装载机换挡规律研究及仿真
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摘要
工程车辆工作环境极其恶劣,负载变化范围很广,为了适应外载荷急剧变化,需要不断变换挡位。然而,频繁换挡增加了驾驶员劳动强度,驾驶员容易疲劳,导致工作效率降低,工作质量下降。因此,为了提高工程车辆传动效率、改善工程车辆操纵性能、提高作业生产率、减轻驾驶员劳动强度,必须采用自动变速技术。
对装载机的动力传动系统的组成及各部件的性能进行了分析,运用最小二乘法对发动机和液力变矩器的相关特性进行拟合,建立了发动机速度特性与变矩器原始特性的数学模型。分析发动机与变矩器的共同工作的输入、输出特性。并在原有发动机与液力变矩器匹配理论的基础上,提出了优化匹配的概念,以装载机的动力性能为目标,建立发动机与液力变矩器的优化模型,最后选取评价参数对匹配方案进行了分析评价。
将发动机和液力变矩器作为一个整体考虑车辆的动力性,通过分析它们的共同工作特性,提出了以油门大小、泵轮转速和涡轮转速的三参数自动变速策略。通过计算不同油门特性下装载机的牵引特性得到在一定的油门开度下,各挡位不同油门状态时的换挡点的参数,然后将不同油门开度下的同一挡位的换挡点参数,在坐标图上做出可得该挡的换挡曲线。本文通过曲线拟合,确定各个挡位的换挡规律方程。这样,在实际工作过程中,同样通过检测发动机转速(变矩器泵轮转速)、车速(或变矩器涡轮转速)和相对应的油门开度,确定对应挡位下装载机的工作点,该点与该挡的相应换挡曲线比较确定范围决定是否换挡。
建立了装载机动力学方程。最后在Matlab/Simulink图形建模技术的支持下,建立了发动机、液力变矩器、变速器、整车模型。通过对装载机换档逻辑的研究,利用仿真软件MATLAB/Stateflow建立了最佳换档规律的换档过程仿真模型。并对其进行了模拟分析,验证了方案的有效性。仿真结果表明,本文建立的仿真模型和设计的换挡规律是合理的,可行的。
The working condition of loader is extremely poor. The range of load is very wide. In order to adapt to rapidly changing external load, it need drivers shift frequently. However, the manual shift is heavy. And frequent shift will increase the labor strength of the driver. So drivers feel tired easily. This will lead to lower work efficiency. Therefore, in order to improve the transmission efficiency, the handling performance and the productivity of the loader, and reduce labor intensity of the driver, techniques of automatic shift must be used.
Matching between the engine and hydraulic toque converter has important influence on each full playing performance and wheel loader full playing performance .This paper analyzes the disadvantages of traditional matching through the input character of engine and torque converter working together. Base on the principle of matching between the engine and hydraulic toque converter, the optimum model was presented. In this model, numerical approximation of some characteristics of diesel engine and hydraulic toque converter were carried out by the method of least square, and wheel loader power characteristic was taken as object. Several detailed evaluation parameters are used to be analysis and compared by traditional matching and optimal matching. Besides, the theory is proved by an example, and the practical guiding significance is presented.
The engine and torque converter were considered as a new power. By analyzing the characteristics of their common work, a shift schedule of three parameter has proposed with position of the throttle,the rotational speed of pump and the rotational speed of turbine,and has received shift forms and made the automatically controlled scheme. The output of the engine changes with the throttle which was actuated by the operator. To calculate more easily, all the research and analysis here are based on the fixed throttle open angle, and the engine works steadily. Under fixed throttle open angle and engine works steadily, count out each parameter under different throttle state. The curve can be get by the same gearshift, then, the formula can be get. In actual, the shift is decided by the engine speed, throttle open angle and the rotational speed of turbine.
The dynamics equation of the vehicle transmission has set up. Have set up models of the engine,hydraulic torque converter,gearbox, and vehicle load by Matlab/Simulink figure modeling technology. And simulation analysis carried out to verify the effectiveness of the shift schedule. Simulation results show that the established simulation model and shift schedule is reasonable and feasible. Verify the effectiveness of the shift schedule.
对装载机的动力传动系统的组成及各部件的性能进行了分析,运用最小二乘法对发动机和液力变矩器的相关特性进行拟合,建立了发动机速度特性与变矩器原始特性的数学模型。分析发动机与变矩器的共同工作的输入、输出特性。并在原有发动机与液力变矩器匹配理论的基础上,提出了优化匹配的概念,以装载机的动力性能为目标,建立发动机与液力变矩器的优化模型,最后选取评价参数对匹配方案进行了分析评价。
将发动机和液力变矩器作为一个整体考虑车辆的动力性,通过分析它们的共同工作特性,提出了以油门大小、泵轮转速和涡轮转速的三参数自动变速策略。通过计算不同油门特性下装载机的牵引特性得到在一定的油门开度下,各挡位不同油门状态时的换挡点的参数,然后将不同油门开度下的同一挡位的换挡点参数,在坐标图上做出可得该挡的换挡曲线。本文通过曲线拟合,确定各个挡位的换挡规律方程。这样,在实际工作过程中,同样通过检测发动机转速(变矩器泵轮转速)、车速(或变矩器涡轮转速)和相对应的油门开度,确定对应挡位下装载机的工作点,该点与该挡的相应换挡曲线比较确定范围决定是否换挡。
建立了装载机动力学方程。最后在Matlab/Simulink图形建模技术的支持下,建立了发动机、液力变矩器、变速器、整车模型。通过对装载机换档逻辑的研究,利用仿真软件MATLAB/Stateflow建立了最佳换档规律的换档过程仿真模型。并对其进行了模拟分析,验证了方案的有效性。仿真结果表明,本文建立的仿真模型和设计的换挡规律是合理的,可行的。
The working condition of loader is extremely poor. The range of load is very wide. In order to adapt to rapidly changing external load, it need drivers shift frequently. However, the manual shift is heavy. And frequent shift will increase the labor strength of the driver. So drivers feel tired easily. This will lead to lower work efficiency. Therefore, in order to improve the transmission efficiency, the handling performance and the productivity of the loader, and reduce labor intensity of the driver, techniques of automatic shift must be used.
Matching between the engine and hydraulic toque converter has important influence on each full playing performance and wheel loader full playing performance .This paper analyzes the disadvantages of traditional matching through the input character of engine and torque converter working together. Base on the principle of matching between the engine and hydraulic toque converter, the optimum model was presented. In this model, numerical approximation of some characteristics of diesel engine and hydraulic toque converter were carried out by the method of least square, and wheel loader power characteristic was taken as object. Several detailed evaluation parameters are used to be analysis and compared by traditional matching and optimal matching. Besides, the theory is proved by an example, and the practical guiding significance is presented.
The engine and torque converter were considered as a new power. By analyzing the characteristics of their common work, a shift schedule of three parameter has proposed with position of the throttle,the rotational speed of pump and the rotational speed of turbine,and has received shift forms and made the automatically controlled scheme. The output of the engine changes with the throttle which was actuated by the operator. To calculate more easily, all the research and analysis here are based on the fixed throttle open angle, and the engine works steadily. Under fixed throttle open angle and engine works steadily, count out each parameter under different throttle state. The curve can be get by the same gearshift, then, the formula can be get. In actual, the shift is decided by the engine speed, throttle open angle and the rotational speed of turbine.
The dynamics equation of the vehicle transmission has set up. Have set up models of the engine,hydraulic torque converter,gearbox, and vehicle load by Matlab/Simulink figure modeling technology. And simulation analysis carried out to verify the effectiveness of the shift schedule. Simulation results show that the established simulation model and shift schedule is reasonable and feasible. Verify the effectiveness of the shift schedule.
引文
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[4]冯能莲,李克强等.液力传动车辆自动换挡控系统.农业机械学报[J],2004.1
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[6]何挺继,工程施工机械的自动化与无人化技术,筑路机械与施工机械化[J],1997,12:2～4
[7]黄宗益,工程机械机电一体化、机器人化,中国机械工程[J],1996,3:64～66
[8]黄宗益、王康,建设机器人和工程机械机电信一体化,工程机械[J],1999,7:26～28
[9]王意,车辆及各种行走机械用液压传动与控制技术的发展趋势,工程机械与维修[J],1997.5
[10]宋金声.目前的几种车辆自动变速器及发展前景[J].云南交通科技, 2000.6,3～4
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[12]龚捷.以提高传动效率为目的的工程车辆自动变速换挡规律研究[D].长春:吉林大学博士学位论文,2002.1
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[16]司利增.车辆计算机控制[M].北京:人民交通出版社,2002.2
[17]陈海虹.液力变矩器在工程机械上的应用和发展[J].贵州工业大学学报,2001.8,84～87
[18]郑定浩等.现代车辆自动变速器的最佳动力换挡规律[J].浙江交通职业技术学院学报,2000.6,1~7
[19]申水文葛安林.模糊换挡技术与综合换挡规律[J].农业工程学报,1997.9,145～149
[20]王书全.液力机械式自动变速器技术及发展[J].北京汽车,1997.3,1～3
[21]余志生.汽车理论.北京:机械工业出版社,1992.5
[22]张俊智.自动换挡规律的研究[J].机械工程学报,1999.8,38～41
[23]王学峰.工程车辆人工神经网络自动变速控制仿真研究[J].中国公路学报,2001.7,113～115
[24] DANA–Transmission Controller APC72. Print Belgiue
[25] DANA–Transmission Controller EGS50. Print Belgiue
[26]赵丁选,马铸.工程车辆液力机械传动系统的动力性分析.中国机械工程[J],2001.12
[27]郑民,刘钊.自动变速箱换挡品质分析模型.筑路机械与施工机械化[J],2000(5)
[28]高连兴吴明王会明,拖拉机与汽车上册[M]中国农业出版社,2000,252
[29]何仁,尚高高.液力变矩器特性参数的优化方法.中国公路学报[J],2001,14(12):39～40.
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