CN105189230B - 用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法 - Google Patents

用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法 Download PDF

Info

Publication number
CN105189230B
CN105189230B CN201480025479.2A CN201480025479A CN105189230B CN 105189230 B CN105189230 B CN 105189230B CN 201480025479 A CN201480025479 A CN 201480025479A CN 105189230 B CN105189230 B CN 105189230B
Authority
CN
China
Prior art keywords
power
work machine
duty cycle
torque
control parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201480025479.2A
Other languages
English (en)
Other versions
CN105189230A (zh
Inventor
托马斯·弗洛尔辛格
菲利普·门希
弗洛里安·莱茵穆特
巴巴拉·伯姆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
Original Assignee
Deere and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deere and Co filed Critical Deere and Co
Publication of CN105189230A publication Critical patent/CN105189230A/zh
Application granted granted Critical
Publication of CN105189230B publication Critical patent/CN105189230B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/001—Proportional integral [PI] controller
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/152—Tractors
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/30—Auxiliary equipments
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种用于确定作业机械的混合驱动装置的功率或转矩分配调节器(72)的控制参数的方法，包括如下步骤：(a)自主地确定刚好由作业机械执行的作业周期，以及(b)根据在步骤(a)中确定的作业周期选出控制参数。

Description

用于确定作业机械的混合驱动装置的功率或转矩分配调节器 的控制参数的方法
技术领域
本发明涉及一种用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法以及一种相应的控制装置。
背景技术
用于作业机械的混合驱动装置包括内燃机、由内燃机驱动的发电机、蓄电器以及电马达。作业机械的前进和/或对由作业机械驱动的部件的驱动借助传动系来实现，在传动系中，内燃机和电马达的驱动力矩借助复合变速器(通常为行星变速器)来叠加并且共同作用到轴上。通过将驱动功率划分为由内燃机提供的功率和由蓄电器提供的功率，这种混合驱动装置相对于传统的驱动装置提供了进一步的自由度，其中，仅内燃机的功率是不能改变的。为了对内燃机的转矩和电马达的转矩加以预设以及为了将所要提供的功率分摊给内燃机和电马达，在现有技术中应用不同类型的调节器，特别是比例积分调节器(参见DE 102006 010 223 A1)或者启发式调节器。
这种所谓的功率或转矩分配调节器必须关注其他边界条件(诸如在蓄电器中维持一定的电量)以及在优化总体效率的意义上进行优化。因为不能够预见到作业机械针对顾及到所有状况的最优调节器所需的未来功率需求，对被称为次优调节器的调节器的控制参数以如下方式加以预设：控制参数在针对功率需求的预先确定的周期内尽可能以最佳效率工作。因而，在比例积分调节器中，例如对如下因数针对预先确定的周期加以优化，利用所述因数将功率需求按比例而且积分地引入到针对将所提供的功率分摊到内燃机和电马达的方案的输出数值中。
因为作业机械通常在所要执行的操作的范围内经历不同的作业周期，所以例如在施肥时的负载相对较小，而在压捆时的负载则周期性地在相对较小和较高的负载之间交替变换，而在犁地时的负载则相对较高，对调节器的控制参数的匹配并非对于所有作业状态都是最佳。
EP 1 832 484 A2介绍了一种用于适配性控制混合动力车辆的方法，这种混合动力车辆的内燃机驱动发电机，发电机又给蓄电器和电马达供电，电马达仅用于推进车辆。控制装置将作业过程与所存储的参照作业过程加以比较，以便确定：混合动力车辆以何种负载策略运行并且根据相应的负载策略选出针对电马达运行的电流控制曲线和电流升高曲线。因而在这里，一方面需要针对相应周期进行手动输入，另一方面仅电马达的电流增加受到控制；由此，未实现对调节器控制参数的匹配。
发明内容
本发明的目的在于，对用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法以及相应的功率或转矩分配调节器以如下方式进行改进：使得现有技术中所提到的缺陷不出现或者程度降低地出现。
按照本发明，所述目的借助权利要求1、6和10的教导来实现，其中，在其他权利要求中实施的特征以有利的方式改进了解决方案。
按照本发明的、用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法包括如下步骤：
(a)自主地确定刚好(gerade)由作业机械执行的作业周期，以及
(b)根据在步骤(a)中确定的作业周期选出控制参数。
换言之，首先确定：作业机械刚好处于哪个作业周期中。为此，例如借助通过分类算法进行的模式识别对以传感方式检测到的测量值进行分类。分类算法能够按照已知的方式采用例如贝叶斯分类器(Bayes分类器)和/或最邻近分类器和/或k-最邻近分类器和/或距离函数(distance函数)和/或决策树。测量值特别是涉及速度和/或换档变速器的速比级和/或者动力输出轴的状态和/或借助数据总线传输的数据。一旦当前的作业周期是已知的，则选出与该作业周期相对应的至少一个控制参数并且由功率或转矩分配调节器将所述控制参数用于确定将所要提供的功率(或转矩)分摊给内燃机和电马达的方案。通过改变控制参数，能够使功率或转矩分配调节器的动态表现得到重大改善。
控制参数特别是如下的因数，凭借所述因数将转矩或功率需求按比例和/或积分地(integral)引入实施为比例积分调节器的功率或转矩分配调节器的输出数值中。
其中应用了功率或转矩分配调节器的作业机械优选构造有内燃机、能够由内燃机驱动的发电机、蓄电器、电马达以及构造有包括与内燃机和电马达保持驱动连接的复合变速器的传动系。
附图说明
在附图中示出本发明的后面详细介绍的实施例。其中：
图1示出呈带有被牵引的圆辊压力机的拖拉机形式的农用作业机械的侧视图，
图2示出作业机械的传动系和所属控制装置的图解，以及
图3示出控制装置工作的流程图。
具体实施方式
图1示出呈拖拉机10和由拖拉机10牵引的圆辊压力机12形式的农用作业机械。圆辊压力机12本身是传统形式的并且包括由轮16支撑的行驶机架14(带有辊腔18)。圆辊压力机12通过车辕20由拖拉机10牵引并且其能被驱动的元件借助动力输出轴22由拖拉机10驱动。拖拉机10包括行驶机架24，该行驶机架被支撑在前部的能转向的车轮26和后部的被驱动的车轮28上。带有座位32的操作人员工作位置处在驾驶室30中。能够从该座位处操作转向轮34、油门踏板36以及带有显示装置和按键和/或对碰触敏感的显示装置的操作人员界面38。
图2示出作业机械的传动系。通常实现为柴油发动机的内燃机40的曲轴(一般借助能分离的离合器，未示出)来驱动轴42，该轴在其一侧驱动发电机44、带齿轮48、50和52的中间变速器46以及动力输出轴分离离合器54的输入侧。动力输出轴分离离合器54在输出侧与动力输出轴变速器56的输入端相连接，动力输出轴变速器在输出侧驱动可分离的动力输出轴离合器58，在该动力输出轴离合器上以能取下的方式联接圆辊压力机12的动力输出轴22。中间变速器46在输出侧与复合变速器60连接，该复合变速器以行星变速器的形式实现，该行星变速器的行星轮与中间变速器46的输出齿轮52啮合并且该行星变速器的中心轮与电马达62的输出轴64相连接。行星轮承载件与换档变速器66的输入侧相联接，该换档变速器在输出侧借助差速变速器68来驱动后轮28
在另一实施方式中，动力输出轴变速器56也能够在复合变速器60的下游得到驱动。此外，换档变速器66能够实施为负载换档变速器。在又一实施方式中，复合变速器60能够与各个车轮28以及必要时还有前轮26对应。在又一实施方式中，电马达62能够将其转矩直接或经由变速器传递给轴42或者传动系的另一部位，也就是这样能够取消复合变速器60，并且电马达62能够一并承担发电机44的任务。在又一实施方式中，全部机械功率能够由电马达62产生，其中，发电机44和电马达62的最大功率将会增大，这是因为取消了机械驱动支路。
控制装置70包括功率或转矩分配调节器72和状态检测装置74，并且与发电机44、内燃机控制器76、呈蓄电池(或高容量电容)形式的蓄电器78以及电马达62连接。另外，控制装置70与用于检测油门踏板36的状态的传感器80、用于检测一个或两个后轮28的转速的速度传感器82、用于检测动力输出轴离合器58的输入侧转速的传感器、用于检测换档变速器66的速比级的传感器86以及数据总线88相联接，在数据总线上还连接有作为虚拟终端来实现的操作人员界面38。
在运行中，操作人员借助油门踏板36预设拖拉机12的所希望的速度，该速度借助传感器80传输给控制装置70，该控制装置根据功率或转矩分配调节器72的信号来操控内燃机控制器76和电马达62。根据功率或转矩分配调节器72的预设，控制装置70从蓄电器78中获取电功率，以便驱动电马达62，或者用来自发电机44的电功率或者从电马达62回收的电动势(EMK)给蓄电器78充电。换档变速器66能够以手动的方式由操作人员借助杆机构或者自主地借助控制装置70或者借助操作人员界面38和由控制装置70控制的促动器(未示出)来切换。动力输出轴分离离合器54也可以借助机械装置(由操作人员切换)或者借助操作人员界面38或单独的开关和由控制装置70控制的促动器(未示出)来切换。
针对功率或转矩分配调节器72的结构和工作原理的细节参见Michiel Koot，J.T.B.A.Kessels，Bram de Jager，W.P.M.H.Heemels，P.P.J.van den Bosch和MaartenSteinbuch的公开文献：Energy management strategies for vehicular electric powersystems(用于车辆电能系统的能量管理策略)，IEEE Transactions on VehicularTechnology(车辆科技电气学报)54(3)：771-782，2005以及John T.B.A.Kessels，MichielW.T.Koot，PaulP.J.van den Bosch和Daniel B.Kok的：Online energy management forhybrid electric vehicles(针对混合动力车辆的在线能量管理)，IEEE Transactions onVehicular Technology(车辆科技电气学报)，57(6)：3428-3440，2008，其公开内容通过参引被一并引入本申请文件。
功率或转矩分配调节器72实施为比例积分调节器并且对与作业机械的分别执行的操作相关的控制参数加以利用。在此，根据图3的流程图来执行。
在进行初始化的步骤100中启动之后，接着进行步骤102，在步骤102中，由状态检测装置74来检测和存储传感器在一定时间之内的测量值。在此情况下，涉及的是传感器80(针对油门踏板36)、82(针对拖拉机10的速度)、84(针对动力输出轴离合器58的转动状态)和86(针对换档变速器66的速比级)的测量值。另外，能够检测数据总线88的任意数据，所述数据例如包括对必要时连接到数据总线88上的附加设备(例如施肥机、犁或压捆机等)的识别和/或用于操控这些附加设备的数据。
在步骤104中，所存储的测量值通过状态检测装置74来评估，以便进行模式识别，从中能够推导出作业机械当前的作业周期。对此能够应用任意的算法，诸如贝叶斯分类器、最邻近分类器、k-最邻近分类器、距离函数和/或决策树。为此，例如参照DE102012220109A1的公开内容和其中引用的现有技术(Sebastian Blank，Georg Kormann，Karsten Berns：A Modular Sensor Fusion Approach for Agricultural Machines(针对农用机械的模块式传感器融合法)，XXXVI CIOSTA&ClGR Section V Conference(第36届环境友好型农业和未来世代林业会议)，Juni 2011-Wien(2011年6月维也纳)，在(http：// www.nas.boku.ac.at/fileadmin/_/H93/H931/CIOSTA_Presentations/Blank.pdf)公开，其公开内容通过参引被一并引入本申请文件。因而，从多个已知的作业周期中选出当前的作业周期。
例如当换档变速器66(利用传感器86来检测)处于较高的速比级并且速度(利用传感器82来检测)高于例如15km/h的阈值时，作业机械的作业周期将为“运输行驶”。类似地，当速度低于例如5km/h的阈值并且内燃机40的(借助内燃机控制器76传输给状态检测装置74的)功率高于数值为其标称功率的例如60％的阈值时，作业机械的作业周期将为“田地作业”。“压捆”的作业周期可以借助内燃机40频繁变换的负载或者借助由数据总线88与动力输出轴离合器58的状态(传感器84)相结合对压捆机的识别来辨识。“装载机作业”的作业周期能够借助由数据总线88或频繁的方向变换(传感器82)对前端装载机的操控来辨识。
然后进行的是步骤106，其中，状态检测装置74向功率或转矩分配调节器72传输关于当前作业周期的信号，并且功率或转矩分配调节器72将与所述作业周期相对应的参数组用于调节分摊到内燃机40和电马达62上的负载分配。该参数组可以包括如下因数，凭借所述因数将各当前的(例如借助于利用传感器80来检测的油门踏板36的状态以及借助于内燃机40、发电机44和电马达62的对于控制装置已知的功率值而对于该控制装置70已知的)功率需求按比例地引入实施为比例积分调节器的功率或转矩分配调节器72的、针对分摊到内燃机40和电马达62的转矩或负载分配的调节方案的输出数值中。参数组也可以包括如下因数，凭借所述因数将相应的转矩或功率需求积分地引入实施为比例积分调节器的功率或转矩分配调节器72的输出值中。由此实现的是，相比于例如“压捆”的作业周期，在“运输行驶”的作业周期中，负载变换过程较慢地进行。参数组也可以由状态检测装置74或控制装置70的其他部分来选定。
在步骤102至106期间(也就是当前的作业周期还未已知的话)，功率或转矩分配调节器72就以预设的标准参数组工作。
接着进行步骤108，在其中检查：作业机械是否正好具有较长时间的暂停(例如多于30秒)。这种暂停意味着可能是作业周期发生变换。如果不是这种情况的话，则再度以步骤106继续行驶，也就是继续应用截至目前的作业周期和所属的参数组，否则再次执行步骤102，以便重新确定作业周期。

Claims (8)

1.一种用于确定作业机械的混合驱动装置的功率或转矩分配调节器(72)的控制参数的方法，包括如下步骤：
(a)自主地确定刚好由作业机械执行的作业周期，以及
(b)根据在步骤(a)中确定的作业周期选出用于调节分摊给混合动力驱动装置的内燃机和电马达的转矩或负载分配的控制参数；
其中，控制参数是如下的因数，利用所述因数将相应的转矩或功率需求按比例和/或积分地引入实施为比例积分调节器的功率或转矩分配调节器(72)的输出值中。
2.根据权利要求1所述的方法，其中，在步骤(a)中，借助以分类算法进行的模式识别，通过对以传感方式检测到的测量值加以分类来确定作业周期。
3.根据权利要求2所述的方法，其中，分类算法采用贝叶斯分类器和/或最邻近分类器和/或k-最邻近分类器和/或距离函数和/或决策树。
4.根据权利要求2或3所述的方法，其中，测量值涉及：作业机械的速度和/或换档变速器(66)的速比级和/或者动力输出轴(22)的状态和/或借助数据总线(88)传输的数据。
5.一种用于作业机械的混合动力驱动装置的控制装置(70)，具有：
(a)用于自主地确定刚好由作业机械来执行的作业周期的状态检测装置(74)，以及
(b)根据由状态检测装置(74)确定的作业周期，选出功率或转矩分配调节器(72)的用于调节分摊给混合动力驱动装置的内燃机(40)和电马达(62)的转矩或负载分配的控制参数的机构；其中，控制参数是如下的因数，利用所述因数将相应的转矩或功率需求按比例和/或积分地引入实施为比例积分调节器的功率或转矩分配调节器(72)的输出值中。
6.根据权利要求5所述的控制装置(70)，其中，能够使状态检测装置(74)运行，用以借助分类算法的模式识别、通过对以传感方式检测到的测量值加以分类来确定作业周期。
7.根据权利要求6所述的控制装置(70)，其中，测量值涉及：作业机械的速度和/或换档变速器(66)的速比级和/或者动力输出轴(22)的状态和/或借助数据总线(88)传输的数据。
8.一种作业机械，具有：内燃机(40)、能够由内燃机(40)驱动的发电机(44)、蓄电器(78)、电马达(62)、包括与内燃机(40)和电马达(62)保持驱动连接的复合变速器(60)的传动系以及根据权利要求5至7中任一项所述的控制装置(70)。
CN201480025479.2A 2013-05-07 2014-04-23 用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法 Active CN105189230B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102013208320.3A DE102013208320A1 (de) 2013-05-07 2013-05-07 Verfahren zur Bestimmung eines Kontrollparameters eines Leistungs- oder Drehmomentverteilungsreglers für einen Hybridantrieb einer Arbeitsmaschine
DE102013208320.3 2013-05-07
PCT/EP2014/058216 WO2014180659A1 (de) 2013-05-07 2014-04-23 Verfahren zur bestimmung eines kontrollparameters eines leistungs- oder drehmomentverteilungsreglers für einen hybridantrieb einer arbeitsmaschine

Publications (2)

Publication Number Publication Date
CN105189230A CN105189230A (zh) 2015-12-23
CN105189230B true CN105189230B (zh) 2018-05-04

Family

ID=50628793

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480025479.2A Active CN105189230B (zh) 2013-05-07 2014-04-23 用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法

Country Status (5)

Country Link
US (1) US10173662B2 (zh)
EP (1) EP2994357B1 (zh)
CN (1) CN105189230B (zh)
DE (1) DE102013208320A1 (zh)
WO (1) WO2014180659A1 (zh)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102483801B1 (ko) * 2015-05-12 2023-01-02 현대두산인프라코어(주) 휠 로더의 제어 방법, 제어 장치 및 제어 시스템
DE102018204405A1 (de) * 2018-03-22 2019-09-26 Deere & Company Zapfwellengetriebe
IT201900006731A1 (it) * 2019-05-10 2020-11-10 Cnh Ind Italia Spa Veicolo agricolo ibrido per applicazione con imballatore
BR102020024920A2 (pt) * 2020-12-07 2022-06-21 Celso Luís Casale Disposição introduzida para proteção automática contra falhas operacionais em um implemento agrícola para mistura e/ou distribuição de um produto sólido, de granulometria variável do tipo implemento misturador e/ou distribuidor
WO2023025404A1 (en) 2021-08-24 2023-03-02 BioNTech SE In vitro transcription technologies
IT202100026141A1 (it) * 2021-10-12 2023-04-12 Cnh Ind Italia Spa Metodo e apparato per far funzionare un veicolo da lavoro
CN115009260B (zh) * 2022-06-14 2024-05-28 河南科技大学 一种四驱混合动力拖拉机控制策略
WO2024083345A1 (en) 2022-10-21 2024-04-25 BioNTech SE Methods and uses associated with liquid compositions

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19512637A1 (de) * 1995-04-05 1996-10-10 Claas Ohg Antriebseinheit, Verfahren zu deren Steuerung und Verwendung derselben
DE19618402A1 (de) * 1996-05-08 1997-11-13 Bosch Gmbh Robert Hydraulische Fahrzeugbremsanlage
CZ292383B6 (cs) * 1997-05-09 2003-09-17 Robert Bosch Gmbh Elektrický stroj
US6554088B2 (en) * 1998-09-14 2003-04-29 Paice Corporation Hybrid vehicles
US6965826B2 (en) * 2002-12-30 2005-11-15 Caterpillar Inc Engine control strategies
DE102006010223A1 (de) 2006-03-02 2007-09-06 Fev Motorentechnik Gmbh Verfahren zur Regelung eines Hybridantriebes
US7466087B2 (en) 2006-03-09 2008-12-16 Deere & Company Method and system for adaptively controlling a hybrid vehicle
WO2008140359A1 (en) * 2007-05-10 2008-11-20 Volvo Construction Equipment Ab A method and a control system for controlling a work machine
DE102007024644A1 (de) * 2007-05-24 2008-11-27 Deere & Company, Moline Vorrichtung zum Übertragen elektrischer Energie von einem landwirtschaftlichen Arbeitsfahrzeug auf ein an das Arbeitsfahrzeug ankoppelbares Anbaugerät
US8260535B2 (en) * 2007-09-28 2012-09-04 Bombardier Recreational Products Inc. Load sensor for a vehicle electronic stability system
JP5317517B2 (ja) * 2008-04-14 2013-10-16 カヤバ工業株式会社 ハイブリッド建設機械の制御装置
US7647777B2 (en) * 2008-06-20 2010-01-19 Gas Turbine Efficiency Sweden Ab Skid architecture for a power augmentation system
US8290653B2 (en) * 2008-08-27 2012-10-16 Ecomotors International, Inc. Powertrain with multiple, selectable power sources
DE102009010050A1 (de) * 2009-02-21 2010-08-26 Continental Teves Ag & Co. Ohg Hydraulikaggregat
DE112009005453T5 (de) * 2009-12-18 2012-09-20 International Truck Intellectual Property Co., Llc Steuersystem für pto-ausrüstung an einem fahrzeug mit hybridelektrischem antriebsstrang
US9132829B2 (en) * 2011-06-29 2015-09-15 Toyota Jidosha Kabushiki Kaisha Control device for vehicle drive device
JP5765433B2 (ja) * 2011-11-14 2015-08-19 トヨタ自動車株式会社 車両用駆動装置の制御装置
DE102011118543A1 (de) * 2011-11-15 2012-05-16 Daimler Ag Verfahren und Vorrichtung zur Steuerung eines Hybridantriebsstrangs eines Fahrzeugs mit einer Nebenantriebsfunktion
JP5609898B2 (ja) * 2012-01-26 2014-10-22 トヨタ自動車株式会社 走行制御装置
DE102012220109A1 (de) 2012-11-05 2014-05-08 Deere & Company Einrichtung zur Erfassung des Betriebszustands einer Arbeitsmaschine
JP5303061B1 (ja) * 2012-11-20 2013-10-02 株式会社小松製作所 エンジン制御装置及び建設機械

Also Published As

Publication number Publication date
US10173662B2 (en) 2019-01-08
WO2014180659A1 (de) 2014-11-13
EP2994357A1 (de) 2016-03-16
CN105189230A (zh) 2015-12-23
US20160052506A1 (en) 2016-02-25
EP2994357B1 (de) 2019-01-02
DE102013208320A1 (de) 2014-11-13

Similar Documents

Publication Publication Date Title
CN105189230B (zh) 用于确定作业机械的混合驱动装置的功率或转矩分配调节器的控制参数的方法
US11007894B2 (en) Electrified vehicle control during towing
CN109466340B (zh) 一种双电机耦合驱动电动拖拉机及其控制方法
CN100453359C (zh) 动力输出装置及其控制方法及安装有动力输出装置的汽车
CN102341622B (zh) 用于扭矩矢量控制的设备
CN102159439B (zh) 发动机驱动装置、用于调节该装置的方法及调节或控制器
US9849786B2 (en) Vehicle system and method for adjusting deceleration rate
CN108248367B (zh) 混合动力汽车的动力系统
CN109080442B (zh) 一种增程式电动车辆四驱系统及其控制方法
US10183568B2 (en) Hybrid drive system
CN104071155B (zh) 混合动力车辆的发电控制装置
CN103547472A (zh) 电动车辆
CN113320519B (zh) 一种四驱混合动力系统和多驾驶模式控制方法
US20220097786A1 (en) Trailer vehicle and trailer brake controller, and method and computer program product therefor
CN107521488B (zh) 改善电动车辆反向驾驶能力的系统和方法
CN104290591A (zh) 一种混联式混合动力拖拉机动力系统及其控制方法
US9545849B2 (en) Vehicle system and method for adapting lift pedal regeneration
CN104972920B (zh) 驱动单元及驱动模块
CN103754215B (zh) 一种混合动力整车控制系统
CN105008197B (zh) 针对混合动力车辆用以实现负载点移位、回收和增压的运行策略
CN105375828A (zh) 一种车用四电机控制器及控制系统
CN104972930B (zh) 车辆用控制装置
DE102007056723A1 (de) Reichweitenmaximierung eines Hybridfahrzeugs, das in einem Elektrofahrzeug-Betriebszustand arbeitet
CN203753131U (zh) 一种混合动力整车控制系统
CN105539115A (zh) 混合动力玉米收获机

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant