CN-121977065-A - Control method and device for reduction gearbox of operation traction equipment based on priority of running speed

CN121977065ACN 121977065 ACN121977065 ACN 121977065ACN-121977065-A

Abstract

The invention provides a control method of a reduction gearbox of operation traction equipment based on running speed priority, which comprises the steps of setting a plurality of core gear positions based on working condition requirements of new energy operation traction equipment, wherein the plurality of core gear positions comprise a low gear position and a plurality of high gear positions, determining basic parameters according to design targets of the new energy operation traction equipment, determining maximum traction force according to tire bearing capacity and upper limit of motor torque, selecting a motor matched with whole vehicle calibration power, obtaining an external characteristic curve of the motor, determining tire power radius, slip rate and transmission efficiency of the new energy operation traction equipment, calculating a transmission ratio range of each core gear position according to the basic parameters, taking an intersection interval of transmission ratio ranges corresponding to all high gear positions, selecting a transmission ratio value in the intersection interval as a high speed transmission ratio, selecting a transmission ratio value in the transmission ratio range corresponding to the low gear position as the low speed transmission ratio, and setting the reduction gearbox of the new energy operation traction equipment as the high speed transmission ratio and the low speed transmission ratio.

Inventors

WAN ZHONGZHENG
WANG PENG
LI QINGLIN
ZHANG YUCHENG
DONG JIE
ZHAO KAIBIN
WANG SHUAI
YU SHUANG

Assignees

中国科学院计算技术研究所

Dates

Publication Date: 20260505
Application Date: 20260402

Claims (10)

1. A method for controlling a reduction gearbox of a work traction device based on priority of traveling speed, comprising: setting a plurality of core gear positions based on the working condition requirements of new energy operation traction equipment, wherein the plurality of core gear positions comprise a low gear position and a plurality of high gear positions; Determining basic parameters according to design targets of the new energy operation traction equipment, wherein the basic parameters comprise the whole vehicle calibration power and calibration traction force of the new energy operation traction equipment, determining the maximum traction force according to the bearing capacity of a tire and the upper limit of the torque of a motor, selecting a motor matched with the whole vehicle calibration power, and obtaining an external characteristic curve of the motor; A multidimensional transmission ratio calculating step, namely calculating the transmission ratio range of each core gear point according to the basic parameters; A total gear ratio determining step, namely taking intersection intervals of gear ratio ranges corresponding to all high-speed gear positions, selecting a gear ratio value in the intersection intervals as a high-speed gear ratio, selecting a gear ratio value in the gear ratio range corresponding to the low-speed gear position as a low-speed gear ratio, and setting the gear of a reduction gearbox of the new energy operation traction equipment as the high-speed gear ratio and the low-speed gear ratio; And judging whether the traction equipment needs to increase traction or not according to the road surface information and/or the working state, and if so, controlling the gear ratio of the reduction gearbox to be switched from the low-speed transmission ratio to the high-speed transmission ratio.
2. The method for controlling a reduction gearbox of a work traction device based on priority of traveling speed according to claim 1, wherein the high gear position set in the key gear position setting step includes: the transition gear point is used for outputting basic traction force at a preset transition speed Vmax; the standard traction force working gear position is used for outputting a calibration traction force Fn in normal operation; A common working speed gear position point is used for outputting a calibration traction force Fn under a preset working speed Vn; the maximum traction force gear position point set in the low gear position point setting step is used for outputting the maximum traction force Fmax during heavy load operation.
3. The running speed priority-based work traction apparatus reduction gear box control method according to claim 2, wherein the base parameter determining step includes: The nominal traction force Fn is determined by: Fn=Pn/0.735×(0.15~0.20); The maximum traction force Fmax is determined by amplifying the calibrated traction force fn1.2-1.5 times; The motor external characteristic curve comprises: a constant torque interval, wherein the rotating speed n is from 0 to n0, and the torque T is Tmax; a constant power interval, wherein the rotating speed n is from n0 to nmax, and the power is kept at Pmax; The tire power radius r of the working traction equipment, the slip rate delta 1 during working, the slip rate delta 2 during transition and the transmission system efficiency eta are determined.
4. A method of controlling a reduction gearbox of a work traction device based on priority of traveling speed as claimed in claim 3, wherein the step of calculating the multi-dimensional gear ratio comprises: Aiming at the maximum traction force Fmax requirement of heavy load operation, combining the motor constant torque interval torque T epsilon [ Tmin, tn ], wherein Tmin is the motor minimum effective torque, tmax is the rated torque corresponding to the calibration power, and the transmission ratio i1 is deduced through the transmission relation between traction force and torque: Traction force transmission formula: Wherein F is traction force, T is motor torque, i is total transmission ratio, eta is transmission system efficiency, and r is tire power radius; the transmission ratio formula is deformed: ; substituting the maximum traction force Fmax and the torque range T epsilon [ Tmin, tn ], and calculating to obtain an i1 range: ,T∈[Tmin,Tn]; Aiming at the nominal traction force Fn requirement of conventional operation, combining the torque T epsilon [ Tmin, tn ] of a motor constant torque interval, wherein Tmin is the minimum effective torque of the motor, tn is the nominal torque corresponding to the nominal power, and the transmission ratio i2 is deduced through the transmission relation of traction force and torque: substituting the calibrated traction force Fn and the torque range T epsilon [ Tmin, tn ], and calculating to obtain an i2 range: ,T∈[Tmin,Tn]; Aiming at a preset operation speed Vn, combining a motor constant power interval, and deriving a transmission ratio i3 through an operation traction equipment speed formula, wherein the rotation speed n epsilon [ n0, nmax ]: Tractor speed formula: v unit is km/h, n unit is r/min, i is total transmission ratio; the transmission ratio formula is deformed: substituting the normal operation speed Vn and the motor constant power interval rotating speed n epsilon [ n0, nmax ], and calculating to obtain an i3 range: ,n∈[n0,nmax]; Aiming at a preset transition speed Vmax, a constant power interval of a motor is combined, the rotating speed n epsilon [ n0, nmax ], and the transmission ratio i4 is deduced through a tractor speed formula: Substituting the normal operation speed Vmax and the motor constant power interval rotating speed n E [ n0, nmax ], and calculating to obtain an i4 range: ,n∈[n0,nmax]。
5. A work traction equipment reduction gearbox control device based on travel speed priority, characterized by comprising: The key gear position setting module is used for setting a plurality of core gear positions based on the working condition requirements of the new energy operation traction equipment, wherein the plurality of core gear positions comprise a low gear position and a plurality of high gear positions; The basic parameter determining module is used for determining basic parameters according to the design target of the new energy operation traction equipment, wherein the basic parameters comprise the whole vehicle calibration power and the calibration traction of the new energy operation traction equipment; the multidimensional transmission ratio calculation module calculates the transmission ratio range of each core gear position point according to the basic parameters; The total transmission ratio determining module takes intersection intervals of transmission ratio ranges corresponding to all high-speed gear positions, selects a transmission ratio value in the intersection intervals as a high-speed transmission ratio, selects a transmission ratio value in the transmission ratio range corresponding to the low-speed gear position as a low-speed transmission ratio, and sets the gear of the reduction gearbox of the new energy operation traction equipment as the high-speed transmission ratio and the low-speed transmission ratio; The speed reduction box control module acquires road surface information including gradient, road surface friction coefficient and whether obstacles are present according to vision and distance sensors of the new energy operation traction equipment, and/or acquires operation states including speed, output power and motor rotation speed according to the sensors of the operation traction equipment, judges whether the operation traction equipment needs to increase traction force according to the road surface information and/or the operation states, and if yes, controls the gear ratio of the speed reduction box to be switched from the low-speed transmission ratio to the high-speed transmission ratio.
6. The traction device reduction gearbox control device based on the traveling speed priority as claimed in claim 5, wherein the high gear point set in the key gear point setting module comprises: the transition gear point is used for outputting basic traction force at a preset transition speed Vmax; the standard traction force working gear position is used for outputting a calibration traction force Fn in normal operation; A common working speed gear position point is used for outputting a calibration traction force Fn under a preset working speed Vn; the maximum traction force gear position point set in the low gear position point setting module is used for outputting maximum traction force Fmax during heavy-load operation.
7. The work traction device reduction gearbox control apparatus based on travel speed priority as claimed in claim 6, wherein the base parameter determination module comprises: The nominal traction force Fn is determined by: Fn=Pn/0.735×(0.15~0.20); The maximum traction force Fmax is determined by amplifying the calibrated traction force fn1.2-1.5 times; The motor external characteristic curve comprises: a constant torque interval, wherein the rotating speed n is from 0 to n0, and the torque T is Tmax; a constant power interval, wherein the rotating speed n is from n0 to nmax, and the power is kept at Pmax; Determining the tire power radius r of the working traction equipment, the slip rate delta 1 during working, the slip rate delta 2 during transition and the transmission system efficiency eta; the multi-dimensional gear ratio calculation module includes: Aiming at the maximum traction force Fmax requirement of heavy load operation, combining the motor constant torque interval torque T epsilon [ Tmin, tn ], wherein Tmin is the motor minimum effective torque, tmax is the rated torque corresponding to the calibration power, and the transmission ratio i1 is deduced through the transmission relation between traction force and torque: Traction force transmission formula: Wherein F is traction force, T is motor torque, i is total transmission ratio, eta is transmission system efficiency, and r is tire power radius; the transmission ratio formula is deformed: ; substituting the maximum traction force Fmax and the torque range T epsilon [ Tmin, tn ], and calculating to obtain an i1 range: ,T∈[Tmin,Tn]; aiming at the nominal traction force Fn requirement of conventional operation, combining the torque T epsilon [ Tmin, tn ] of a motor constant torque interval, wherein Tmin is the minimum effective torque of the motor, tn is the nominal torque corresponding to the nominal power, and the transmission ratio i2 is deduced through the transmission relation of traction force and torque: substituting the calibrated traction force Fn and the torque range T epsilon [ Tmin, tn ], and calculating to obtain an i2 range: ,T∈[Tmin,Tn]; Aiming at a preset operation speed Vn, combining a motor constant power interval, and deriving a transmission ratio i3 through an operation traction equipment speed formula, wherein the rotation speed n epsilon [ n0, nmax ]: Tractor speed formula: V unit is km/h, n unit is r/min, i is total transmission ratio; the transmission ratio formula is deformed: Substituting the normal operation speed Vn and the motor constant power interval rotating speed n epsilon [ n0, nmax ], and calculating to obtain an i3 range: ,n∈[n0,nmax]; Aiming at a preset transition speed Vmax, a constant power interval of a motor is combined, the rotating speed n epsilon [ n0, nmax ], and the transmission ratio i4 is deduced through a tractor speed formula: substituting the normal operation speed Vmax and the motor constant power interval rotating speed n E [ n0, nmax ], and calculating to obtain an i4 range: ,n∈[n0,nmax]。
8. an electronic device, characterized by comprising a speed reduction box control device of a work traction device based on priority of running speed according to claims 5-7, the electronic device is connected with an information display device, and the information display device is used for displaying the high-speed transmission ratio and the low-speed transmission ratio according to display parameters, attributes or through an artificial intelligence model set by a user.
9. A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the work traction device reduction gearbox control method based on travel speed priority of any one of claims 1 to 4.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, carries out the steps of the method for controlling a gearbox of a work traction device based on priority of travel speed according to any one of claims 1-4.

Description

Control method and device for reduction gearbox of operation traction equipment based on priority of running speed Technical Field The present invention relates to the field of mechanical transmission design, and in particular, to a method, an apparatus, an electronic device, a computer readable storage medium, and a computer program product for controlling a reduction gearbox of a traction device for operation based on priority of traveling speed. Background In recent years, electric and hybrid operation traction devices are becoming industry development, and the operation traction devices often need to be in a low-speed and high-torque mode when operating, and the operation traction devices can be, for example, operation traction devices, forestry felling transportation devices, port traction devices and the like. The description is given herein by taking an agricultural tractor as an example. On one hand, the speed regulation range of the internal combustion engine is narrow, the driving system is complex in structure and large in number of parts and costs 30% -40% of the whole vehicle because the scenes such as operation and transition are covered by more than ten mechanical gears, and on the other hand, the multi-gear switching requires frequent operation of a clutch and a gear shift lever by a driver, so that the operation difficulty is increased, the operation is easily interrupted because of gear shift gaps, and the unmanned operation requirement is difficult to adapt. In recent years, electric and hybrid tractors are becoming industry development directions, and permanent magnet synchronous motors mounted on the tractors have wide speed regulation characteristics, and theoretically, the number of mechanical gears can be reduced. However, in the prior art, the transmission ratio matching still uses multi-gear logic of the traditional internal combustion engine tractor, and the core requirement of wide speed regulation of the motor characteristic is not combined, so that the following problems are caused that the gear shifting logic is complex, and the unmanned control is difficult to adapt. Therefore, there is a need for a method for matching multiple gear positions into one total gear ratio based on the characteristics of a permanent magnet synchronous motor, which can reduce mechanical gear positions, reduce cost, ensure operation traction force, simplify gear shifting logic, and adapt to an unmanned system. Disclosure of Invention In order to reduce the number of mechanical gears and reduce the cost of a transmission system, realize the integration of a driving speed priority type multi-gear ratio, simplify the gear shifting logic, avoid frequent gear shifting, adapt to unmanned system control and improve the working efficiency. The invention provides a control method of a reduction gearbox of operation traction equipment based on traveling speed priority, which is shown in fig. 2 and comprises the following steps: setting a plurality of core gear positions based on the working condition requirements of new energy operation traction equipment, wherein the plurality of core gear positions comprise a low gear position and a plurality of high gear positions; Determining basic parameters according to design targets of the new energy operation traction equipment, wherein the basic parameters comprise the whole vehicle calibration power and calibration traction force of the new energy operation traction equipment, determining the maximum traction force according to the bearing capacity of a tire and the upper limit of the torque of a motor, selecting a motor matched with the whole vehicle calibration power, and obtaining an external characteristic curve of the motor; A multidimensional transmission ratio calculating step, namely calculating the transmission ratio range of each core gear point according to the basic parameters; A total gear ratio determining step, namely taking intersection intervals of gear ratio ranges corresponding to all high-speed gear positions, selecting a gear ratio value in the intersection intervals as a high-speed gear ratio, selecting a gear ratio value in the gear ratio range corresponding to the low-speed gear position as a low-speed gear ratio, and setting the gear of a reduction gearbox of the new energy operation traction equipment as the high-speed gear ratio and the low-speed gear ratio; And judging whether the traction equipment needs to increase traction or not according to the road surface information and/or the working state, and if so, controlling the gear ratio of the reduction gearbox to be switched from the low-speed transmission ratio to the high-speed transmission ratio. The control method of the reduction gearbox of the operation traction equipment based on the priority of the driving speed, wherein the high-speed gear position set in the key gear position setting step comprises the following steps: the transition gear point is used for outputting basic tra