 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.

[0007] 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;

[0008] 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.

[0009] 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.

[0010] The beneficial effects of the tractor mudguard power take-off shaft speed control method of the present invention are as follows:

[0011] The method of this invention achieves low-speed gradual control of the power output shaft by controlling the current of the solenoid valve, which solves the problem of spline docking difficulties caused by excessive speed in the prior art. It also combines closed-loop regulation and torque detection to ensure safety and stability during connection, while improving the convenience and efficiency of operation.

[0012] Based on the above solution, the tractor mudguard power output shaft speed control method of the present invention can be further improved as follows.

[0013] In one alternative approach, the preset speed threshold is determined based on the product of the tractor's engine speed and the transmission ratio.

[0014] In one alternative approach, the step of performing closed-loop control of the current of the solenoid valve based on the difference includes:

[0015] The target current offset is obtained by querying a preset current offset table based on the sign and magnitude of the difference.

[0016] 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.

[0017] In one alternative approach, the current offset table includes multiple consecutive numerical intervals, each corresponding to a preset current offset.

[0018] 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.

[0019] In one alternative approach, the preset torque threshold is set to a safe threshold below the maximum transmit torque of the clutch.

[0020] In one alternative approach, the preset maximum duration is determined based on the allowable thermal load of the clutch.

[0021] Secondly, the present invention provides a tractor mudguard power output shaft speed control device, the technical solution of which is as follows:

[0022] It includes: a first control module, a second control module, a third control module, and a fourth control module;

[0023] 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;

[0024] 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;

[0025] 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.

[0026] 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.

[0027] The beneficial effects of the tractor mudguard power take-off shaft speed control device of the present invention are as follows:

[0028] The device of this invention achieves low-speed gradual control of the power output shaft by controlling the current of the solenoid valve, which solves the problem of spline docking difficulties caused by excessive speed in the prior art. It also combines closed-loop regulation and torque detection to ensure safety and stability during connection, while improving the ease of operation and efficiency.

[0029] Thirdly, the technical solution of an electronic device according to the present invention is as follows:

[0030] The invention includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the tractor fender power take-off shaft speed control method of the present invention.

[0031] Fourthly, the present invention provides a tractor, which adopts the following technical solution:

[0032] A tractor, including a tractor mudguard power take-off shaft speed control device as a second aspect.

[0033] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0034] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0035] Figure 1 This is a flowchart illustrating an embodiment of a tractor mudguard power output shaft speed control method according to the present invention;

[0036] Figure 2 A timing diagram illustrating the protection control triggered when the slippage duration exceeds the limit;

[0037] Figure 3 Timing diagram of protection control triggered due to torque over-limit;

[0038] Figure 4 A control timing diagram for when the mudguard button is released and the current value is lower than a preset threshold.

[0039] Figure 5 A control timing diagram for when the mudguard button is released and the current value is higher than a preset threshold.

[0040] Figure 6 This is a complete process diagram;

[0041] Figure 7 This is a schematic diagram of an embodiment of a tractor mudguard power output shaft speed control device according to the present invention;

[0042] Figure 8 This is a schematic diagram of an embodiment of an electronic device according to the present invention. Detailed Implementation

[0043] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0044] Figure 1This diagram illustrates a flowchart of an embodiment of a tractor fender power take-off shaft speed control method provided by the present invention. This method can be executed by electronic devices such as terminal devices or servers. The terminal device can be any fixed or mobile terminal, such as user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, or wearable device. The server can be a single server or a server cluster consisting of multiple servers. Any electronic device can implement the tractor fender power take-off shaft speed control method by having its processor call computer-readable instructions stored in its memory. Figure 1 As shown, it includes the following steps:

[0045] S1. In response to the pressing 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.

[0046] Here, "tractor" refers to an agricultural power machine used for traction and driving implements; for example, when a rotary mower is attached, the tractor provides power and controls the speed of the power take-off shaft. "Fender button" refers to a physical button mounted on the tractor's fender, used to trigger the power take-off shaft control signal; for example, when the operator presses the button, the power take-off shaft speed control process is initiated. "Press signal" refers to the electrical signal generated when the fender button is pressed; for example, when the button is pressed, the controller receives this signal and begins to gradually increase the solenoid valve current. "First current value" refers to a pre-set step increment of the solenoid valve current; for example, the control program uses 0.1A as the first current value and gradually increases the current. "First time interval" refers to the time period for gradually increasing the solenoid valve current; for example, the control program uses 100ms as the first time interval and periodically increases the current. "Clutch" refers to a device in the transmission system used to engage or disengage power; for example, a wet clutch in the rear axle of a tractor controls the power connection between the power take-off shaft and the engine. "Solenoid valve" refers to an electromagnetically driven valve that controls the on / off state of a hydraulic circuit; for example, a proportional solenoid valve in the clutch hydraulic circuit regulates hydraulic pressure through current. A power take-off (PTO) shaft is a shaft located at the rear of a tractor that outputs power to drive attached implements; for example, the splined shaft of a rotary lawnmower is connected to the PTO shaft. Current speed. This refers to the real-time measured rotational speed of the power take-off shaft; for example, the current rotational speed of the power take-off shaft monitored by a speed sensor. The speed is 50 r / min. Preset speed threshold. This refers to the speed threshold set in the program; for example, a preset speed threshold. The current increase stops when the current speed reaches 100 r / min.

[0047] S2. 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 according to the difference.

[0048] Among them, the target speed This refers to the desired stable rotational speed of the power output shaft; for example, setting a target rotational speed. The speed is 80 r / min, used for spline docking. The difference refers to the numerical difference between the current speed and the target speed; for example, the current speed... The target speed is 85 r / min. The speed is 80 r / min, with a difference of 5 r / min. Preset tolerance. This refers to the maximum absolute value of the permissible speed deviation; for example, the preset tolerance. The speed difference is 5 r / min. Closed-loop control is triggered when the absolute value of the speed difference exceeds this value. Closed-loop control refers to a control mode that automatically adjusts the output based on feedback signals; for example, it can look up the current offset table based on the speed difference and adjust the solenoid valve current to stabilize the speed.

[0049] S3. 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.

[0050] Torque refers to the rotational torque transmitted by the power output shaft; for example, the monitored power output shaft torque is 200 N·m. Slippage duration refers to the time the clutch is in a slippage state; for example, the duration from the start of clutch slippage to the current moment is 30 seconds. Preset torque threshold refers to the torque safety limit set in the program; for example, the preset torque threshold is 300 N·m, exceeding which the clutch will be engaged. Preset maximum duration refers to the maximum allowed clutch slippage time; for example, the preset maximum duration is 60 seconds, exceeding which the clutch will be engaged. Fixed slope refers to the constant rate at which the current increases with time; for example, the control solenoid valve current increases at a fixed slope of 0.5 A / s.

[0051] like Figure 2 As shown, in order to ensure that the rear power take-off shaft control clutch does not remain in a slipping state for a long time, a target speed is set. The holding time is determined by controlling the clutch to rise at a fixed slope after the slippage time exceeds Tmax, thus engaging the clutch. Specifically, in response to the mudguard button being pressed, 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; during this process, the actual speed of the power output shaft gradually increases from a stationary state (N1); when the actual speed reaches the preset speed threshold Ns (N2), the control stops increasing the current; then the target speed is set. (N3), and dynamically stabilize the actual speed near the target value through closed-loop control; if the clutch slippage time reaches the preset maximum time Tmax, the control solenoid valve current increases at a fixed slope to press the clutch, thereby avoiding clutch damage due to long-term slippage.

[0052] like Figure 3 As shown, in order to ensure that the clutch remains in a slipping state after sudden loading, a torque judgment condition is added: the current torque T exceeds a set torque threshold. At this time, the clutch solenoid valve no longer maintains the target speed of the power output shaft, and directly engages the clutch at a fixed slope. Specifically, during normal closed-loop control (where the control current is adjusted in a step manner), if the torque T of the power output shaft is detected to exceed the preset torque threshold... If the target speed is not maintained, the closed-loop regulation logic based on the target speed will be interrupted immediately. Instead of maintaining the target speed of the power output shaft, the current of the solenoid valve will be directly controlled to increase at a preset fixed slope, thereby quickly pressing the clutch to cope with the sudden load and protect the transmission system.

[0053] S4. In response to the release signal of the mudguard button, 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, control the current of the solenoid valve to zero; if the current current value is greater than or equal to the preset current threshold, control the solenoid valve to remain energized so that the clutch remains engaged.

[0054] The release signal refers to the electrical signal generated when the fender button is released; for example, after the operator releases the button, the controller determines the clutch state based on the current value. The comparison result refers to the conclusion of comparing the current current value with a preset current threshold; for example, if the current current value is 1.5 A and the preset current threshold is 1.0 A, the comparison result is greater than the threshold. The engagement state refers to the state where the clutch is fully engaged and power is reliably transmitted; for example, after the clutch is engaged, the power take-off shaft is rigidly connected to the engine.

[0055] When in response to the release signal of the fender button, such as Figure 4 As shown, it is determined that the current current value of the solenoid valve is less than the preset current threshold I. CloseWhen this happens, the current to the solenoid valve is controlled to zero, the clutch is disengaged, and the power output shaft stops transmitting power; if Figure 5 As shown, the current current value of the solenoid valve has been detected to have reached and exceeded the preset current threshold I. Close The solenoid valve is kept energized (continuously filled with oil) to keep the clutch engaged, thereby ensuring that the rear power output shaft continuously outputs power.

[0056] The technical solution of this embodiment achieves low-speed gradual control of the power output shaft by controlling the current of the solenoid valve, which solves the problem of spline docking difficulties caused by excessive speed in the prior art. It also combines closed-loop regulation and torque detection to ensure safety and stability during connection, while improving the convenience and efficiency of operation.

[0057] In one alternative approach, the preset speed threshold is determined based on the product of the tractor's engine speed and the transmission ratio.

[0058] 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.

[0059] 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.

[0060] In one alternative approach, the step of performing closed-loop control of the current of the solenoid valve based on the difference includes:

[0061] The target current offset is obtained by querying a preset current offset table based on the sign and magnitude of the difference.

[0062] 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.

[0063] Table 1:

[0064]

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] In one alternative approach, the current offset table includes multiple consecutive numerical intervals, each corresponding to a preset current offset.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] In one alternative approach, the preset torque threshold is set to a safe threshold below the maximum transmit torque of the clutch.

[0076] 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.

[0077] 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.

[0078] In one alternative approach, the preset maximum duration is determined based on the allowable thermal load of the clutch.

[0079] 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.

[0080] 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 speed difference (N-) was monitored. 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.

[0081] 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;

[0082] 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;

[0083] 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;

[0084] 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.

[0085] 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.

[0086] In one alternative approach, the preset speed threshold is determined based on the product of the tractor's engine speed and the transmission ratio.

[0087] In one alternative embodiment, the second control module 202 is specifically used for:

[0088] The target current offset is obtained by querying a preset current offset table based on the sign and magnitude of the difference.

[0089] 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.

[0090] In one alternative approach, the current offset table includes multiple consecutive numerical intervals, each corresponding to a preset current offset.

[0091] 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.

[0092] In one alternative approach, the preset torque threshold is set to a safe threshold below the maximum transmit torque of the clutch.

[0093] In one alternative approach, the preset maximum duration is determined based on the allowable thermal load of the clutch.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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 8 The 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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 the embodiments of the present invention.

[0106] The present invention provides a tractor, including a tractor mudguard power output shaft speed control device 200 provided by the present invention.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 of controlling the speed of a power take-off shaft of a tractor mudguard, characterised by, The method comprises the following steps: in response to a press signal of a mud flap button of the tractor, gradually increasing the current of an electromagnetic valve of a clutch of the tractor according to a first current value and a first time interval, and monitoring a current rotating speed of a power output shaft of the tractor; when the current rotating speed is not less than a preset rotating speed threshold, stopping increasing the current of the electromagnetic valve; setting a target rotating speed of the power output shaft, and calculating 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, performing closed-loop control on the current of the electromagnetic valve according to the difference; in the process of performing the closed-loop control, monitoring a torque of the power output shaft and a slip time length of the clutch; when the torque exceeds a preset torque threshold or the slip time length exceeds a preset maximum time length, increasing the current of the electromagnetic valve according to a fixed slope until the clutch is compressed; in response to a release signal of the mud flap button, controlling 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, controlling the current of the electromagnetic valve to be zero; if the current value is greater than or equal to the preset current threshold, controlling the electromagnetic valve to keep energized so that the clutch keeps in a combined state.

2. The method of claim 1, wherein, The preset rotating speed threshold is determined based on a product of an engine rotating speed of the tractor and a speed ratio of a transmission system.

3. The method of claim 1, wherein, The step of performing closed-loop control on the current of the electromagnetic valve according to the difference comprises the following steps: querying a preset current offset table according to the positive or negative and size of the difference to obtain a target current offset; adding the target current offset and a basic current value to obtain a control current value of the electromagnetic valve, so as to control the electromagnetic valve by using the control current value.

4. The method of claim 3, wherein, The current offset table comprises a plurality of continuous numerical intervals, and each continuous numerical interval corresponds to a preset current offset.

5. The method of claim 1, wherein, The fixed slope is a constant value preset according to a friction plate characteristic and an allowable heat load of the clutch.

6. The method of claim 1, wherein, The preset torque threshold is set as a safety threshold lower than a maximum transmission torque of the clutch.

7. The method of claim 1, wherein, The preset maximum time length is determined according to the allowable heat load of the clutch.

8. A tractor mudguard power take-off speed control device, characterised in that, The method comprises the following steps: 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 a mud flap button of the tractor, gradually increasing the current of an electromagnetic valve of a clutch of the tractor according to a first current value and a first time interval, and monitoring a current rotating speed of a power output shaft of the tractor; when the current rotating speed is not less than a preset rotating speed threshold, stopping increasing the current of the electromagnetic valve; the second control module is used for: setting a target rotating speed of the power output shaft, and calculating 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, performing closed-loop control on the current of the electromagnetic valve according to the difference; The third control module is configured to monitor the torque of the power output shaft and the slip time length of the clutch during the execution of 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 the release signal of the mud flap 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 the combined state.

9. An electronic device, comprising: The electronic device comprises a processor coupled with a memory, and the memory stores at least one computer program, which is loaded and executed by the processor, so that the electronic device implements the tractor mud flap power output shaft speed control method according to any one of claims 1 to 7.

10. A tractor characterised in that, The tractor mud flap power output shaft speed control device according to claim 8 is included. The tractor mud flap power output shaft speed control device according to claim 8 is included.

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