Self-adaptive combination control method and system for wet PTO clutch of tractor

Abstract

The invention discloses a self-adaptive combination control method and system for a wet PTO clutch of a tractor, and the method comprises the steps: adjusting the rapid oil charging time and the control current of a KissPiont point control stage according to a rotating speed threshold value of the KissPiont point control stage, and updating the rapid oil charging time and the control current of the KissPiont point control stage into a controller memory for the next combination process of the PTO clutch, thereby improving the rapid response of the combination of the wet PTO clutch; the required rotating speed in the clutch combination process is preset according to the rotating speed requirements for the combination starting and ending of the wet type PTO clutch and the preset sliding friction time, so that the combination process of the PTO clutch is smoother; the wet PTO clutch closed-loop control is realized through the feed-forward PI, the feed-forward coefficient correction value is adjusted according to the actual sliding friction time in the combination process and is updated to a controller memory for the next PTO clutch combination process, the repeatability of the wet PTO combination process is improved, and the situation that the system stability is affected due to repeated adjustment of the system is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to a tractor wet PTO clutch adaptive coupling control method and system, belonging to the field of agricultural machinery tractor wet PTO clutch control. BACKGROUND

[0002] The wet clutch is one of the important components of power transmission in agricultural machinery, which is composed of clutch cover, piston, spring, friction plate and steel sheet, etc. The structure is relatively fixed, and the corresponding control method and stage are also relatively fixed. The PTO used for power transmission also adopts such mechanical structure.

[0003] The tractor PTO is a device used to output part or all power to drive the working mechanism of the matched agricultural machinery. The tractor wet PTO clutch adjusts the coupling and separation of the clutch through an electro-hydraulic control system, so that the tractor can drive various agricultural machinery for efficient operation. However, the commonly used wet PTO clutch control method often uses an open-loop clutch coupling curve to adapt to various working conditions. In order to ensure the comfort when connecting large load equipment, the coupling time needs to be set longer, so that the friction time of the clutch is longer when the load is large, which causes greater damage to the clutch.

[0004] How to solve the problem of tractor wet PTO clutch coupling process adapting to different loads, improve the control accuracy and service life of tractor wet PTO clutch coupling process, and ensure the comfort of PTO coupling process, the adaptive coupling control of tractor wet PTO is a technical problem to be solved in this field. SUMMARY

[0005] The present application provides a tractor wet PTO clutch adaptive coupling control method and system, which allows the wet PTO clutch coupling process to adapt to different connected loads and affect the next coupling process, improving the coupling repeatability under the same working condition. At the same time, it can improve the service life of the tractor wet PTO clutch, ensure the responsiveness of the PTO coupling process and improve the comfort of the coupling process. The problems disclosed in the background art are solved.

[0006] In order to solve the above technical problems, the technical scheme adopted by the present application is:

[0007] A tractor wet PTO clutch adaptive coupling control method:

[0008] The control time and control current stored in the memory of the controller are given to the wet PTO clutch control solenoid valve, if the quick filling time reaches the preset value, the KissPiont point control stage is entered, if the KissPiont point control stage time reaches the preset value, the wet PTO clutch coupling control stage is entered;

[0009] At the end of the KissPiont control phase, the time Wet PTO clutch output speed , The speed threshold value for adjusting the fast filling time of the KissPiont phase, if , the control parameters of the fast filling phase and the KissPiont control phase in the controller memory are not adjusted; if , the fast filling time is adjusted according to the gradient; if the adjusted fast filling time is not higher than the maximum control time allowed in the fast filling phase, the adjusted fast filling time is updated to the controller memory for the next wet PTO clutch engagement; otherwise, the fast filling time of the fast filling phase cannot be adjusted, and the control current of the KissPiont control phase is adjusted;

[0010] Enter the wet PTO clutch engagement control phase, according to the speed and time at the end of the KissPiont control phase and the final required wet PTO clutch output speed and time fit the required speed of the wet PTO clutch engagement;

[0011] According to the deviation between the actual output speed of the wet PTO clutch and the required speed , the output current of the wet PTO clutch solenoid is controlled in real time according to the feedforward increment PI;

[0012] When the output current of the wet PTO clutch solenoid is given to the maximum value, the wet PTO clutch is completed.

[0013] Further, the formula for adjusting the fast filling time according to the gradient is: ;

[0014] Wherein, is the control time of this fast filling phase, is the fast filling time adjusted for the next fast filling phase, is the gradient of adjusting the fast filling time considering the transmission oil temperature.

[0015] Further, the formula for adjusting the control current of the KissPiont control phase is:

[0016] ;

[0017] Wherein, is the control current of this KissPiont control phase, This is the adjusted control current that will be used in the next KissPoint control phase.

[0018] Furthermore, methods for adjusting the control current during the KissPoint control phase include:

[0019] like , To determine the maximum allowable control current during the KissPoint control phase, then... Update the controller memory for the next wet PTO clutch engagement;

[0020] like If this happens, the control current of the KissPoint control phase cannot be adjusted, and the control parameters of the fast charging phase and the KissPoint control phase in the controller memory will not be adjusted.

[0021] Furthermore, based on the rotational speed at the end of the KissPoint control phase... and time and the final required output speed of the wet PTO clutch and time The required speed for engagement of a wet PTO clutch. The formula is: ;in, e is a mathematical constant and is the base of the natural logarithm (ln). , ; , This refers to the slippage time during the engagement process of a wet PTO clutch.

[0022] Furthermore, the calculation method for the output current of the feedforward incremental PI real-time control wet PTO clutch solenoid valve includes:

[0023] ;

[0024] ;

[0025] ;

[0026] ;

[0027] in, for The PTO clutch solenoid valve output current at any given time. for At time -1, the PTO clutch solenoid valve output current for The sum of the PI feedback current and the feedforward incremental output current of the PTO clutch solenoid valve at any given moment. For PTO clutch solenoid PI feedback output current at time t, For PTO clutch solenoid relative -1 PTO clutch solenoid feedforward incremental output current at time t;

[0028] is a proportional coefficient; is an integral coefficient; is an initial feedforward coefficient, which adjusts the compensation strength when the set value changes; is a feedforward coefficient correction value that needs to be adjusted according to the slip time; is the deviation value between the required speed and the actual speed;

[0029] Further, ;

[0030] wherein, is the corresponding correction coefficient when the reasonable slip time is determined according to the clutch package and working conditions; is the lower limit value of the reasonable slip time; is the upper limit value of the reasonable slip time;

[0031] is the corresponding correction coefficient when the maximum slip time is set, is the set maximum slip time;

[0032] is the corresponding correction coefficient when the minimum slip time is set, is the set minimum slip time;

[0033] is the slip time detected during the combination process.

[0034] Further, if the slip time , i.e. the slip time is within the reasonable slip time, the feedforward control parameter in the controller memory is not adjusted, if or , the updated feedforward control parameter is stored in the controller memory for the next time the wet PTO clutch is combined.

[0035] The second aspect of the present application provides a tractor wet PTO clutch adaptive combination control system, characterized in that: the control system is used to execute the tractor wet PTO clutch adaptive combination control method as described above, comprising: a gearbox control unit, an engine control unit, a PTO mode selection unit, a PTO combination switch, a speed sensor, a temperature sensor and a controller.

[0036] The gearbox control unit receives the signal of the PTO mode selection unit for judging the intention of the driver to operate the PTO; the PTO combination switch is used for judging whether the PTO clutch is combined; the wet PTO clutch speed sensor signal is received for calculating the deviation between the slip time of the wet PTO clutch in the combination process and the required speed, and adjusting the control current in the combination process; the temperature sensor signal is received for judging whether the transmission oil temperature is reasonable and whether parameter compensation is needed;

[0037] The gearbox control unit collects the output speed of the engine through the bus, judges the speed difference before and after the wet PTO clutch, and is used for judging the combination process of the wet PTO clutch;

[0038] The gearbox control unit directly controls the wet PTO clutch electromagnetic valve through the wire harness, and gives different current curves to realize the combination process of the wet PTO clutch; the engine is connected to the front end of the wet PTO clutch, and the rear end of the wet PTO clutch is connected to the working device.

[0039] The gearbox control unit is provided with a controller memory for storing the combination control parameters of the wet PTO clutch.

[0040] Further, the PTO mode selection unit is provided with a fast combination mode and a slow combination mode;

[0041] The fast combination mode sets the slip time to 2900ms to 3100ms;

[0042] The slow combination mode sets the slip time to 4900ms to 5100ms.

[0043] The beneficial effects achieved by the present application are:

[0044] 1. According to the speed threshold value of the KissPiont point control stage, the fast oil filling time and the KissPiont point control stage control current are adjusted and updated to the controller memory for the next PTO clutch combination process, so as to improve the fast response of the wet PTO clutch combination;

[0045] 2. According to the speed requirement and the preset slip time of the beginning and end of the wet PTO clutch combination, the required speed of the clutch combination process is preset, so that the PTO clutch combination process is smoother;

[0046] 3. The wet PTO clutch closed-loop control is realized through feedforward PI, the feedforward coefficient correction value is adjusted according to the actual slip time in the combination process and is updated to the controller memory for the next PTO clutch combination process, so as to improve the repeatability of the wet PTO combination process, avoid repeated adjustment of the system, and affect the system stability. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The adaptive combination control flowchart of the tractor wet PTO clutch of the present application is shown in the figure.

[0048] Figure 2 The hardware connection schematic diagram of the adaptive combination control system of the tractor wet PTO clutch of the present application is shown in the figure.

[0049] Figure 3 The adaptive combination control current and PTO output speed schematic diagram of the tractor wet PTO clutch of the present application is shown in the figure.

[0050] Figure 4 The adaptive combination control feedforward coefficient correction value relationship schematic diagram of the tractor wet PTO clutch of the present application is shown in the figure. DETAILED DESCRIPTION

[0051] The present application will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0052] Example 1

[0053] As shown in the figure, the present embodiment provides a tractor wet PTO clutch adaptive combination control method, which comprises the following steps: Figure 1 1. First, according to the PTO combination mode and the PTO combination switch state, the entire control process of the PTO clutch combination is started. The PTO combination mode can be divided into fast combination and slow combination, and the slip time set in different modes is determined according to the power section of the whole machine and the working device required to be connected. The slip time set in fast combination mode is recommended to be

[0054] , and the slip time set in slow combination mode is recommended to be , so as to adapt to the working device of this power section. PTO: Power Take Off, also known as power output device, which is generally composed of gear box, clutch, etc., and outputs power to external working device. 2. The wet PTO clutch combination process is basically the same as the conventional wet clutch combination process. The control time

[0055] ) and control current stored in the memory of the controller in fast charging stage are read, and the wet PTO clutch control solenoid valve is given according to the control parameters and the control process is monitored. If the fast oil charging time reaches the preset value , then enter the KissPiont point control stage. Kisspoint point refers to the half combination point of wet double clutch automatic transmission, which refers to the critical pressure point at which the clutch can just transmit torque.

[0056] ​3. For example Figure 3 As shown, after entering the KissPoint control phase, the control time stored in the controller's memory during the fast charging phase is read. ) and control current The control parameters are set according to the wet PTO clutch control solenoid valve and the control process is monitored. If the KissPoint control phase time reaches the preset value... Then, it enters the wet PTO clutch engagement control stage.

[0057] 3-1. At the end of the KissPoint control phase, data is collected. PTO output speed at any time The engine speed at the end of the KissPoint control phase reflects whether the clutch has engaged in transmitting engine torque. This is a speed threshold that adjusts whether fast charging time is applied during the KissPoint phase. The setting varies depending on the clutch; it can be set to 100 rpm. If the detected speed at the end of the KissPoint phase is >100 rpm, no fast charging time adjustment is needed. If the detected speed is <100 rpm, adjustment is made as required. If the parameters do not need to be adjusted at this time, the control parameters in the controller memory for the fast charging phase and the KissPoint control phase will remain unchanged; if If the wet PTO clutch assembly is not yet in a state of transmitting engine torque, then the rapid oil filling time needs to be adjusted. The gradient of the rapid oil filling time is as follows: (Taking into account the transmission oil temperature), the adjusted rapid oil filling time is: ( To control the time during this fast charging phase, (This refers to the adjusted fast charging time to be used in the next fast charging phase). ( If the maximum control time allowed during the fast charging phase is considered, then the adjusted fast charging time is deemed effective. Updated to the controller memory for use in the next PTO clutch engagement process; if If the fast charging time is not adjusted, the control current of the KissPoint control stage needs to be adjusted.

[0058] 3-2. When adjusting the control current during the KissPoint control phase, the gradient of the control time should be adjusted as follows: (Taking into account the transmission oil temperature), the adjusted control current is: ( This refers to the control current during the KissPoint control phase. (This is the adjusted control current that will be used in the next KissPoint control phase). If ( If the maximum allowable control current during the KissPoint control phase is used, then the adjusted control current is considered effective. Updated to the controller memory for use in the next PTO clutch engagement process; if If this happens, the control current of the KissPoint control phase cannot be adjusted, and the control parameters of the fast charging phase and the KissPoint control phase in the controller memory will not be adjusted.

[0059] 4. Enter the wet PTO clutch engagement control stage, based on the speed at the end of the KissPoint control stage. and time and the final required PTO output speed and time ( The required rotational speed for the PTO clutch engagement process. (The rate of change of rotational speed is small at the beginning and end of the demand phase, and large during the intermediate engagement process, similar to an "S"-shaped engagement process), that is:

[0060] ;

[0061] ·in: , , e is one of the most important constants in mathematics. It is the base of the natural logarithm (ln). Its approximate value is: e≈2.718281828459045.

[0062] 5. Based on the actual output speed of the PTO With demand speed The deviation between them is controlled in real time by adjusting the output current of the wet PTO clutch solenoid valve according to the feedforward PI control concept.

[0063] The output current of the feedforward incremental PI controlled solenoid valve is calculated as follows:

[0064] ;

[0065] ;

[0066] ;

[0067] ;

[0068] in, for PTO clutch solenoid output current at time t, is PTO clutch solenoid output current at time t, is sum of PI feedback current and feedforward incremental output current of PTO clutch solenoid at time t, is PI feedback output current of PTO clutch solenoid at time t, is relative feedforward incremental output current of PTO clutch solenoid at time t-1; is a proportional coefficient; is an integral coefficient; is an initial feedforward coefficient, compensating for the strength of adjustment when the set value changes; is a feedforward coefficient correction value adjusted according to the slip time requirement; is the deviation value between the required speed and the actual speed.

[0069] 6、 The feedforward coefficient correction value is related to the slip time of the clutch each time the wet PTO clutch is engaged (slip time i.e. the time between the start of slip and when the difference between the front and rear speeds of the wet PTO clutch is less than a certain value), and the correlation adjustment relationship is as shown in Figure 4 . The correction value calculation formula is as follows.

[0070] ;

[0071] wherein, is the correction coefficient corresponding to the reasonable slip time, which is determined according to the clutch package and working conditions; is the lower limit value of the reasonable slip time; is the upper limit value of the reasonable slip time;

[0072] is the correction coefficient corresponding to the set maximum slip time, is the set maximum slip time;

[0073] is the correction coefficient corresponding to the set minimum slip time, is the set minimum slip time;

[0074] is the detected slip time during the engagement process.

[0075] If the slip time i.e. when the slip time is within the reasonable slip time, the feedforward control parameters in the controller memory can be maintained ) no adjustment, if or , the updated feedforward control parameter is stored in the controller memory for the next PTO clutch engagement process.

[0076] 7. When the wet PTO clutch is given to the maximum value according to the given control current (the front and rear rotating speeds of the wet PTO clutch are substantially 0), the engagement of the wet PTO clutch is completed.

[0077] Embodiment 2

[0078] As shown in Figure 2 , the embodiment provides a tractor wet PTO clutch adaptive engagement control system for executing the control method of the above embodiment, which is composed of a gearbox control unit (TCU), an engine control unit (ECU), a PTO mode selection unit, a PTO engagement switch, a rotating speed sensor, and a temperature sensor. The PTO mode selection unit, the PTO engagement switch, the rotating speed sensor, and the temperature sensor are connected to the TCU through a hard wire, and the information exchange between the gearbox control unit (TCU) and the engine control unit (ECU) is completed through a CAN bus.

[0079] The gearbox control unit (TCU) receives the signal of the PTO mode selection unit to determine the intention of the driver to operate the PTO, and can set the slip time of the PTO engagement process; the PTO engagement switch is used to determine whether to start the PTO clutch engagement process; the rear rotating speed sensor signal of the PTO clutch is received to calculate the deviation between the slip time of the PTO clutch in the engagement process and the required rotating speed, and to adjust the control current of the engagement process; the temperature sensor signal is received to determine whether the transmission oil temperature is reasonable and whether parameter compensation is needed. The gearbox control unit (TCU) collects the output rotating speed of the engine through the bus, determines the difference between the front and rear rotating speeds of the wet PTO clutch, and is used to determine the engagement process of the wet PTO clutch.

[0080] The gearbox control unit (TCU) directly controls the electromagnetic valve of the wet PTO clutch through a wire harness to realize the engagement process of the wet PTO clutch by giving different current curves; the engine is directly connected to the front end of the wet PTO clutch, and the rear end of the wet PTO clutch is directly connected to the working device.

[0081] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

[0082] A computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform a tractor wet PTO clutch adaptive engagement control method.

[0083] A computing device comprising one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing a tractor wet PTO clutch adaptive engagement control method.

[0084] As will be appreciated by one skilled in the art, embodiments of the present application can be embodied as a method, system, or computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon.

[0085] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for (an apparatus with) one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0086] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for (an apparatus with) one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams block or blocks. Figure 1steps of the functions specified in the flowchart or flowcharts and / or block Figure 1

[0088] The above merely provides the embodiment of the present application, but does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.​

Claims

1. A tractor wet PTO clutch adaptive engagement control method, characterized in that: the control time and control current stored in the controller memory during the fast charging stage are used to set the wet PTO clutch control solenoid, if the fast charging time reaches the preset value, the KissPiont point control stage is entered, and if the KissPiont point control stage time reaches the preset value, the wet PTO clutch engagement control stage is entered; At the end of the Kiss Point control phase, the collection time Wet PTO clutch output speed , The speed threshold value for adjusting the Kiss Point phase fast charging time, if , the control parameters of the fast charging phase and the Kiss Point control phase in the controller memory are not adjusted; if , the fast charging time is adjusted according to the gradient; if the adjusted fast charging time is not higher than the maximum control time allowed in the fast charging phase, the adjusted fast charging time is updated to the controller memory for the next wet PTO clutch engagement; otherwise, the fast charging time of the fast charging phase cannot be adjusted, and the control current of the Kiss Point control phase is adjusted. Entering the wet PTO clutch engagement control phase, the rotational speed at the end of the Kiss Point control phase is used as the initial value and time and the final demand wet PTO clutch output rotational speed and time to fit the demand rotational speed of the wet PTO clutch engagement ; Based on the actual output speed of the wet PTO clutch With demand speed The deviation between them is controlled in real time by the feedforward incremental PI to control the output current of the wet PTO clutch solenoid valve. the wet PTO clutch engagement is completed when the wet PTO clutch solenoid output current is set to the maximum value.

2. The method of adaptive engagement control for a tractor wet PTO clutch of claim 1, wherein: The formula for adjusting the fast oil filling time according to the gradient is: ; Wherein, is the control time of the current fast charging stage, is the fast oil charging time to be used for the next fast charging stage after adjustment, is the gradient of the fast oil charging time adjusted by comprehensively considering the transmission oil temperature.

3. The method of adaptive engagement control for a tractor wet PTO clutch of claim 1, wherein: The formula for adjusting the control current of the KissPiont point control stage is: ； wherein, is the control current for the current KissPiont control phase, is the control current to be used in the next KissPiont control phase.

4. The method of adaptive engagement control for a tractor wet PTO clutch of claim 3, wherein: The method for adjusting the control current of the KissPiont point control stage includes: If , is the maximum control current allowed for the Kiss Point control phase, then is updated in the controller memory for the next wet PTO clutch engagement; If , the control current of the Kiss Point control stage cannot be adjusted, and the control parameters of the fast charging stage and the Kiss Point control stage in the controller memory are not adjusted.

5. The method of adaptive engagement control for a tractor wet PTO clutch of claim 1, wherein: Np = Np0 + (Np1 - Np0) * (t - t0) / (t1 - t0) where Np0 is the rotational speed at the end of the Kiss Point Control phase and time and the final demand wet PTO clutch output rotational speed and time demand rotational speed for fitting wet PTO clutch engagement is given by the formula: ; where, e is the mathematical constant that is the base of the natural logarithm (ln), , ; , is the time of sliding friction for the wet PTO clutch engagement process.

6. The method of adaptive engagement control for a tractor wet PTO clutch of claim 5, wherein: The calculation method of the feedforward incremental PI real-time control of the output current of the wet PTO clutch solenoid valve comprises: ; ； ； ； wherein, is PTO clutch solenoid output current at time t, is PTO clutch solenoid output current at time t - 1, is sum of PTO clutch solenoid PI feedback current and feedforward incremental output current at time t, is PTO clutch solenoid PI feedback output current at time t, is relative feedforward incremental output current of PTO clutch solenoid at time t - 1. is a proportional coefficient; is an integral coefficient; is an initial feedforward coefficient, adjusting the compensation strength when the set value changes; is a feedforward coefficient correction value adjusted according to the slip time requirement; is a deviation value between the required speed and the actual speed.

7. The method of adaptive engagement control for a tractor wet PTO clutch of claim 6, wherein: ； wherein, is the correction factor corresponding to the reasonable slip time, and the reasonable slip time is determined according to the clutch pack and the working condition; is the lower limit value of the reasonable slip time; is the upper limit value of the reasonable slip time; to set the maximum slip time, the corresponding correction factor, the set maximum slip time; to set the minimum slip time, the corresponding correction factor, the set minimum slip time; The time of slip detected for the bonding process.

8. The method of adaptive engagement control for a tractor wet PTO clutch of claim 6, wherein: if the slip time is within a reasonable slip time, then the feedforward control parameters in the controller memory are kept unchanged, if or then the updated feedforward control parameters are stored in the controller memory for the next wet PTO clutch engagement.

9. A tractor wet PTO clutch adaptive engagement control system characterized by: The control system is used to perform the tractor wet PTO clutch adaptive engagement control method according to any one of claims 1-8, and includes a gearbox control unit, an engine control unit, a PTO mode selection unit, a PTO engagement switch, a speed sensor, a temperature sensor, and a controller; The gearbox control unit receives signals from the PTO mode selection unit to determine the driver's intention to operate the PTO; the PTO engagement switch is used to determine whether the PTO clutch is engaged; the wet PTO clutch speed sensor signal is received to calculate the slip time of the wet PTO clutch during the engagement process and the deviation between the required speed and the demand speed, and to adjust the control current during the engagement process; the temperature sensor signal is received to determine whether the transmission oil temperature is reasonable and whether parameter compensation is needed; The gearbox control unit collects the output speed of the engine through the bus, judges the speed difference before and after the wet PTO clutch, and is used to judge the engagement process of the wet PTO clutch; The gearbox control unit directly controls the wet PTO clutch solenoid through the wire harness to realize the engagement process of the wet PTO clutch by setting different current curves; the engine is connected to the front end of the wet PTO clutch, and the rear end of the wet PTO clutch is connected to the working device; The gearbox control unit is provided with a controller memory for storing wet PTO clutch engagement control parameters.

10. The tractor wet PTO clutch adaptive engagement control system of claim 9, wherein: The PTO mode selection unit is provided with a fast engagement mode and a slow engagement mode; The fast engagement mode sets the slip time to 2900ms to 3100ms; The slow engagement mode sets the slip time to 4900ms to 5100ms.

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