Power reversing control system and method based on brake and exhaust butterfly valve brake

Abstract

The invention relates to a power reversing control system and method based on braking and exhaust butterfly valve braking, which are used for solving the problem of long reversing time caused by slow speed reduction of the whole tractor in the opening process of a clutch during reversing of a high-horsepower tractor. The control system collects switching signals of an ignition switch, advancing, retreating, a neutral gear, parking, a left brake, a right brake, a seat, a clutch pedal switch and the like and analog signals of system pressure, advancing clutch pressure, retreating clutch pressure, a clutch pedal, brake pressure, oil temperature and the like. Meanwhile, rotating speed signals such as clutch input rotating speed, clutch output rotating speed, vehicle speed and vehicle speed direction are collected, and signals such as engine actual rotating speed, engine torque and exhaust butterfly valve opening are received through a CAN bus; when power reversing occurs, a control algorithm is operated, and a brake clutch and an exhaust butterfly valve are adjusted according to control logic, so that the braking capacity of the whole vehicle is remarkably improved, the reversing time is shortened, and the working efficiency is improved.

Description

Technical Field

[0001] This invention patent relates to the field of tractor power reversing, specifically to a power reversing control system and method based on brake and exhaust butterfly valve braking. Background Technology

[0002] During the power reversing process of high-horsepower tractors, due to the inertia of the entire vehicle and the centrifugal pressure of the clutch, the vehicle speed cannot be reduced immediately when the clutch in the current direction is disengaged, resulting in a relatively long reversing process and affecting work efficiency. Furthermore, excessively long reversing times at the end of the field also pose certain safety risks. To address the problem of long reversing times, a control system was developed that utilizes braking and engine exhaust butterfly valve braking to accelerate the vehicle's deceleration process, shorten reversing time, and improve work efficiency. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a control system and method based on brake braking and engine exhaust butterfly valve braking. The technical solution adopted by this invention is as follows: A tractor power reversing control system based on brake braking and engine exhaust butterfly valve braking is disclosed. The control system includes a power reversing controller and an engine controller, which communicate with each other via a CAN bus. The engine controller receives engine request speed, torque limit, and exhaust butterfly valve request opening signals from the power reversing controller, and sends actual speed, engine torque, and actual exhaust butterfly valve opening signals. The engine controller adjusts the exhaust butterfly valve opening by controlling the motor to meet the request values. The power reversing controller includes a first signal acquisition module, a first algorithm operation module, a first communication module, and a first drive output module. The engine controller includes a second communication module, a second algorithm operation module, a second signal acquisition module, and a second drive output module.

[0004] As a further optimization of the aforementioned tractor power reversing control system based on brake braking and engine exhaust butterfly valve braking, the first signal acquisition module of the power reversing controller acquires switch signals such as ignition switch, forward, reverse, neutral, left brake, right brake, parking, seat and clutch pedal switch, as well as speed signals such as clutch input speed, clutch output speed, vehicle speed, and vehicle speed direction, and analog signals such as system pressure, brake braking pressure, forward clutch pressure, reverse clutch pressure, clutch pedal and oil temperature; The first algorithm execution module runs the control method, which uses the signals collected by the controller and the signals received through the communication module to perform logical operations and output control commands. The first drive output module drives the solenoid valves, including a forward solenoid valve, a reverse solenoid valve, and a brake solenoid valve. All three valves are proportional solenoid valves. The first communication module communicates with the engine controller via CAN bus; the power reversing controller receives the actual engine speed, engine torque, and actual opening of the exhaust butterfly valve, and sends requests for engine speed, torque limits, and exhaust butterfly valve control opening.

[0005] As a further optimization of the tractor power reversing control system based on brake braking and engine exhaust butterfly valve braking, the engine controller includes a second signal acquisition module, a second algorithm operation module, a second drive output module, and a second communication module. The second signal acquisition module mainly acquires the opening degree of the exhaust butterfly valve; The second communication module receives the engine request speed, torque limit and exhaust butterfly valve request opening signal sent by the power reversing controller, and sends the actual opening of the exhaust butterfly valve, the actual engine speed and the engine torque to the power reversing controller. The second algorithm running module mainly runs the engine control algorithm. Based on parameters such as the requested speed, torque limit, requested opening degree of the exhaust butterfly valve, actual speed, torque, and actual opening degree of the exhaust butterfly valve, it calculates the current required for the butterfly valve control motor and outputs the drive current value. The second drive output module controls the motor to adjust the opening of the exhaust butterfly valve according to the current to meet the required value.

[0006] As a further optimization of the tractor power reversing control system based on brake braking and engine exhaust butterfly valve braking, the brake braking is the preferred option, and other options include but are not limited to parking brake, and the corresponding controller also collects parking pressure signals.

[0007] A control method for a tractor power reversing control system based on brake braking and engine exhaust butterfly valve braking includes the following steps: S1: Power on the entire vehicle, then proceed to the next step; S2: Determine whether the vehicle is in a power reversal state. If yes, proceed to the next step S3; otherwise, proceed to step S1. S3: Engine speed reduction, current direction clutch starts adjusting, exhaust butterfly valve starts adjusting; S4: Determine if the clutch speed difference in the current direction is greater than the threshold. If the rpm is specified, proceed to the next step S5; otherwise, proceed to step S3. S5: The exhaust butterfly valve continues to decrease in size, the target direction clutch is filled with oil, and the brake clutch is filled with oil. S6: The clutch in the current direction remains open; S7: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.1. S7.1: The brake clutch begins to engage and the brake clutch full engagement time tk=0 is set. The exhaust butterfly valve opening continues to be adjusted. At the same time, the clutch in the current direction opens rapidly and the next step is executed. S7.2: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to the next step. S7.3: Determine if the brake pressure is greater than the threshold. If the pressure is greater than MPa, it means that the current of the brake clutch solenoid valve has reached its maximum, so proceed to the next step; otherwise, proceed to step S7.1. S7.4: Start timing tk=tk+1, which is the time for the brake solenoid valve current to maintain its maximum value. At this time, the exhaust butterfly valve continues to adjust, and then the next step is executed. S7.5: Determine if time tk is greater than the threshold. If the time is less than 1 second, proceed to step S7.5.1; otherwise, proceed to the next step S7.6. S7.5.1: The brake solenoid valve reduces the current, and the braking pressure drops to the clutch KISS point. At this time, the clutch master and slave ends are engaged but no power is transmitted. The clutch is in a cooling state to prevent the brake braking clutch from slipping for too long and burning out. Set the cooling time to th=0. At the same time, continue to adjust the opening of the exhaust butterfly valve, and then proceed to the next step S7.5.2; S7.5.2: The brake clutch cooling timer begins, the exhaust butterfly valve opening continues to be adjusted, and the next step S7.5.3 is executed; S7.5.3: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.5.4. S7.5.4: Determine if the heat dissipation time exceeds the threshold. If the time exceeds 10 seconds, it means the heat dissipation time meets the requirements, and step S7.1 is executed; otherwise, step S7.5.2 is executed to continue heat dissipation of the brake clutch. S7.6: Determine if the vehicle speed is less than [a certain value]. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.4. S8: At this point, the vehicle speed drops to a relatively low value, the brake clutch disengages, the target direction clutch begins to increase pressure, the target direction clutch takes on the braking effect, and the exhaust butterfly valve remains stationary. S9: Determine if the vehicle speed is reversed. If it is reversed, proceed to the next step S10; otherwise, proceed to step S8. S10: The engine exhaust butterfly valve has begun to adjust. The result of the adjustment should be an increased opening and increased clutch pressure in the target direction. S11: Determine the clutch speed difference in the target direction. When the speed difference is less than the threshold... If the rpm is reached, proceed to the next step S12; otherwise, proceed to step S10. S12: At this time, the vehicle is in an acceleration state and does not require engine braking. The exhaust butterfly valve opening is completely controlled by the engine controller, and the next step S13 is executed. S13: The clutch in the target direction is fully engaged, as determined by the clutch speed difference and clutch pressure; the engine speed rises to normal speed, completing the power reversal process.

[0008] Beneficial effects Compared with the prior art, the present invention has significant advantages and beneficial effects, achieving considerable technological progress and practicality, and possessing broad application value. It has at least the following advantages: 1. The control system of this invention collects switch signals such as ignition switch, forward, reverse, neutral, parking, left brake, right brake, seat, and clutch pedal switch, as well as analog signals such as system pressure, forward clutch, reverse clutch pressure, clutch pedal, brake pressure, and oil temperature. It also collects speed signals such as clutch input speed, clutch output speed, vehicle speed, and vehicle speed direction. It receives signals such as actual engine speed, engine torque, and exhaust butterfly valve opening via CAN bus. When power reversal occurs, the control algorithm runs and adjusts the brake clutch and exhaust butterfly valve according to the control logic, significantly improving the vehicle's braking capability, shortening reversal time, and improving operating efficiency.

[0009] 2. The present invention provides a control system and control method based on brake braking and engine exhaust butterfly valve braking. By applying the technology described in this patent, the tractor can use the brake or engine exhaust butterfly valve for auxiliary braking during the power reversal process to quickly reduce the vehicle speed, switch the direction clutch, and then accelerate the vehicle in the opposite direction until the speed stabilizes. The whole process is executed automatically, which can significantly shorten the tractor's headway reversal time and improve the overall machine operation efficiency and economic benefits. Attached Figure Description

[0010] Figure 1 This is a diagram of the control system architecture of the present invention; Figure 2 This is a flowchart of the pre-treatment control of the brake and exhaust butterfly valve during the power reversal deceleration process of the present invention; Figure 3 This is a control flowchart of the braking and exhaust butterfly valve adjustment stages during the power reversal deceleration process of the present invention; Figure 4 This is a flowchart of the brake and exhaust butterfly valve control during the reverse acceleration process of power reversal in this invention; Figure 5 This is a flowchart of the power reversal judgment logic of the present invention; Figure 6 This is a flowchart of the logic for controlling the opening degree of the exhaust butterfly valve in this invention. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of protection. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art, without creative effort, including formal modifications to the technical solutions described in the following embodiments or equivalent substitutions of some technical features, based on the inspiration of the present invention, are within the scope of protection of the present invention.

[0012] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0013] like Figure 1 As shown, this invention provides a tractor control system based on brake braking and engine exhaust braking. This control system mainly includes a power reversing controller and an engine controller. The power reversing controller collects switch signals such as ignition switch, forward, reverse, neutral, left brake, right brake, parking, seat, and clutch pedal switches; speed signals such as clutch input speed, clutch output speed, vehicle speed, and speed direction; analog signals such as system pressure, brake pressure, forward clutch pressure, reverse clutch pressure, and clutch pedal pressure; and transmission oil temperature signals. The power reversing controller communicates with the engine controller via a CAN bus, sending engine request speed, torque limit, and exhaust butterfly valve request opening to the engine controller, while simultaneously receiving signals such as actual engine speed, engine torque, and actual exhaust butterfly valve opening. The power reversing controller directly drives the forward, reverse, and brake solenoid valves; all three valves are proportional valves.

[0014] The engine controller receives signals from the power reversing controller, including the requested engine speed, torque limit, and exhaust butterfly valve opening. It then sends signals for the actual engine speed, engine torque, and actual exhaust butterfly valve opening. The engine controller adjusts the exhaust butterfly valve opening by controlling the motor to meet the requested values.

[0015] The control algorithm runs on the power commutation controller, according to Figure 2 , Figure 3 and Figure 4 The steps described above are for adjusting the power reversing process. The specific steps and explanations are as follows: S1: Power on the entire vehicle, then proceed to the next step; S2: Determine whether the vehicle is in a power reversal state. If yes, proceed to the next step S3; otherwise, proceed to step S1. S3: Engine speed reduction, current direction clutch starts adjusting, exhaust butterfly valve starts adjusting; S4: Determine if the clutch speed difference in the current direction is greater than the threshold. If the rpm is specified, proceed to the next step S5; otherwise, proceed to step S3. S5: The exhaust butterfly valve continues to decrease in size, the target direction clutch is filled with oil, and the brake clutch is filled with oil. S6: The clutch in the current direction remains open; S7: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.1. S7.1: The brake clutch begins to engage and the brake clutch full engagement time tk=0 is set. The exhaust butterfly valve opening continues to be adjusted. At the same time, the clutch in the current direction opens rapidly and the next step is executed. S7.2: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to the next step. S7.3: Determine if the brake pressure is greater than the threshold. If the pressure is greater than MPa, it means that the current of the brake clutch solenoid valve has reached its maximum, so proceed to the next step; otherwise, proceed to step S7.1. S7.4: Start timing tk=tk+1, which is the time for the brake solenoid valve current to maintain its maximum value. At this time, the exhaust butterfly valve continues to adjust, and then the next step is executed. S7.5: Determine if time tk is greater than the threshold. If the time is less than 1 second, proceed to step S7.5.1; otherwise, proceed to the next step S7.6. S7.5.1: The brake solenoid valve reduces the current, and the braking pressure drops to the clutch KISS point. At this time, the clutch master and slave ends are engaged but no power is transmitted. The clutch is in a cooling state to prevent the brake braking clutch from slipping for too long and burning out. Set the cooling time to th=0. At the same time, continue to adjust the opening of the exhaust butterfly valve, and then proceed to the next step S7.5.2; S7.5.2: The brake clutch cooling timer begins, the exhaust butterfly valve opening continues to be adjusted, and the next step S7.5.3 is executed; S7.5.3: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.5.4. S7.5.4: Determine if the heat dissipation time exceeds the threshold. If the time exceeds 10 seconds, it means the heat dissipation time meets the requirements, and step S7.1 is executed; otherwise, step S7.5.2 is executed to continue heat dissipation of the brake clutch. S7.6: Determine if the vehicle speed is less than [a certain value]. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.4. S8: At this point, the vehicle speed drops to a relatively low value, the brake clutch disengages, the target direction clutch begins to increase pressure, the target direction clutch takes on the braking effect, and the exhaust butterfly valve remains stationary. S9: Determine if the vehicle speed is reversed. If it is reversed, proceed to the next step S10; otherwise, proceed to step S8. S10: The engine exhaust butterfly valve has begun to adjust. The result of the adjustment should be an increased opening and increased clutch pressure in the target direction. S11: Determine the clutch speed difference in the target direction. When the speed difference is less than the threshold... If the rpm is reached, proceed to the next step S12; otherwise, proceed to step S10. S12: At this time, the vehicle is in an acceleration state and does not require engine braking. The exhaust butterfly valve opening is completely controlled by the engine controller, and the next step S13 is executed. S13: The clutch in the target direction is fully engaged, as determined by the clutch speed difference and clutch pressure; the engine speed rises to normal speed, completing the power reversal process.

[0016] In step S2 of the control algorithm, the determination of the power reversal state is as follows: Figure 5 As shown, the specific steps are as follows: [1] Engage the ignition switch, start the engine, and then proceed to the next step; [2] Determine if the system pressure and oil temperature are normal. If they are normal, proceed to the next step; otherwise, report a vehicle malfunction. [3] If the seat switch is engaged, the parking switch is released, the clutch pedal switch is not engaged, and the forward or reverse switch is engaged, proceed to the next step; otherwise, repeat this step. [4] Enter normal driving mode and proceed to the next step; [5] If the parking brake is not engaged, the clutch pedal opening is less than 15%, the left brake switch is not engaged, the right brake switch is not engaged, the vehicle speed is forward but the reverse switch is engaged, or the vehicle speed is reverse but the forward switch is engaged, if all these conditions are met, the vehicle is judged to have entered the power reversal state and the state judgment ends; otherwise, continue to repeat this step.

[0017] In the process of adjusting the engine exhaust butterfly valve described in this invention, the adjustment method is as follows: Figure 6 As shown, the specific steps are as follows: [1] First, based on the vehicle speed and engine speed data during the existing power reversal process, a two-dimensional MAP about the opening of the exhaust butterfly valve is generated; [2] When the power reversal state occurs and the exhaust butterfly valve starts to adjust, the exhaust butterfly valve opening request value is obtained by searching the two-dimensional MAP according to the current engine speed and vehicle speed. During the vehicle deceleration process, the butterfly valve opening decreases and during the vehicle speed increase process, the butterfly valve opening increases. [3] The butterfly valve request opening is issued by the power reversing controller and needs to be compared with the butterfly valve limit value of the engine itself. Only the butterfly valve request value that meets the limit value will be executed. [4] The engine controller adjusts the motor to make the exhaust butterfly valve opening meet the requested value requirements, and sends the actual value to the power reversing controller to complete the control and adjustment of the butterfly valve opening.

[0018] The implementation of this invention is accompanied by the operation of the tractor. After the vehicle is powered on, its status is determined. If the vehicle is in a power reversal state, it first decelerates by reducing engine speed and disengaging the current clutch. During deceleration, the brake clutch and exhaust butterfly valve are controlled to quickly reduce the vehicle speed to a set level for power reversal. When the vehicle speed enters reverse acceleration, the brake is released and the exhaust butterfly valve returns to its forward state, eventually stabilizing the vehicle speed and completing the reversal process. The determination of the power reversal state is related to the operating command and is performed in real time by the control system. The control of the exhaust butterfly valve is achieved by the power reversal controller sending a message to the engine controller, which ultimately executes the control of the exhaust butterfly valve opening. The power reversal process using brake and exhaust butterfly valve control can significantly shorten the reversal time, improve operating efficiency, and greatly improve vehicle performance.

[0019] The preferred embodiments and examples of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments and examples. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the concept of the present invention.

Claims

1. A power reversing control system based on braking and exhaust butterfly valve braking, characterized in that: The control system includes a power reversing controller and an engine controller. The power reversing controller and the engine controller communicate via a CAN bus. The engine controller receives engine speed request, torque limit, and exhaust butterfly valve opening request signals from the power reversing controller, and sends actual speed, engine torque, and actual exhaust butterfly valve opening signals. The engine controller adjusts the exhaust butterfly valve opening by controlling the motor to meet the requested values. The power reversing controller includes a first signal acquisition module, a first algorithm operation module, a first communication module, and a first drive output module. The engine controller includes a second communication module, a second algorithm operation module, a second signal acquisition module, and a second drive output module.

2. The power reversing control system based on brake and exhaust butterfly valve braking as described in claim 1, characterized in that: The first signal acquisition module of the power reversing controller acquires switch signals such as ignition switch, forward, reverse, neutral, left brake, right brake, parking, seat and clutch pedal switch, as well as speed signals such as clutch input speed, clutch output speed, vehicle speed, and vehicle speed direction, and analog signals such as system pressure, brake pressure, forward clutch pressure, reverse clutch pressure, clutch pedal and oil temperature. The first algorithm execution module runs the control method, which uses the signals collected by the controller and the signals received through the communication module to perform logical operations and output control commands. The first drive output module drives the solenoid valves, including a forward solenoid valve, a reverse solenoid valve, and a brake solenoid valve. All three valves are proportional solenoid valves. The first communication module communicates with the engine controller via CAN bus; the power reversing controller receives the actual engine speed, engine torque, and actual opening of the exhaust butterfly valve, and sends requests for engine speed, torque limits, and exhaust butterfly valve control opening.

3. The power reversing control system based on brake and exhaust butterfly valve braking as described in claim 1, characterized in that: The engine controller includes a second signal acquisition module, a second algorithm execution module, a second drive output module, and a second communication module; The second signal acquisition module mainly acquires the opening degree of the exhaust butterfly valve; The second communication module receives the engine request speed, torque limit and exhaust butterfly valve request opening signal sent by the power reversing controller, and sends the actual opening of the exhaust butterfly valve, the actual engine speed and the engine torque to the power reversing controller. The second algorithm running module mainly runs the engine control algorithm. Based on parameters such as the requested speed, torque limit, requested opening degree of the exhaust butterfly valve, actual speed, torque, and actual opening degree of the exhaust butterfly valve, it calculates the current required for the butterfly valve control motor and outputs the drive current value. The second drive output module controls the motor to adjust the opening of the exhaust butterfly valve according to the current to meet the required value.

4. The power reversing control system based on brake and exhaust butterfly valve braking as described in claim 2, characterized in that: The aforementioned braking is the preferred option; other options include, but are not limited to, parking brake, and the corresponding controller also collects parking pressure signals.

5. A control method for a power reversing control system based on brake and exhaust butterfly valve braking as described in any one of claims 1 to 4, characterized in that: Includes the following steps, S1: Power on the entire vehicle, then proceed to the next step; S2: Determine whether the vehicle is in a power reversal state. If yes, proceed to the next step S3; otherwise, proceed to step S1. S3: Engine speed reduction, current direction clutch starts adjusting, exhaust butterfly valve starts adjusting; S4: Determine if the clutch speed difference in the current direction is greater than the threshold. If the rpm is specified, proceed to the next step S5; otherwise, proceed to step S3. S5: The exhaust butterfly valve continues to decrease in size, the target direction clutch is filled with oil, and the brake clutch is filled with oil. S6: The clutch in the current direction remains open; S7: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.

1. S7.1: The brake clutch begins to engage and the brake clutch full engagement time tk=0 is set. The exhaust butterfly valve opening continues to be adjusted. At the same time, the clutch in the current direction opens rapidly and the next step is executed. S7.2: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to the next step. S7.3: Determine if the brake pressure is greater than the threshold. If the pressure is greater than MPa, it means that the current of the brake clutch solenoid valve has reached its maximum, so proceed to the next step; otherwise, proceed to step S7.

1. S7.4: Start timing tk=tk+1, which is the time for the brake solenoid valve current to maintain its maximum value. At this time, the exhaust butterfly valve continues to adjust, and then the next step is executed. S7.5: Determine if time tk is greater than the threshold. If the time is less than 1 second, proceed to step S7.5.1; otherwise, proceed to the next step S7.

6. S7.5.1: The brake solenoid valve reduces the current, and the braking pressure drops to the clutch KISS point. At this time, the clutch master and slave ends are engaged but no power is transmitted. The clutch is in a cooling state to prevent the brake braking clutch from slipping for too long and burning out. Set the cooling time to th=0. At the same time, continue to adjust the opening of the exhaust butterfly valve, and then proceed to the next step S7.5.

2. S7.5.2: The brake clutch cooling timer begins, the exhaust butterfly valve opening continues to be adjusted, and the next step S7.5.3 is executed; S7.5.3: Determine if the vehicle speed is less than the threshold. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.5.

4. S7.5.4: Determine if the heat dissipation time exceeds the threshold. If the time exceeds 10 seconds, it means the heat dissipation time meets the requirements, and step S7.1 is executed; otherwise, step S7.5.2 is executed to continue heat dissipation of the brake clutch. S7.6: Determine if the vehicle speed is less than [a certain value]. If the speed is km / h, proceed to step S8; otherwise, proceed to step S7.

4. S8: At this point, the vehicle speed drops to a relatively low value, the brake clutch disengages, the target direction clutch begins to increase pressure, the target direction clutch takes on the braking effect, and the exhaust butterfly valve remains stationary. S9: Determine if the vehicle speed is reversed. If it is reversed, proceed to the next step S10; otherwise, proceed to step S8. S10: The engine exhaust butterfly valve has begun to adjust. The result of the adjustment should be an increased opening and increased clutch pressure in the target direction. S11: Determine the clutch speed difference in the target direction. When the speed difference is less than the threshold... If the rpm is reached, proceed to the next step S12; otherwise, proceed to step S10. S12: At this time, the vehicle is in an acceleration state and does not require engine braking. The exhaust butterfly valve opening is completely controlled by the engine controller, and the next step S13 is executed. S13: The clutch in the target direction is fully engaged, as determined by the clutch speed difference and clutch pressure; the engine speed rises to normal speed, completing the power reversal process.

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