阅读说明：本技术 传动系统的功率匹配方法及装置、电子设备及存储介质 (Power matching method and device for transmission system, electronic equipment and storage medium ) 是由 卿丽纯 郭方云 陈国平 陈奕松 肖久焜 方怡红 胡千川 石云 许乐平 于 2021-06-30 设计创作，主要内容包括：本公开提供了传动系统的功率匹配方法及装置、电子设备及存储介质,所述方法应用于覆盖物清除车,传动系统至少包括：发动机、液压系统、液压马达以及车轮；发动机用于向液压系统提供液压动力；液压系统与液压马达连接,用于触发液压马达旋转的液压；液压马达与车轮连接,用于向车轮提供转矩；方法包括：根据覆盖物清除车的负载,确定覆盖物清除车的期望车速；根据期望车速,调节发动机的转速；根据发动机的转速,确定覆盖物清除车的当前车速；根据当前车速,调节液压马达的排量并控制液压马达的工作模式；液压马达的排量和工作模式调节后,传动系统的功率与发动机的输出功率之差在预设范围内；能满足速度要求的同时提升能源转换效率。(The present disclosure provides a power matching method and apparatus for a transmission system, an electronic device, and a storage medium, the method being applied to a cover removal vehicle, the transmission system including at least: an engine, a hydraulic system, a hydraulic motor, and wheels; the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering hydraulic pressure for rotating the hydraulic motor; the hydraulic motor is connected with the wheels and used for providing torque to the wheels; the method comprises the following steps: determining an expected speed of the vehicle for removing the covering according to the load of the vehicle for removing the covering; adjusting the rotational speed of the engine according to the expected vehicle speed; determining the current speed of the vehicle for removing the covering according to the rotating speed of the engine; according to the current vehicle speed, adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range; the energy conversion efficiency can be improved while the speed requirement is met.)

1. A method for power matching of a transmission system, applied to a vehicle for removing coverings, said transmission system comprising at least: an engine, a hydraulic system, a hydraulic motor, and wheels;

the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering the hydraulic motor to rotate; the hydraulic motor is connected with the wheel and used for providing torque to the wheel;

the method comprises the following steps:

determining a desired vehicle speed of the vehicle for removing the covering according to the load of the vehicle for removing the covering;

adjusting a speed of the engine based on a desired speed of the vehicle;

determining the current speed of the covering removing vehicle according to the rotating speed of the engine;

according to the current vehicle speed, adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range.

2. The power matching method of the transmission system according to claim 1, wherein the adjusting the displacement of the hydraulic motor and controlling the operation mode of the hydraulic motor according to the current vehicle speed includes:

if the current speed of the covering removal vehicle is in a first speed area, adjusting the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor;

and controlling the working mode of the hydraulic motor to be in a constant power mode.

3. The power matching method of the transmission system according to claim 1, wherein the adjusting the displacement of the hydraulic motor and controlling the operation mode of the hydraulic motor according to the current vehicle speed includes:

if the current speed of the covering removal vehicle is in a second speed area, adjusting the displacement of the hydraulic motor according to the maximum displacement of a hydraulic system;

and controlling the target working mode of the hydraulic motor to be in a constant-pressure variable mode.

4. The driveline power matching method of claim 3, wherein said adjusting the displacement of said hydraulic motor and controlling the operating mode of said hydraulic motor based on said current vehicle speed comprises:

determining the power of the transmission system according to the current vehicle speed;

if the power of the transmission system is smaller than the output power of the engine, determining the current displacement of the hydraulic system;

if the current displacement of the hydraulic system is lower than the maximum displacement of a hydraulic pump of the hydraulic system, increasing the current displacement of the hydraulic system;

if the current displacement of the hydraulic system is the maximum displacement of the hydraulic system, reducing the displacement of the hydraulic motor;

and controlling the working mode of the hydraulic motor to be in a constant-pressure variable mode.

5. The driveline power matching method of claim 2, wherein said adjusting the displacement of said hydraulic motor and controlling the operating mode of said hydraulic motor based on said current vehicle speed comprises:

acquiring the power of the transmission system according to the current vehicle speed;

if the power of the transmission system is larger than the output power of the engine, determining the current displacement of the hydraulic motor;

if the current displacement of the hydraulic motor is lower than the maximum displacement of the hydraulic motor, increasing the current displacement of the hydraulic motor;

if the current displacement of the hydraulic motor is the maximum displacement of the hydraulic motor, reducing the current displacement of the hydraulic system; controlling a power mode of the hydraulic motor to be a constant power mode.

6. The power matching method of a transmission system according to claim 1, wherein the transmission system includes at least:

a driving hydraulic system at least comprising a driving hydraulic pump and a driving hydraulic motor, wherein the driving hydraulic system is used for controlling wheels of the covering removing vehicle;

an auxiliary hydraulic system including at least an auxiliary hydraulic pump and an auxiliary hydraulic motor, the auxiliary hydraulic system for controlling a robotic arm on the mulch clearing vehicle; wherein the mechanical arm is used for removing the covering;

and the oil supplementing hydraulic system comprises an oil supplementing pump which is used for supplying oil to the driving hydraulic pump and the auxiliary hydraulic pump.

7. The power matching method of the transmission system according to claim 6, further comprising:

and if the auxiliary hydraulic system starts to work in the walking process of the covering removing vehicle, reducing the power of the driving hydraulic system by reducing the displacement of the driving hydraulic pump and the displacement of the hydraulic motor corresponding to the driving hydraulic pump.

8. The power matching method of the transmission system according to claim 6, wherein the power of the transmission system is equal to the sum of the power of the driving hydraulic system, the power of the auxiliary hydraulic system, and the power of the oil replenishment hydraulic system.

9. A power matching device for a drive train, for use in a vehicle for removing coverings, said drive train comprising at least: an engine, a hydraulic system, a hydraulic motor, and wheels;

the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering the hydraulic motor to rotate; the hydraulic motor is connected with the wheel and used for providing torque to the wheel;

the device comprises:

the first determination module is used for determining the expected speed of the covering removing vehicle according to the load of the covering removing vehicle;

the first adjusting module is used for adjusting the rotating speed of the engine according to the expected speed of the covering removing vehicle;

the second determination module is used for determining the current speed of the covering removing vehicle according to the rotating speed of the engine;

the second adjusting module is used for adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor according to the current vehicle speed; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range.

10. An electronic device, characterized in that the device comprises:

a memory;

a processor coupled to the memory for executing the instructions by a computer stored in the memory, the processor being capable of implementing the method of any of claims 1 to 8.

11. A storage medium having stored thereon computer-executable instructions; the computer-executable instructions, when executed by a processor, are capable of implementing the method of any one of claims 1 to 8.

Technical Field

The present disclosure relates to the field of electronic control, and in particular, to a power matching method and apparatus for a transmission system, an electronic device, and a storage medium.

Background

Existing control schemes for the vehicle's driveline, due to the structural link between the engine and driveline, various transmission elements consume power; and the speed between the transmission elements for the final output may not meet the speed requirement due to inconsistent power matching or low degree of matching. Therefore, there is a need for a control device that achieves a reasonable match of power between the transmission elements.

Disclosure of Invention

The disclosure provides a power matching method and device for a transmission system, an electronic device and a storage medium.

According to a first aspect of the present disclosure, there is provided a power matching method for a transmission system applied to a vehicle for removing a covering, the transmission system at least comprising: an engine, a hydraulic system, a hydraulic motor, and wheels;

the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering the hydraulic motor to rotate; the hydraulic motor is connected with the wheel and used for providing torque to the wheel;

the method comprises the following steps:

determining a desired vehicle speed of the vehicle for removing the covering according to the load of the vehicle for removing the covering;

adjusting a speed of the engine based on a desired speed of the vehicle;

determining the current speed of the covering removing vehicle according to the rotating speed of the engine;

according to the current vehicle speed, adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range.

Optionally, said adjusting the displacement of said hydraulic motor and controlling the operating mode of said hydraulic motor in accordance with said current vehicle speed comprises:

if the current speed of the covering removal vehicle is in a first speed area, adjusting the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor;

and controlling the working mode of the hydraulic motor to be in a constant power mode.

Optionally, said adjusting the displacement of said hydraulic motor and controlling the operating mode of said hydraulic motor in accordance with said current vehicle speed comprises:

if the current speed of the covering removal vehicle is in a second speed area, adjusting the displacement of the hydraulic motor according to the maximum displacement of a hydraulic system;

and controlling the target working mode of the hydraulic motor to be in a constant-pressure variable mode.

Optionally, said adjusting the displacement of said hydraulic motor and controlling the operating mode of said hydraulic motor in accordance with said current vehicle speed comprises:

determining the power of the transmission system according to the current vehicle speed;

if the power of the transmission system is smaller than the output power of the engine, determining the current displacement of the hydraulic system;

if the current displacement of the hydraulic system is lower than the maximum displacement of a hydraulic pump of the hydraulic system, increasing the current displacement of the hydraulic system;

if the current displacement of the hydraulic system is the maximum displacement of the hydraulic system, reducing the displacement of the hydraulic motor;

and controlling the working mode of the hydraulic motor to be in a constant-pressure variable mode.

Optionally, said adjusting the displacement of said hydraulic motor and controlling the operating mode of said hydraulic motor in accordance with said current vehicle speed comprises:

acquiring the power of the transmission system according to the current vehicle speed;

if the power of the transmission system is larger than the output power of the engine, determining the current displacement of the hydraulic motor;

if the current displacement of the hydraulic motor is lower than the maximum displacement of the hydraulic motor, increasing the current displacement of the hydraulic motor;

if the current displacement of the hydraulic motor is the maximum displacement of the hydraulic motor, reducing the current displacement of the hydraulic system; controlling a power mode of the hydraulic motor to be a constant power mode.

Optionally, the transmission system comprises at least:

a driving hydraulic system at least comprising a driving hydraulic pump and a driving hydraulic motor, wherein the driving hydraulic system is used for controlling wheels of the covering removing vehicle;

an auxiliary hydraulic system including at least an auxiliary hydraulic pump and an auxiliary hydraulic motor, the auxiliary hydraulic system for controlling a robotic arm on the mulch clearing vehicle; wherein the mechanical arm is used for removing the covering;

and the oil supplementing hydraulic system comprises an oil supplementing pump which is used for supplying oil to the driving hydraulic pump and the auxiliary hydraulic pump.

Optionally, the method comprises:

and if the auxiliary hydraulic system starts to work in the walking process of the covering removing vehicle, reducing the power of the driving hydraulic system by reducing the displacement of the driving hydraulic pump and the displacement of the hydraulic motor corresponding to the driving hydraulic pump.

Optionally, the power of the transmission system is equal to the sum of the power of the driving hydraulic system, the power of the auxiliary hydraulic system and the power of the oil supplementing hydraulic system.

According to a second aspect of the present disclosure, there is provided a power matching device of a transmission system applied to a cover cleaning vehicle, the transmission system at least comprising: an engine, a hydraulic system, a hydraulic motor, and wheels;

the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering the hydraulic motor to rotate; the hydraulic motor is connected with the wheel and used for providing torque to the wheel;

the device comprises:

the first determination module is used for determining the expected speed of the covering removing vehicle according to the load of the covering removing vehicle;

the first adjusting module is used for adjusting the rotating speed of the engine according to the expected speed of the covering removing vehicle;

the second determination module is used for determining the current speed of the covering removing vehicle according to the rotating speed of the engine;

the second adjusting module is used for adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor according to the current vehicle speed; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range.

According to a third aspect of the present disclosure, there is provided an electronic device, the device comprising:

a memory;

a processor, coupled to the memory, for executing the instructions stored by the computer stored in the memory, to perform the steps of the power matching method for a transmission system according to the first aspect of the present disclosure.

According to a fourth aspect of the present disclosure, there is provided a storage medium storing computer-executable instructions; the computer executable instructions, when executed by a processor, are capable of performing the steps of the method of power matching for a driveline of the first aspect of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

the method comprises the steps that according to the load of the covering removing vehicle, the expected vehicle speed of the covering removing vehicle is determined; adjusting the speed of the engine according to the desired speed of the vehicle for covering removal; determining the current speed of the vehicle for removing the covering according to the rotating speed of the engine; according to the current vehicle speed, adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range; therefore, based on the current vehicle speed, the displacement and the working mode of the hydraulic motor are controlled, so that the difference between the power of the transmission system and the output power of the engine is reduced, and the energy conversion efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating a method of power matching a transmission system in accordance with an exemplary embodiment;

FIG. 2 is a flow chart diagram illustrating a method of power matching a transmission system in accordance with an exemplary embodiment;

FIG. 3 is a flow chart diagram illustrating a method of power matching a transmission system in accordance with an exemplary embodiment;

FIG. 4 is a flow chart diagram illustrating a method of power matching a transmission system in accordance with an exemplary embodiment;

FIG. 5 is a flow chart diagram illustrating a method of power matching a transmission system in accordance with an exemplary embodiment;

FIG. 6 is a flow chart diagram illustrating a method of power matching a transmission system in accordance with an exemplary embodiment;

FIG. 7 is a schematic diagram of a power matching arrangement for a transmission system in accordance with an exemplary embodiment;

FIG. 8 is a schematic diagram of a drivetrain system shown in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with embodiments of the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosed embodiments, as detailed in the appended claims.

The embodiment of the disclosure provides a power matching method of a transmission system, which is applied to a covering removal vehicle, wherein the transmission system at least comprises: an engine, a hydraulic system, a hydraulic motor, and wheels;

the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering the hydraulic motor to rotate; the hydraulic motor is connected with the wheel and used for providing torque to the wheel;

as shown in fig. 1 and fig. 8, the method includes:

step S101, determining an expected speed of the vehicle for removing the covering according to the load of the vehicle for removing the covering;

step S102, adjusting the rotating speed of the engine according to the expected speed of the covering removing vehicle;

step S103, determining the current speed of the covering removal vehicle according to the rotating speed of the engine;

step S104, adjusting the displacement of the hydraulic motor and controlling the working mode of the hydraulic motor according to the current vehicle speed; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range.

In embodiments of the present disclosure, the covering removal vehicle includes, but is not limited to: road covering removal vehicles, vehicle body covering removal vehicles, aircraft body covering removal vehicles, house wall covering removal vehicles, and the like.

In the embodiment of the present disclosure, the road covering removing vehicle may remove road coverings including, but not limited to: snow, accumulated ice, fallen leaves, dust, garbage, and the like.

In the embodiment of the present disclosure, the vehicle body covering removing vehicle may include, but is not limited to: dust, snow or ice.

In the embodiment of the disclosure, the vehicle for removing the aircraft body covering mainly includes ice accumulation on the aircraft body because the aircraft is in a specific area with abundant water vapor and a subzero temperature in the flying process, and the water vapor is attached to the aircraft body and easily generates ice accumulation on the aircraft body. During the stay process of the airplane, in rainy and snowy weather or sand storm, the airplane body coverings mainly comprise snow and dust.

In the embodiment of the disclosure, the house wall covering removing vehicle is mainly used for removing the covering such as accumulated ice, dust and dirt on the house wall.

In the embodiment of the disclosure, the load of the vehicle for removing the covering refers to the walking resistance borne by the vehicle for removing the covering during the running process, such as the friction force caused by the roughness of the ground and the gradient of the ground during the running process.

In the embodiment of the present disclosure, in step S101, a desired vehicle speed of the vehicle for removing coverings is determined according to a load of the vehicle for removing coverings. The desired vehicle speed is within a desired vehicle speed range or a specific value.

In one embodiment, the desired vehicle speed is increased with an increase in the load in one of the intervals of the load, and is decreased with an increase in the load in another one of the intervals. When the load is in a low load zone, the desired vehicle speed increases with an increase in the load, and when the load is in a high load zone, the desired vehicle speed decreases with an increase in the load.

In one embodiment, when the vehicle for removing the covering encounters a ground with increased load during traveling, the traction force needs to be increased and the vehicle speed needs to be reduced in order for the vehicle for removing the covering to smoothly travel. For example, when the vehicle for removing the covering climbs a slope, the traction force needs to be increased and the vehicle speed needs to be reduced.

In one embodiment, the cover removal vehicle reduces traction and increases vehicle speed when encountering a ground surface where the load is reduced during travel. For example, a mulching removal vehicle may need to reduce traction and increase vehicle speed when traveling downhill.

In the embodiment of the disclosure, a load signal of the transmission system is detected by a pressure sensor, the rotating speed of the engine is detected by a rotating speed sensor, and the engine, the hydraulic system and the hydraulic motor are respectively controlled by a controller according to the detected signals.

In the disclosed embodiment, the hydraulic system includes a hydraulic power element, the hydraulic power element is a hydraulic pump, the hydraulic pump is connected with the engine, and the mechanical energy output by the prime mover is converted into pressure energy of the working fluid.

In the disclosed embodiment, the hydraulic motor is a hydraulic actuator for converting hydraulic energy provided by the hydraulic pump into mechanical energy, and the hydraulic motor is connected with the hydraulic pump for outputting rotary motion.

In the embodiment of the present disclosure, the hydraulic motor is connected to a speed reducer, which is further connected to a wheel, the hydraulic motor provides torque to the wheel, and the speed reducer is configured to provide a transmission ratio between a rotation speed of the hydraulic motor and a rotation speed of the wheel.

In the disclosed embodiment, the displacement of the hydraulic system refers to the displacement of the hydraulic pump. The displacement V of the hydraulic pump refers to the volume of the excluded liquid calculated from the dimensional change of the set of seal volumes of the hydraulic pump per revolution of the hydraulic pump. The hydraulic pump with adjustable discharge capacity is a variable pump, and the hydraulic pump with non-adjustable discharge capacity is a fixed displacement pump. The hydraulic pump in the embodiment of the disclosure is a variable displacement pump.

In the disclosed embodiment, the displacement of the hydraulic motor is also an adjustable variable displacement motor.

In the disclosed embodiment, in step S102, the engine speed is adjusted according to the desired vehicle speed of the vehicle for covering removal. Firstly, according to the expected speed, setting the rotation speed of an engine, the displacement of a hydraulic system and the displacement of a motor in a reasonable configuration interval, when the engine of the cover deicing vehicle is started, the engine provides torque for a hydraulic pump of the hydraulic system, the hydraulic pump provides hydraulic pressure for the hydraulic motor to trigger the hydraulic motor to rotate, and the hydraulic motor provides torque for wheels through a speed reducer. And finally, step S103 is realized, and the current speed of the covering removing vehicle is determined according to the rotating speed of the engine.

In the disclosed embodiment, in step S103, the current vehicle speed of the covered clear vehicle should be equal to the desired vehicle speed or within the desired vehicle speed range.

In the embodiment of the present disclosure, in step S104, the operation mode refers to a constant voltage operation mode or a constant power operation mode. Constant power mode refers to a mode of operation in which the total power value of the transmission system is at a constant value. Constant pressure operating mode refers to a mode of operation in which the pressure of the transmission system is at a constant value.

In the disclosed embodiment, the pressure of the transmission system is affected by the load of the transmission system, and the greater the load, the greater the pressure the transmission system is subjected to.

In the embodiment of the present disclosure, the constant pressure value in the constant pressure mode is the highest pressure caused by the load, and the constant power value is all powers of the load, that is, the total power of the transmission system.

In the disclosed embodiment, in step S104, according to the current vehicle speed, the displacement of the hydraulic motor is adjusted and the working mode of the hydraulic motor is controlled so that the difference between the power of the transmission system and the output power of the engine is within a preset range. The power of the transmission system refers to the total power of a hydraulic system and a hydraulic motor included in the transmission system. When the difference between the power of the transmission system and the output power of the engine is within a preset range, the transmission efficiency of the transmission system and the engine is high-efficiency transmission.

In the embodiment of the disclosure, the displacement and the working mode of the hydraulic motor are controlled based on the current vehicle speed, so that the difference between the power of the transmission system and the output power of the engine is reduced, the power of the transmission system is increased compared with the output power of the engine, and the energy transmission efficiency is increased.

In the disclosed embodiment, referring to fig. 2, in step S104, adjusting the displacement of the hydraulic motor and controlling the operation mode of the hydraulic motor according to the current vehicle speed includes:

step S10401, if the current speed of the covering removal vehicle is in a first speed area, adjusting the displacement of the hydraulic motor according to the maximum displacement of the hydraulic motor;

and step S10402, controlling the working mode of the hydraulic motor in a constant power mode.

In the embodiment of the present disclosure, in step S10401, the first speed region belongs to a low-speed to medium-speed region. Setting a displacement of the hydraulic motor near a maximum displacement of the hydraulic motor when a current vehicle speed of the mulching-clearing vehicle is in a first speed region.

In the disclosed embodiment, in step S10402, the operation mode of the hydraulic motor is controlled to be in the constant power mode, that is, the total power value of the whole transmission system is adjusted to be in the constant power mode.

In the embodiment of the disclosure, when the current vehicle speed is in a low-speed to medium-speed region, the power of the current vehicle is ensured to be in a constant power mode, so as to prevent the cover clearing vehicle from stalling due to insufficient power and overlarge load caused by too small power of a hydraulic motor connected with the wheels because the speed of the wheels is low. Therefore, the displacement of the hydraulic motor is arranged near the maximum displacement of the hydraulic motor, so that the power of the hydraulic motor is increased, the power is sufficient, and flameout is avoided.

In the disclosed embodiment, referring to fig. 3, in step S104, adjusting the displacement of the hydraulic motor and controlling the operation mode of the hydraulic motor according to the current vehicle speed includes:

step S10403, if the current speed of the covering removing vehicle is in a second speed area, adjusting the displacement of the hydraulic motor according to the maximum displacement of a hydraulic system;

and step S10404, controlling the target operation mode of the hydraulic motor in a constant pressure variable mode.

In this embodiment of the present disclosure, in step S10403, the second speed region belongs to a medium-speed to high-speed region compared to the first speed region. When the current vehicle speed of the mulching removal vehicle is in the second speed region, the displacement of the hydraulic system is set near the maximum displacement of the hydraulic system, and the displacement of the hydraulic motor is reduced.

In the embodiment of the present disclosure, step S10404 controls the target operation mode of the hydraulic system and the hydraulic motor in the constant pressure variable mode by controlling the hydraulic system near the maximum displacement.

In the embodiment of the disclosure, when the current vehicle speed is near the maximum displacement of the hydraulic system, the highest pressure point is taken as a constant pressure value, and therefore the normal and efficient operation of the covering removing vehicle can be guaranteed under the condition of the highest load.

In the disclosed embodiment, referring to fig. 4, in step S104, adjusting the displacement of the hydraulic motor and controlling the operation mode of the hydraulic motor according to the current vehicle speed includes:

step S10405, determining the power of the transmission system according to the current vehicle speed;

step S10406, if the power of the transmission system is smaller than the output power of the engine, determining the current displacement of the hydraulic system;

step S10407, if the current displacement of the hydraulic system is lower than the maximum displacement of a hydraulic pump of the hydraulic system, increasing the current displacement of the hydraulic system;

step S10408, if the current displacement of the hydraulic system is the maximum displacement of the hydraulic system, reducing the displacement of the hydraulic motor;

and step S10409, controlling the working mode of the hydraulic motor in a constant pressure variable mode.

In the embodiment of the present disclosure, in step S10405, the power value of the transmission system is determined according to the current vehicle speed in the second speed region.

In the disclosed embodiment, the transmission system further comprises an auxiliary hydraulic system and an oil supplementing hydraulic system.

In the embodiment of the present disclosure, the total power required by the transmission system is:

Pz＝n_q*q_q*△p_q/6000+n_b*q_b*p_b/6000+n_f*q_f*p_fformula/6000 1.1

In the above equation 1.1, P_zThe total power Kw/h required by a transmission system is represented; n is_qMeans driving the hydraulic pump to rotate at r/min; q. q.s_qMeans driving hydraulic pump to discharge ml/r; Δ p_qThe pressure difference Mpa at the inlet and the outlet of the driving hydraulic pump; n is_bMeans the rotating speed r/min of the oil-supplementing hydraulic pump; q. q.s_bThe displacement ml/r of the oil-supplementing hydraulic pump is obtained; p is a radical of_bThe pressure is Mpa; n is_fMeans the rotating speed r/min of the auxiliary hydraulic pump; q. q.s_fThe displacement is ml/r of the auxiliary hydraulic pump; p is a radical of_fIt is the working pressure Mpa of the auxiliary hydraulic pump.

In the disclosed embodiment, the output power formula of the engine is as follows:

P_e＝T_k*n_kformula 1.2 of/9550

In the above equation 1.2, P_eMeans the output power Kw/h of the engine; t is_kRefers to the engine output torque N · m; n is_kIt means the output speed r/min of the engine.

In the embodiment of the disclosure, besides the treatment walking of the covering removing vehicle, other work needs to be provided with an auxiliary hydraulic system for providing power, such as a mechanical arm for removing the covering and a water path for providing cleaning work after the covering is cleared. If the snow or ice covered on the airplane body or the road is cleared, the heater is also required to melt the snow or ice. The auxiliary hydraulic system is used for providing power for the mechanical arm, the water path and the heater.

In the embodiment of the disclosure, the oil supplementing hydraulic system supplies oil to the driving hydraulic system and the auxiliary hydraulic system respectively.

In the embodiment of the present disclosure, in step S10406, if the power of the transmission system is smaller than the output power of the engine, it may be determined that the control of the transmission system at this time belongs to the constant-pressure variable control mode, and therefore, the current displacement of the hydraulic system needs to be determined.

In the embodiment of the present disclosure, in step S10407, if the current displacement of the hydraulic system is lower than the maximum displacement of the hydraulic pump of the hydraulic system, it indicates that the hydraulic pump cannot provide the highest constant pressure at the maximum displacement yet, and therefore, the current displacement of the hydraulic system needs to be increased.

In the disclosed embodiment, the torque absorbed by the hydraulic pump is as follows:

in the disclosed embodiment, in step S10408, if the current displacement of the hydraulic system is the maximum displacement of the hydraulic system, but the displacement Vp of the hydraulic pump is the maximum, the torque Mp absorbed by the hydraulic pump cannot be equal to the output torque T of the engine_kThen, it is necessary to make the differential pressure Δ p for driving the hydraulic pump by reducing the displacement of the hydraulic motor_qIs raised so that the torque absorbed by the hydraulic pump is equal to the output torque of the engine. In this way, the power of the transmission system can be made equal to the maximum output power of the engine, thereby improving the energy transmission efficiency.

In the embodiment of the disclosure, when the current speed is in a high-speed interval, the working mode of the hydraulic motor is controlled in a constant-pressure variable mode by adjusting the displacement of the hydraulic system and the hydraulic motor, and in the constant-pressure variable mode, the torque of the hydraulic pump is controlled to be equal to the output torque of the engine as much as possible by adjusting the displacement of the hydraulic system and the hydraulic motor, so as to reduce the difference between the power of the transmission system and the output power of the engine, and thus improve the energy transmission efficiency.

In the disclosed embodiment, referring to fig. 5, in step S104, adjusting the displacement of the hydraulic motor and controlling the operation mode of the hydraulic motor according to the current vehicle speed includes:

step S10410, obtaining power of the transmission system according to the current vehicle speed;

step S10411, if the power of the transmission system is larger than the output power of the engine, determining the current displacement of the hydraulic motor;

step S10412, if the current displacement of the hydraulic motor is lower than the maximum displacement of the hydraulic motor, increasing the current displacement of the hydraulic motor;

step S10413, if the current displacement of the hydraulic motor is the maximum displacement of the hydraulic motor, reducing the current displacement of the hydraulic system; controlling a power mode of the hydraulic motor to be a constant power mode.

In the embodiment of the present disclosure, controlling the power mode of the hydraulic motor in the constant power mode mainly means controlling the total power of the transmission system in which the hydraulic motor is located in the constant power mode.

In the disclosed embodiment, in step S10410, when the current vehicle speed is in the first speed region, a power value of the transmission system is acquired.

In the embodiment of the present disclosure, in step S10411, if the power of the transmission system is greater than the output power of the engine, which indicates that the power mode of the hydraulic motor is controlled in the constant power mode, it is necessary to determine the current displacement of the hydraulic motor at this time.

In this embodiment of the disclosure, in step S10412, if the current displacement of the hydraulic motor is lower than the maximum displacement of the hydraulic motor and the load is increased, the current displacement of the hydraulic motor needs to be increased, so that the power of the hydraulic motor is increased.

In the embodiment of the present disclosure, in step S10413, if the current displacement of the hydraulic motor is the maximum displacement of the hydraulic motor, and the load is increased, and the power matching the load cannot be satisfied yet, the power of the hydraulic motor is increased by reducing the power of the hydraulic pump.

In the embodiment of the disclosure, in order to avoid the load increase and flameout caused by insufficient power of the hydraulic motor, the transmission system needs to be controlled in the constant power mode so as to increase the power of the hydraulic motor.

In the embodiment of the present disclosure, the transmission system, as shown in fig. 8, at least includes:

a driving hydraulic system at least comprising a driving hydraulic pump and a driving hydraulic motor, wherein the driving hydraulic system is used for controlling wheels of the covering removing vehicle;

an auxiliary hydraulic system including at least an auxiliary hydraulic pump and an auxiliary hydraulic motor, the auxiliary hydraulic system for controlling a robotic arm on the mulch clearing vehicle; wherein the mechanical arm is used for removing the covering;

and the oil supplementing hydraulic system comprises an oil supplementing pump which is used for supplying oil to the driving hydraulic pump and the auxiliary hydraulic pump.

In the disclosed embodiment, the engine provides power to the drive hydraulic system, the auxiliary hydraulic system and the oil supplementing hydraulic system.

In the embodiment of the disclosure, besides the treatment walking of the covering removing vehicle, other work needs to be provided with an auxiliary hydraulic system for providing power, such as a mechanical arm for removing the covering and a water path for providing cleaning work after the covering is cleared. If the snow or ice covered on the airplane body or the road is cleared, the heater is also required to melt the snow or ice. The auxiliary hydraulic system is used for providing power for the mechanical arm, the water path and the heater.

In the embodiment of the disclosure, the difference between the power of the transmission system and the output control of the engine is within a preset range by controlling the output power of the engine, the total input power of the driving hydraulic system, the auxiliary hydraulic system and the oil supplementing hydraulic system. So that the system efficiency eta obtained by the output power value of the engine on the power ratio of the transmission system is close to the theoretical curve of the system efficiency.

In the embodiment of the present disclosure, the oil replenishing pump is connected to the driving hydraulic system and the auxiliary hydraulic system, and the driving hydraulic pump, the driving hydraulic motor, the auxiliary hydraulic pump, and the auxiliary hydraulic motor inevitably leak hydraulic oil during operation, so that the oil replenishing pump is required to replenish the hydraulic oil.

In the embodiment of the disclosure, the oil replenishing pump is further used for controlling the displacement of the driving hydraulic pump, the driving hydraulic motor, the auxiliary hydraulic pump and the auxiliary hydraulic motor, for example, in the case of a driving hydraulic system, the hydraulic oil of the oil replenishing pump is introduced into a measuring orifice, and the measuring orifice generates a control pressure for controlling the displacement of the driving hydraulic pump and the driving hydraulic motor. The engine speed is increased, the control pressure generated by the measuring throttle is increased, the displacement of the hydraulic pump and the driving hydraulic motor is reduced, and the vehicle running speed is increased.

In the embodiment of the disclosure, through the mutual cooperation of the oil supplementing hydraulic system, the driving hydraulic system and the auxiliary hydraulic system, the power of the transmission system can be adjusted by controlling the displacement of the hydraulic pump and the hydraulic motor through the oil supplementing pump while controlling the running of the vehicle and the execution of the covering and clearing work, so that the difference between the output powers of the transmission system and the engine is within a preset range, and the energy conversion efficiency of the transmission system is improved.

In the embodiment of the present disclosure, the method further includes:

and if the auxiliary hydraulic system starts to work in the walking process of the covering removing vehicle, reducing the power of the driving hydraulic system by reducing the displacement of the driving hydraulic pump and the displacement of the hydraulic motor corresponding to the driving hydraulic pump.

In the embodiment of the disclosure, in the traveling process of the vehicle for removing the covering, if the auxiliary hydraulic system is also required to achieve the work of removing the covering, the power for driving the hydraulic system is reduced by reducing the displacement of the driving hydraulic pump and the displacement of the hydraulic motor, so as to provide the required power for the auxiliary hydraulic system.

In the disclosed embodiment, the power of the transmission system is equal to the sum of the power of the driving hydraulic system, the power of the auxiliary hydraulic system and the power of the oil supplementing hydraulic system.

In the disclosed embodiment, the output power of the engine is used to provide power to the transmission system. The power of the transmission system is equal to the sum of the power of the driving hydraulic system, the power of the auxiliary hydraulic system and the power of the oil supplementing hydraulic system, and the difference between the output power of the transmission system and the output power of the engine is within a preset range while the functions of the systems are realized in a unified balance control mode, so that the energy conversion efficiency of the transmission system is improved.

In connection with the above embodiments, the following examples are provided:

example 1: a power matching method of a transmission system is applied to a covering object removing vehicle, taking an airplane deicing vehicle as an example:

the existing airplane deicing vehicle adopts two systems of commercial chassis AT transmission and special chassis static pressure transmission.

The commercial chassis AT (AT: hydraulic mechanical automatic transmission) has stronger acceleration capability, better chassis consistency and wider chassis service network, but before the AT box shifts gears, the engine must return to the idle speed.

The special chassis is used for static pressure transmission, has better low-speed stability, can realize stepless speed change, has no idle speed gear shifting limitation, but has weaker acceleration capability, and the maximum climbing gradient generally cannot exceed 25 percent.

The transmission effect of the AT transmission of the commercial chassis and the static pressure transmission of the special chassis is realized through the static pressure transmission.

The output power formula of the engine is as follows:

P_e＝T_k*n_kformula 1.3 of/9550

In the above equation 1.3, P_eMeans the output power Kw/h of the engine; t is_kFinger hairEngine output torque N · m; n is_kIt means the output speed r/min of the engine.

In the embodiment of the present disclosure, the total power required by the closed drive system is:

Pz＝n_q*q_q*△p_q/6000+n_b*q_b*p_b/6000+n_f*q_f*p_fformula/6000 1.1

In the above equation 1.1, P_zThe total power Kw/h required by a transmission system is represented; n is_qMeans driving the hydraulic pump to rotate at r/min; q. q.s_qMeans driving hydraulic pump to discharge ml/r; Δ p_qThe pressure difference Mpa at the inlet and the outlet of the driving hydraulic pump; n is_bMeans the rotating speed r/min of the oil-supplementing hydraulic pump; q. q.s_bThe displacement ml/r of the oil-supplementing hydraulic pump is obtained; p is a radical of_bThe pressure is Mpa; n is_fMeans the rotating speed r/min of the auxiliary hydraulic pump; q. q.s_fThe displacement is ml/r of the auxiliary hydraulic pump; p is a radical of_fIt is the working pressure Mpa of the auxiliary hydraulic pump.

The core effect is as follows:

the throttle determines the vehicle speed.

During acceleration, signals given by an accelerator are used for preferentially controlling the displacement of the oil pump, exerting the driving force to the maximum extent and controlling the rotation speed of the engine to be related to the vehicle speed. In the displacement switching process of the hydraulic motor, flexible control is well performed, and system impact in the displacement switching process of the quantitative motor is reduced.

In the uniform speed process, the throttle signal is unchanged, the rotating speed of the engine is unchanged, the discharge capacities of the oil pump and the motor are unchanged, and the vehicle speed is unchanged.

In the process of speed reduction, the accelerator gives out a signal, the pump is preferentially controlled to be reversed, hydraulic driving is converted into hydraulic braking, and the rotating speed of the engine is synchronously controlled to adapt to the vehicle speed.

In the braking process, the engine is preferentially controlled to enter the idle speed, and the flow of the pump which is synchronously controlled is adapted to the vehicle speed.

Referring to fig. 6, a control method for performing power matching of a transmission system by a controller includes:

initializing a system;

identifying a working mode;

setting the displacement of the pump and the motor;

adjusting the rotating speed of the engine to fall into a set range;

reading in the engine speed n_k；

If n is_kGreater than the starting speed n of the engine₁Reading in each system pressure, if n_kNot greater than engine starting speed n₁(ii) a Then the process is ended;

whether the pressure of each system of the transmission system is in a set interval or not is judged, and if yes, the total power Pz of the closed transmission system is compared with the output power Pe of the engine; if not, adjusting the pressure of each hydraulic transmission system;

whether the total power Pz of the transmission system is smaller than the output power Pe of the engine; if so, judging whether the discharge capacity of the closed pump is the maximum; if not, judging whether the total power Pz of the transmission system is greater than the output power Pe of the engine;

judging whether the discharge capacity of the closed pump is maximum or not; if yes, reducing the motor displacement; if not, increasing the discharge capacity of the closed pump;

judging whether the total power Pz of the transmission system is greater than the output power Pe of the engine; if so, judging whether the motor displacement is maximum; if not, ending;

judging whether the displacement of the motor is maximum, if so, reducing the displacement of the closed pump; if not, the motor displacement is increased.

The combination of the operation controller and the sensor electronic technology promotes the intellectualization and the energy conservation of the engineering machinery; and has good operating properties.

In the disclosed embodiment, and as shown in fig. 7, a power matching apparatus 300 for a transmission system is provided, which is applied to a vehicle for removing coverings, the transmission system at least includes: an engine, a hydraulic system, a hydraulic motor, and wheels;

the engine is used for providing hydraulic power for the hydraulic system; the hydraulic system is connected with the hydraulic motor and is used for triggering the hydraulic motor to rotate; the hydraulic motor is connected with the wheel and used for providing torque to the wheel;

the device comprises:

a first determining module 301, configured to determine a desired vehicle speed of the vehicle for removing the covering according to a load of the vehicle for removing the covering;

a first adjustment module 302 for adjusting a speed of the engine based on a desired speed of the vehicle;

the second determination module 303 is configured to determine a current vehicle speed of the coverage cleaning vehicle according to the rotation speed of the engine;

a second adjusting module 304, configured to adjust a displacement of the hydraulic motor and control an operating mode of the hydraulic motor according to the current vehicle speed; after the displacement and the working mode of the hydraulic motor are adjusted, the difference between the power of the transmission system and the output power of the engine is in a preset range.

In an embodiment of the present disclosure, there is provided an electronic device including:

a processor;

a memory for storing processor-executable instructions;

when the processor is used for operating the computer service, the steps of the power matching method of the transmission system are realized.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In an embodiment of the present disclosure, a storage medium having computer-executable instructions stored therein is provided, the computer-executable instructions being executed by a processor to implement the steps of the power matching method for a transmission system described above.

Alternatively, the integrated unit according to the embodiment of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.