拖拉机液压机械无级变速器控制系统研究

河南科技大学硕士学位论文拖拉机液压机械无级变速器控制系统研究姓名：张松岩申请学位级别：硕士专业：机械电子工程指导教师：张明柱20080601II1302RTMS320F2812PIDPCCIIISubject:AutomaticControlSystemDevelopmentforHydro-MechanicalContinuouslyVariableTransmissioninTractorsSpecialty:MechatronicsEngineeringName:ZhangSongyanSupervisor:ZhangMingzhuABSTRACTHydro-mechanicalcontinuouslyvariabletransmission(HMCVT)isusedmoreandmoreinengineeringvehicleandheavy-dutytractor,becauseitcanachievecontinuouslyvariabletransmissionwithhighefficiencyandpowerfulperformance.ButtheautomaticcontrolsystemofHMCVTisthekeytechnologythatcanletthetransmissionhavesuchagoodperformance.ThecontrolobjectistheHMCVTofDongFangHou-1302Rtractorinthesubject,someresearchesofthetransmissioncontrolsystemweredeveloped.Theelectric-hydraulicintegrationcontroltechnologywasusedtoachievethecontinuouslyvariabletransmissionofHMCVT.Thefunctions,theprincipleofcontrolsystemweredeterminedandalsotheelectroniccontrolunitandthehydrauliccontrolunitwhichwerecomponentsofthecontrolsystemweredesignedbyresearchingtheprinciple,thecharacterandthedifferentoperationmodesofHMCVT.Finally,thecontrolsystemwasmade.Thecontrolsystemincludestwoparts,thehardwarecircuitandthesoftwareprogram.Thehardwarecircuitincludesthecentralprocessingmodule,theinputsignalmodule,theoutputsignalmodule,andthecommunicationmodule.TheDigitalSignalProcessor(DSP)TMS320F2812isthecoreofthehardwareunit,theperipheralchipswereusedless,thedesignofelectriccircuitwaspredigested,thereliabilityofthecontrolunitwasimproved,becauseofabundantperipheralofF2812.Thesoftwareprogramincludes,themanualgearshiftingprogram,theprogramgearshifting,thegearshiftingdriverprogram,thevelocitymeasurementprogram,thespeedcontrolPIDprogram,samplingprogramandamonitorprogramonPC.BecausethesoftwarewasprogrammedinmodularizationusedClanguage,thedevelopment,themaintenanceandthetransplantationofsoftwarewereimproved.Attheend,someprooftestsweredidtoprovethefeasibilityofthecontrolsystem.IVKEYWORDS:hydro-mechanicalcontinuouslyvariabletransmission,controlsystem,ECU,monitorprogramDissertationType:applicationresearch1111.1(MechanicalTransmissionMT)[1](AutomaticMechanicalTransmissionAMT)[2-6](AutomaticTransmissionAT)[7,8](ContinuouslyvariableTransmissionCVT)[9,10]1.CVT2.3.2[11][12](Hydro-MechanicalTransmissionHMT)[13][14,15]1.2.3.4.1.2206060HMPT-500M2M3[16]70SundstrandDMT-25[17]AllisonZFRENKD155AX-3WA380-329%24%[18]132090Favorit700Vario1999SIMAZFS-MaticZF-Eccom·HMT[13]HMTWA380-31.3A404T60E,EF,CHPE9CA770801.42.3.ZF10%-30%[19]4T65-E1.6L[20][21-23]PID1992E4N71B1.15PID[25,26]2.(····)ChallengerE8000Quadtrac900[27]1.461302R1302R1.2.3.4.2722.12-1[28-32]2-1Fig.2-1Theoryofhydro-mechanicaltransmission2-1—————1302R8—2-2neenbL1L4L3L2L8L7L6L5rsck=4.1ab1i2i3i4i7i6i5i8i9i2-21302RFig.2-2TransmissionschemeoftheDFH-1302RtractorHMCVT2-2IIIIIIenbnkk=/e-1+11i2i4i5i6i7i8i9i3i[131617]2.21302R8L1L2L3L42-3291i2ienbnk2-3Fig.2-3Transmissiontheoryofthepositivegearplanet(2-1)ebniikiiekn2121)1(1++=(2-1)2-41i2ienbnk2-4Fig.2-4Transmissiontheoryofthenegativegearplanet(2-2)ebnikiiiekn212111−+=(2-2)L5L6L7L8e622-1102-1Tab.2-1EngagementstatusofclutchesL1L2L3L4L5L6L7L8F1+++F2+++F3+++F4+++F5+++F6+++F7+++F8+++1.F1e-1→[phone](1niiikiieknb++=(2-3)2.F2e+1→-1013121021211niikiiieknb−+=(2-4)3.F3e-1→[phone](1nikiieknb++=(2-5)4.F4e+1→-121101021211nkiiieknb−+=(2-6)5.F5e-1→[phone](1nikiieknb++=(2-7)6.F6e+1→-101221211nkiiieknb−+=(2-8)7.F7e-1→[phone](1niikiieknbd++=(2-9)8.F8e+1→-10151421211nikiiieknbd−+=(2-10)[1415]e-0.38+0.38e2-512-1-0.500.51-505101520253035vkm/heF1F2F3F4F5F6e-0.380.382-5Fig.2-5ContinuouslyvariabletransmissionchartofHMCVT2.31.2.3.4.5.6.7.8.9.10.11.213L1L3L5L3L5L1L5L8F1F6F1L1L3L5F1F2L5e0.38L1L4L2F2F2F3e-0.38L2L4L5L3L6L1F3F3F4F1F2L5L6F4F5F2F3F5F6F1F2F6F1L1L3L5F1L1L3L5F7L1L3L82.431433.11302R1302RECU15[17-22]3.23-13-1Fig.3-1BasicconstructionofthecontrolsystemofHMCVT1.(1)ECUECUPWM316(2)(3)ECUECU2.3.3[23]PNAD590-55150AD590AD590[24]17MPM2801msMPM280-14[25]S12WDD35D-43.4ECU[2728]3.4.13-2PRV1-PRV5DV1-DV7DV8SL9C1L1PUMPVPUMPMOTORP1318PRV1PRV1DV4DV5PRV1PRV2PRV33-2Fig.3-2PumpcontrolledmotorsystemservospeedchangeoilcircuitSL9SL9PUMPPRV1DV1C1SL9VPUMPPRV5PRV4DV5DV7DV6DV8P1MOTORPRV2PRV3DV419DV1DV6DV7PRV4PRV5PRV4PRV5DV6DV73.4.23-3PUMPPRV1RE1-RE8DV1SL1-SL8SL10SL11L1L2L3-L83-3Fig.3-3ExecutingoilcircuitsforshiftingRE3PUMPPRV1DV1RE1RE2RE4RE5RE6RE7RE8SL3SL1SL2SL11SL12SL4SL5SL6SL7SL8L3L1L2L4L5L6L7L8320PRV1L1L2SL1SL2L3L4L5L6L7L8SL3SL4SL5SL6SL7SL8SL11SL12L1L2L1L2L3L4L5L6L7L8DV1[25-36]3.4.33-4Fig.3-4Constructionofpumpcontrolledmotorsystem3-4PWMPWM213.4.1[1920]1.eFSIKI=(3-1)eIFKPWMSQSIVSSKIQ=(3-2)VK(113−−Asm)SQPXdtdPVPkdtdXAQLeTLtcPPSβ4++=(3-3)PA(2m)LP(aP)tck(sPam./3)TV(3m)eβ(aP)FdtdXCKXAPdtXdMPPPLPP−−−=22(3-4)PM(gk)K(1.−mN)C(1..−msN)LF(N)(3-4)2233dtXdCdtdXKdtdPAdtXdMPPLPPP−−=(3-5)(3-1)(3-2)(3-3)(3-5)322TCPtceTeTptcepTVFPePKKsACKKVsCVMKsMVKKAIX++++++=)4()4(4223βββ(3-6)eTKVβ4tcCKePTMVβ4ptcMKeTCVβ42PA2PtcPVFePAKKsAKKIX+=(3-7)PXγR1RγeI2PtcPVFeAKKsRAKKI+=γ(3-8)2.PDγPPKD=(3-9)PK(radsm//3)γ(rad)LQp