CN114572181B - A tractor PTO control system and control method - Google Patents
A tractor PTO control system and control method Download PDFInfo
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- CN114572181B CN114572181B CN202210245912.XA CN202210245912A CN114572181B CN 114572181 B CN114572181 B CN 114572181B CN 202210245912 A CN202210245912 A CN 202210245912A CN 114572181 B CN114572181 B CN 114572181B
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- 230000008054 signal transmission Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 7
- 238000005429 filling process Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Agricultural Machines (AREA)
Abstract
A control system of a tractor PTO comprises a PTO control system, a vehicle control system, a signal detection system, a PTO execution system, a signal transmission system and a display system. On the basis of the control system, the control method ensures that the PTO control system can work normally, and comprises a manual mode and an automatic mode, wherein the manual mode directly controls the PTO clutch, and the automatic mode can automatically combine or open the clutch according to the condition of the lifting height change, so that the field operation is convenient. In the clutch combining process, the required torque is calculated by utilizing a PID algorithm according to the target torque, the actual rotating speed and the actual torque, then the torque is converted into pressure, and then the pressure is converted into current, so that the electromagnetic valve is driven to execute clutch operation. The control method enables the request torque to be finally equal to the target torque through iteration, the whole combination process is a slow change process, the agricultural implement can be ensured to work slowly, and the driving comfort is improved. The PTO can be stopped from rotating immediately by the PTO brake switch, so that the operation safety is ensured.
Description
Technical Field
The invention relates to the technical field of tractors, in particular to a tractor PTO control system and a control method.
Background
With the increase of the degree of agricultural mechanization. In the operation process of the tractor, the application range of the power output shaft is larger and larger, and the PTO is not only limited to provide power for traditional agricultural machinery such as rotary tillers and the like, but also required to provide power for novel agricultural machinery such as seeding machines, fertilizing and pesticide spraying machines, intertillage ridgers and the like so as to meet the working requirements. Because the demands of farm tools on the PTO rotation speed are different, proper engine rotation speed needs to be selected according to the matching of different farm tools, and the requirement of the PTO rotation speed is met, so that the improvement of the working quality is very necessary.
During operation, when the tractor turns, the farm implement needs to be lifted. At this time, the driver often needs to manually cut off the PTO clutch to stop the power output of the PTO, and after the tractor driving route is adjusted, the driver manually engages the PTO clutch again to re-output the power from the PTO. The operation of the process is relatively complex, the operation level requirement on the driver is high, the labor intensity of the driver is greatly increased, and the production efficiency is reduced. It would therefore be of great value to design a reasonable set of PTO control systems to improve current operating conditions.
Disclosure of Invention
In order to solve the technical problems, the invention provides the control system and the control method for the PTO of the tractor, which not only can enable farm tools to be better matched with the rotating speed of an engine, but also can better cope with various complex working environments of the tractor, thereby reducing the labor intensity of a driver, improving the working efficiency and prolonging the service life of the farm tools.
In order to achieve the technical aim, the technical scheme adopted is that the tractor PTO control system comprises a PTO control system, a vehicle control system, a signal detection system, a PTO execution system, a signal transmission system and a display system;
the vehicle control system comprises a PTO controller, a whole vehicle controller, an engine controller and a lifting controller, wherein the PTO controller is connected with a PTO control system, a signal detection system and a PTO execution system, and the PTO controller is respectively connected with the whole vehicle controller, the engine controller, the lifting controller and a display system through a signal transmission system;
The PTO executing system mainly comprises a PTO clutch, a PTO brake and corresponding electromagnetic valves.
The PTO control system consists of a cab PTO switch, an automatic PTO switch, an external PTO switch, a 540 gear switch, a 1000 gear switch, a PTO brake switch and an automatic calibration switch, wherein the automatic calibration switch is a resettable switch, and can be automatically sprung after being pressed down.
The signal transmission system is a CAN communication module.
The display system is used for displaying the PTO rotating speed, the PTO gear state, the PTO power, the PTO combination state and the mode state.
A control method of a tractor PTO control system, comprising the steps of:
step 1, after the tractor is electrified, starting an engine, sending a rotating speed signal to a PTO controller by the engine controller, checking the rotating speed of the engine by the PTO controller, and executing the next step after the rotating speed of the engine is higher than a set threshold value;
step 2, detecting a PTO brake switch by a PTO controller, wherein the PTO brake switch is in a closed state, and executing the next operation;
step 3, the PTO controller detects whether the PTO gear is combined, and when the 540 gear switch or the 1000 gear switch is combined with any one, the next step is executed;
Step 4, the PTO controller detects whether the automatic PTO switch is combined, if the automatic PTO switch is combined, the control system is judged to enter an automatic mode, and if the automatic PTO switch is not combined, the external PTO switch is in a normally closed state, and the control system is judged to enter a manual mode;
Step 5, under the automatic mode, the PTO controller receives a lifting height signal of the lifting controller, when the lifting height exceeds 30%, the control system executes an automatic mode opening working condition, and when the lifting height is lower than 30%, the control system executes an automatic mode combining working condition;
Step 6, under the manual mode, when the PTO controller detects that the cab PTO switch or the PTO brake switch is combined, the control system executes the manual mode combining working condition, and when the cab PTO switch or the PTO brake switch is not combined, the control system executes the manual mode opening working condition;
step 7, the control system executes one of the opening working conditions or the combination working conditions set in the PTO controller according to the specific instruction, and each working condition correspondingly sets the PTO target torque, the target rotating speed and the target pressure;
Step 8, the PTO controller detects a rotating speed signal through a signal detection system, if the target rotating speed is reached, the clutch is completely combined, at the moment, the target torque corresponding to the target rotating speed is set as the current request torque, step 10 is executed, if the target rotating speed is not reached, step 9 is executed, the initial request torque is used as the iteration request torque for the first time, and then the current request torque value of the previous period is used as the iteration request torque, and the next operation is executed;
Step 9, the PTO controller detects actual torque through the signal detection system, judges whether the iterative request torque reaches the target torque, if the iterative request torque reaches the target torque, outputs a fault and carries out corresponding fault treatment, if the iterative request torque does not reach the target torque, a PID control algorithm is adopted to calculate a torque increment value according to the actual torque detected by the PTO controller and the speed difference of two ends of the clutch, then the iterative torque is accumulated, and finally the current request torque value is output by combining the PTO with a gear and a torque limit value;
Step 10, converting the current request torque value into a corresponding pressure value, wherein in the clutch combination process, an oil filling process exists, and after oil filling is completed, the request pressure value after torque conversion is output;
step 11, converting the request pressure value into a corresponding current value, driving a clutch electromagnetic valve, and executing combination and opening actions by a clutch;
Step 12, the PTO controller detects the actual pressure of the clutch, if the actual pressure reaches the target pressure, the clutch operation is completed, and if the actual pressure does not meet the target pressure, the step 8 is executed.
In the step 10, the oil filling process of the clutch needs to calibrate the oil filling time and the bonding point pressure, and the method comprises the following steps:
step 10.1, after the tractor is electrified, starting the engine, receiving a rotating speed signal of the engine controller, parking, oil temperature and seat switch signals of the whole vehicle controller, detecting rotating speed, torque and pressure signals and various switch signals in a PTO control system by a signal detection system, and processing the signals;
step 10.2, judging that the clutch meets the calibration conditions, wherein the calibration conditions comprise that the rotating speed of the engine is higher than the rotating speed when the maximum torque of the external characteristic is 80%, 1 gear switch 540 or 1 gear switch 1000 is combined, the oil temperature is higher than 20 ℃, and the parking switch is combined to execute the next step;
Step 10.3, calibrating the corresponding relation between clutch pressure and electromagnetic valve current, recording the actual pressure value of the PTO clutch by giving the electromagnetic valve current of the clutch, and finally calculating the corresponding relation between pressure and current;
Step 10.4, the PTO controller detects whether an automatic calibration switch is combined, and if so, the oil filling pressure and the oil filling times are set;
step 10.5, converting the oil filling pressure into current, at the moment, starting to drive the electromagnetic valve, and starting to fill oil into the clutch;
Step 10.6, the PTO controller detects whether the PTO rotation speed is increased, the PTO rotation speed is small or not before the clutch is combined, when the clutch rotation speed starts to rise, the calibration is judged to be completed, the oil filling time and the oil filling pressure are recorded, then the oil filling pressure is set to zero, and meanwhile the oil filling times are increased once;
And 10.7, judging whether the oil filling times meet the target oil filling times, if not, carrying out the next calibration, if so, completing the automatic calibration, calculating the average value of the oil filling time of the clutch and the pressure value of the clutch attaching point, and taking the average value as a calibration value for storage.
7. A control method of a tractor PTO control system according to claim 1, wherein the threshold value set in step 1 is a low rotation speed value when the torque on the engine external characteristic reaches 80% of the maximum torque.
The invention has the beneficial effects that:
during PTO operation, an automatic mode is selected, the PTO clutch can be automatically opened or combined according to the lifting height, and a driver can concentrate on other operations to improve the operation efficiency.
After the operation is stopped, the PTO can be braked according to the requirement, so that the PTO rotation speed is stopped immediately, and the safety of the whole vehicle is improved.
In the executing process of the clutch, the clutch is controlled and regulated according to the variables such as the rotating speed, the torque, the pressure and the like, so that the clutch combining process is smooth and soft, agricultural implements are protected, and the driving comfort is improved.
Before the PTO clutch is used, the corresponding relation between the electromagnetic valve current and the clutch pressure is calibrated, then the oil filling time and the laminating point pressure of the clutch are automatically calibrated, the response speed of the clutch in combination can be improved, and meanwhile, the combination process is smoother.
Drawings
FIG. 1 is a schematic diagram of a PTO control system;
FIG. 2 is a flow chart of a PTO clutch control method;
Fig. 3 is a flow chart for automatic calibration of the PTO clutch.
Detailed Description
The invention is described in further detail below with reference to the drawings and specific embodiments.
As shown in fig. 1, the present invention discloses a tractor PTO control system. The control system may be divided into five parts including a PTO operator system, a vehicle control system, a signal detection system, a PTO implement system, a signal transmission system, and a display system.
The vehicle control system comprises a PTO controller, a whole vehicle controller, an engine controller and a lifting controller, wherein the PTO controller is directly connected with a PTO control system, a signal detection system and a PTO execution system, and the PTO controller is respectively connected with the whole vehicle controller, the engine controller, the lifting controller and a display system through a signal transmission system. The PTO executing system mainly comprises a PTO clutch, a PTO brake and corresponding electromagnetic valves. The signal transmission system CAN be a CAN communication module.
The driver operating system consists of a cab PTO switch, an automatic PTO switch, an external PTO switch, a 540 gear switch, a 1000 gear switch, a PTO brake switch and an automatic calibration switch. At a certain engine speed, the 540-gear switch and the 1000-gear switch can ensure that the rotation speed of the PTO output shaft is stabilized at 540rpm and 1000rpm, respectively. The two switches correspond to two different transmission ratios, one of the two switches is selected, and the rotation speed of the engine is regulated, so that the rotation speed of the output shaft of the PTO meets the requirements of farm tools.
The vehicle control system mainly comprises a PTO controller, a whole vehicle controller, an engine controller and a lifting controller, which are connected through a CAN communication module. In the vehicle control system, data transmission CAN be carried out among the controllers through the CAN communication module, an engine rotating speed signal is sent to the PTO controller by the engine controller, and the display system CAN also obtain signals from the PTO controller through the CAN communication module for displaying relevant information such as actual PTO rotating speed, PTO gear state, PTO power, PTO combination state, mode state and the like.
As shown in fig. 1, the signal detection system is composed of a PTO speed sensor, a torque sensor, and a pressure sensor.
The lift height signal is sent by the lift controller to the PTO controller. Signals such as a whole vehicle parking switch, an oil temperature and a seat switch are sent to the PTO controller by the whole vehicle controller. The PTO controller sends information such as PTO rotation speed, PTO power, PTO gear information, automatic PTO, PTO combination status and the like to the display through the CAN communication module, so that a driver CAN conveniently operate the whole vehicle, and the working efficiency is improved.
A control method of a tractor PTO control system, comprising the steps of:
Step 1, after the tractor is electrified, starting the engine, sending a rotating speed signal to the PTO controller by the engine controller, checking the rotating speed of the engine by the PTO controller, and executing the next step only after the rotating speed of the engine is higher than a set threshold (a low rotating speed value when the torque of the engine reaches 80% of the maximum torque), thereby ensuring that the engine has stronger power output and avoiding flameout of the engine when the PTO is combined.
Step 2, the PTO controller detects the PTO brake switch, and only if the PTO brake switch is in a closed state, the next operation can be executed, the phenomenon of stopping the vehicle is avoided, and if the PTO brake switch is in an activated state, the brake electromagnetic valve is in a conducting state, so that the brake is enabled.
Step 3, the PTO controller detects whether the PTO gear is combined, and the 540-gear switch and the 1000-gear switch are combined only by one, so that the rest parts of the PTO power transmission chain except the clutch are in a combined state.
And 4, detecting whether the automatic PTO switch is combined or not by the PTO controller, and if the automatic PTO switch is combined, judging whether the control system enters an automatic mode or not by combining internal or external switches of the PTO, wherein the judgment of the automatic mode is not influenced. If the automatic mode switch is not combined, the external PTO switch is in a normally closed state, and the control system is judged to enter a manual mode, namely the manual mode is defaulted.
And 5, under the automatic mode, the PTO controller receives a lifting height signal of the lifting controller, when the lifting height exceeds 30%, the control system executes an automatic mode opening working condition, and when the lifting height is lower than 30%, the control system executes an automatic mode combining working condition.
And 6, under the manual mode, when the PTO controller detects that the internal PTO switch or the external PTO switch is combined, the control system executes the manual mode combining working condition, and when the manual mode combining working condition is not combined, the control system executes the manual mode opening working condition.
And 7, the control system executes one of the opening working conditions or the automatic combination working conditions according to the specific instruction, and each working condition correspondingly sets the target torque, the target rotating speed and the target pressure of the PTO and sets the initial request torque.
Step 8, the PTO controller detects a rotating speed signal through a signal detection system, if the target rotating speed is reached, the clutch is completely combined, at the moment, the target torque corresponding to the target rotating speed is set as the current request torque, step 10 is executed, if the target rotating speed is not reached, step 9 is executed, the initial request torque is used as the iteration request torque for the first time, and then the current request torque value of the previous period is used as the iteration request torque, and the next operation is executed;
Step 9, the PTO controller detects actual torque through the signal detection system, judges whether the iterative request torque reaches the target torque, if the iterative request torque reaches the target torque, outputs a fault and carries out corresponding fault treatment, if the iterative request torque does not reach the target torque, a PID control algorithm is adopted to calculate a torque increment value according to the actual torque detected by the PTO controller and the speed difference of two ends of the clutch, then the iterative torque is accumulated, and finally the current request torque value is output by combining the PTO with a gear and a torque limit value;
Step 10, converting the current request torque value into a corresponding pressure value, wherein in the clutch combination process, an oil filling process exists, and after oil filling is completed, the request pressure value after torque conversion is output;
And step 11, converting the pressure value into a corresponding current value, driving a clutch electromagnetic valve, and executing the combination and opening actions of the clutch.
Step 12, the PTO controller detects the actual clutch pressure, and if the target pressure is reached, the clutch operation is completed. If the pressure is not met, step 8 is performed.
Further, in the step 10, the oil filling process of the clutch needs to calibrate the oil filling time and the pressure of the bonding point, and the steps are as follows:
and 10.1, starting the engine after the tractor is electrified, receiving a rotating speed signal of the engine controller, parking, oil temperature and seat switch signals of the whole vehicle controller, and a sensor and various switch signals connected with the PTO controller by the PTO controller, and processing the signals.
And 10.2, when the rotating speed of the engine is higher than the rotating speed when the maximum torque of the external characteristic is 80%, and the combination of the PTO gear switches is 1, and when the oil temperature is higher than 20 ℃ and the parking combination is in other states, judging that the clutch meets the calibration condition.
And 10.3, calibrating the corresponding relation between the clutch pressure and the electromagnetic valve current, recording the actual pressure value of the PTO clutch by giving the clutch electromagnetic valve current, and finally calculating the corresponding relation between the pressure and the current, wherein the corresponding relation is not limited to the forms of a calculation formula, a table lookup and the like.
And 10.4, detecting whether an automatic calibration switch is combined by the PTO controller, and setting the oil filling pressure and the oil filling times if the automatic calibration switch is combined.
And 10.5, converting the oil filling pressure into current, at the moment, starting to drive the electromagnetic valve, and starting to fill the clutch with oil.
And 10.6, detecting whether the PTO rotational speed is increased or not by the PTO controller, wherein the PTO rotational speed is small or not before the clutch is combined, judging that the calibration is finished when the clutch rotational speed starts to increase, recording the oil filling time and the oil filling pressure, setting the oil filling pressure to be zero, increasing the oil filling times once, and continuing to fill oil if the PTO rotational speed is not increased.
And 10.7, judging whether the oil filling times meet the target oil filling times, if not, carrying out the next calibration, and if so, completing the automatic calibration, and calculating and storing the average value of the oil filling time of the clutch and the pressure of the joint point of the clutch as the calibration value of the automatic calibration.
During actual operation, after the driver starts the tractor, the PTO controller first checks the engine speed signal and if the engine speed is below 1100rpm, the PTO controller will not perform the relevant action. Above 1100rpm, the PTO brake switch would be checked and if the PTO brake switch is in the engaged state, the PTO clutch would not be engaged. When the PTO brake switch is not closed, after 540 gear or 1000 gear is selected, the corresponding switch is combined, then the working mode of the PTO is judged according to whether the automatic PTO switch is combined, if the combination is the automatic mode, the combination is not the manual mode, and in the control system, the manual mode is defaulted. When the automatic mode is selected, the PTO can be combined and opened according to the lifting height, when the lifting height is smaller than 30%, the working condition of the PTO can be judged to be an automatic mode combination state, each working condition can output corresponding target rotating speed, target torque and target pressure, when the lifting height is larger than 30%, the working condition of the PTO is judged to be an automatic mode opening working condition, when the automatic PTO is not combined, but when a cab PTO switch or an external PTO switch is combined, the manual mode combination working condition is entered, and if the automatic PTO is not combined, the manual mode opening working condition is entered. And selecting a working condition according to the operation instruction, wherein the corresponding target rotating speed, the target torque and the target pressure are used as target values of the control system. The control method firstly judges whether the PTO rotation speed reaches the target rotation speed, if so, the target torque rotation speed is set as the request torque, thus the maximum allowable current can be obtained, and the complete combination of the clutch is ensured. If the target rotating speed is not reached, judging whether the actual torque reaches the maximum torque, if so, reporting a fault at the moment, and indicating that the clutch slips and the fault processing is needed. If the maximum torque is not reached, PID control adjustment is carried out on the actual torque and the actual rotating speed according to the target torque and the target rotating speed, the requested torque is calculated, and meanwhile the torque change rate is limited, so that the whole combination process is smoother. Finally, whether the adjusting process is finished or not is determined according to whether the clutch pressure reaches the target pressure or not, if the clutch pressure does not reach the target pressure, whether the PTO rotating speed reaches the target rotating speed or not needs to be judged again, and the adjustment is judged and carried out smoothly again.
Before the PTO clutch works, the PTO clutch needs to be calibrated, namely the oil charging time and the laminating point pressure of the PTO clutch are calibrated, wherein the laminating point pressure is the pressure when the friction plate of the clutch is contacted but does not transmit torque but the rotating speed is slightly increased, and the oil charging time is the time from the start of calibration execution to the laminating point pressure. The clutch automatic calibration is carried out by firstly meeting calibration conditions, such as the conditions that the engine speed exceeds 1100rpm, the PTO gear is combined, the parking switch is combined, the seat switch is combined, the oil temperature is greater than 20 degrees, and the like, and after the conditions are met, firstly calibrating the corresponding relation between current and pressure, recording the corresponding clutch pressure by adjusting the current value, and completing the primary calibration. Then detecting whether the automatic calibration switch is combined or not, wherein the control method adopts a rising edge signal of the switch, when the signal is detected, the automatic calibration switch starts to calibrate, the oil filling pressure is set to be 1.1MPa, the oil filling times are 3, and the pressure is converted into current to drive the electromagnetic valve to work. When an increase in PTO speed is detected, this indicates that one charge is complete. After the calibration is completed for 3 times, the average of the oil filling time and the pressure of the joint point is calculated, and then the average is stored in the controller, and if the average is less than 3 times, the next calibration iteration is carried out.
Claims (5)
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| CN118144746B (en) * | 2024-05-09 | 2024-07-23 | 第一拖拉机股份有限公司 | Automatic parking control system and method for tractor based on double-motor driving |
| CN118770226B (en) * | 2024-06-26 | 2025-06-24 | 东风商用车有限公司 | Commercial vehicle shift control method, device, TCU equipment and storage medium |
| CN118462733B (en) * | 2024-07-12 | 2024-09-17 | 洛阳拖拉机研究所有限公司 | Electric control dry type PTO clutch debugging device and method for tractor |
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| KR100288220B1 (en) * | 1999-02-09 | 2001-04-16 | 이계안 | power take off control system |
| KR101063120B1 (en) * | 2008-02-22 | 2011-09-07 | 가부시끼 가이샤 구보다 | PET control system |
| CN109654130B (en) * | 2018-12-27 | 2020-02-04 | 雷沃重工股份有限公司 | Wet-type PTO electromagnetic valve set, control method thereof and whole vehicle control unit |
| CN111038252A (en) * | 2019-12-25 | 2020-04-21 | 西安法士特汽车传动有限公司 | PTO control method |
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