CN111942392A - Multi-mode control system and method for electric tractor - Google Patents
Multi-mode control system and method for electric tractor Download PDFInfo
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- CN111942392A CN111942392A CN202010842204.5A CN202010842204A CN111942392A CN 111942392 A CN111942392 A CN 111942392A CN 202010842204 A CN202010842204 A CN 202010842204A CN 111942392 A CN111942392 A CN 111942392A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
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- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a multi-mode control system and a method for an electric tractor, which comprises a remote control system, an unmanned system, a whole vehicle electric control system, a hydraulic system, a gearbox system, a main motor system, a main battery system and other systems, wherein the remote control system and the unmanned system are responsible for remotely switching control modes, the whole vehicle electric control system is used for executing switching commands sent by the remote control system and the unmanned system, the hydraulic system is responsible for providing hydraulic power for the gearbox system, the main motor system is responsible for driving the whole vehicle, and the main battery system is a power source of the whole vehicle and provides power for the main motor system.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a multi-mode control system and method for an electric tractor.
Background
With the rapid development of agricultural machinery in China, the requirements of people on various aspects of performance of agricultural machinery are continuously enhanced. The tractor occupies a vital position in the development of modern agriculture in China, and the cultivation and harvesting of crops can not be realized. With the increasing progress of modernization, the tractor is gradually upgraded from a traditional small-horsepower four-wheel tractor to a large-horsepower tractor, particularly, the agricultural development mode in China is developing from a family co-production contract responsibility system to a large farm, the large-horsepower multifunctional tractor becomes a trend, and the large-horsepower multifunctional tractor has more technical requirements and limitations, for example, at least 3 gears are required to be added when a PTO function is added, and the maximum number of gears can reach 80.
The existing traditional tractor still adopts gears to control the speed of working conditions of the tractor, such as advancing, retreating, pear cultivation, rotary tillage and the like, but the control method has a plurality of defects and problems: 1. manual operation is required; 2. excessive gears are easy to operate by mistake; 3. the operation is frequent and complex, and the technical level of the operation for a driver is higher especially when the gears are many; 4. the operation is frustrated, and the gearbox is easy to damage in case of improper operation.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects and provide a multi-mode control system and method for an electric tractor, so that the remote and unmanned control of the multi-mode control is realized, the defect of multi-gear control is effectively overcome, the damage to a gearbox is reduced, and the problems in the background art can be effectively solved.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an electric tractor multi-mode control system, including remote control system, unmanned system, whole car electrical system, hydraulic system, gearbox system, main motor system, main battery system and other systems, remote control system and unmanned system are responsible for the remote switch control mode, whole car electrical system is used for carrying out the switching command that remote control system and unmanned system sent, hydraulic system is responsible for providing hydraulic power for the gearbox system, main motor system is responsible for the drive of whole car, main battery system is the power supply of whole car, provides power for main motor system.
As a preferred technical scheme of the invention, the unmanned system comprises an RTK, a satellite navigation module and a 5G module, a path is planned through a 5G signal, and then operation or transition is carried out through the satellite navigation module.
As a preferred technical scheme of the invention, the whole vehicle electric control system comprises a wireless receiving module, a signal processing module and an action execution module, which are communicated through a CAN.
As a preferable technical solution of the present invention, the transmission system includes a front box, a rear box and a PTO box, the front box is responsible for gear shifting and speed changing of the front power motor, the rear box is responsible for gear shifting and speed changing of the rear power motor, and the PTO box is responsible for power speed changing of the PTO.
As a preferable technical scheme of the invention, a gear control electromagnetic valve, a gear oil pressure sensor, an oil temperature sensor and a rotating speed sensor are arranged in each of the front box, the rear box and the PTO box.
As a preferable technical scheme of the invention, the main motor system comprises a front motor and a rear motor, wherein the front motor is 155 horsepower and is responsible for front driving, and the rear motor is 250 horsepower and is responsible for rear driving and PTO power output.
As a preferred technical scheme of the invention, six lithium iron phosphate battery packs are adopted in the main battery system.
As a preferred solution of the invention, the other systems include a steering system, a braking system, an acousto-optic system, a networking system, an auxiliary hydraulic system, a lifting and hydraulic output system and a power supply system.
A multi-mode control method of an electric tractor comprises the following steps:
s1): starting a control screen, and then entering the step 2;
s2): selecting a control mode, and then entering step 3;
s3): detecting whether the mode is an unmanned mode, if so, entering a step 4, and if not, entering a step 5;
s4): planning a path through an unmanned system, and then entering step 6;
s5): selecting a remote control mode, and then entering step 6;
s6): selecting and determining the working mode, and then entering step 7;
s7): judging according to the work, and then entering the step 8;
s8): the electromagnetic valve executes corresponding action, and then the step 9 is carried out;
s9): monitoring the sensor in real time, and then entering step 10;
s10): monitoring whether the position is abnormal, if so, entering a step 11, and if not, entering a step 12;
s11): a fault processing flow;
s12): entering a corresponding working mode; then, the step 13 is carried out;
s13): and executing the work order.
As a preferred technical scheme of the invention, the working modes comprise a low-speed rotary tillage mode, a high-speed rotary tillage mode, a synchronous rotary tillage mode, a ploughing mode, a low-speed transfer mode and a high-speed transfer mode, wherein the low-speed rotary tillage mode is that a front motor and a rear motor work, and a front box low gear, a rear box neutral gear and a PTO box low gear; the high-speed rotary tillage mode is that a front motor and a rear motor work, a front box high gear, a rear box neutral gear and a PTO box high gear; the synchronous rotary tillage mode is that a front motor and a rear motor work, a front box is in a high gear, a rear box is in a low gear, and a PTO box is in a high gear; the ploughing mode is that a front motor and a rear motor work, a front box is in a high gear, a rear box is in a low gear, and a PTO box is in a neutral gear; the low-speed transfer mode comprises the steps that the front motor does not work, the rear motor works, and the front box is in a neutral position, the rear box is in a low position and the PTO box is in a neutral position; the high-speed transfer mode comprises the steps that the front motor does not work, the rear motor works, and the front box neutral gear, the rear box high gear and the PTO box neutral gear are adopted.
Compared with the prior art, the invention has the beneficial effects that: according to the multi-mode control system and the multi-mode control method for the electric tractor, multiple gear combinations are simplified into six working modes, two control modes of remote control and unmanned control are adopted, the working modes are accurately controlled, the phenomenon of misoperation caused by excessive gears is avoided, and meanwhile, damage to a gearbox caused by manual gear shifting is reduced by switching the gears through the electric control mode.
Drawings
FIG. 1 is a schematic diagram of a control system according to the present invention;
FIG. 2 is a control flow diagram of the present invention;
fig. 3 is a schematic view of the working mode of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a multi-mode control system of an electric tractor comprises a remote control system, an unmanned system, a whole electric control system, a hydraulic system, a gearbox system, a main motor system, a main battery system and other systems, wherein the remote control system and the unmanned system are responsible for remotely switching control modes, the unmanned system comprises an RTK, a satellite navigation module and a 5G module, a path is planned through a 5G signal, and then operation or transition is carried out through the satellite navigation module, the whole electric control system is used for executing switching commands sent by the remote control system and the unmanned system, the whole electric control system comprises a wireless receiving module, a signal processing module and an action execution module, the three are communicated through a CAN, the gearbox system comprises a front box, a rear box and a PTO box, the front box is responsible for gear shifting and speed changing of a front power motor, the rear box is responsible for gear shifting and speed changing of a rear power motor, the PTO box is responsible for power transmission of the PTO, gear control electromagnetic valves, gear oil pressure sensors, oil temperature sensors and rotating speed sensors are arranged in the front box, the rear box and the PTO box, a hydraulic system is responsible for providing hydraulic power for a gearbox system, a main motor system is responsible for driving the whole vehicle, the main motor system comprises a front motor and a rear motor, the front motor is 155 horsepower and is responsible for driving in front, the rear motor is 250 horsepower and is responsible for rear driving and PTO power output, the main battery system is a power source of the whole vehicle and provides power for the main motor system, the main battery system adopts six lithium iron phosphate battery packs, other systems comprise a steering system, a braking system, an acousto-optic system, a network system, an auxiliary hydraulic system, a lifting and hydraulic output system and a power supply system, and the multi-mode control method of:
s1): starting a control screen, and then entering the step 2;
s2): selecting a control mode, and then entering step 3;
s3): detecting whether the mode is an unmanned mode, if so, entering a step 4, and if not, entering a step 5;
s4): planning a path through an unmanned system, and then entering step 6;
s5): selecting a remote control mode, and then entering step 6;
s6): selecting and determining the working mode, and then entering step 7;
s7): judging according to the work, and then entering the step 8;
s8): the electromagnetic valve executes corresponding action, and then the step 9 is carried out;
s9): monitoring the sensor in real time, and then entering step 10;
s10): monitoring whether the position is abnormal, if so, entering a step 11, and if not, entering a step 12;
s11): a fault processing flow;
s12): entering a corresponding working mode; then, the step 13 is carried out;
s13): and executing the work order.
The working modes comprise a low-speed rotary tillage mode, a high-speed rotary tillage mode, a synchronous rotary tillage mode, a ploughing mode, a low-speed transfer mode and a high-speed transfer mode, wherein the low-speed rotary tillage mode is that a front motor works and a rear motor works, and a front box low gear, a rear box neutral gear and a PTO box low gear are adopted; the high-speed rotary tillage mode is that a front motor and a rear motor work, a front box high gear, a rear box neutral gear and a PTO box high gear; the synchronous rotary tillage mode is that a front motor and a rear motor work, a front box is in a high gear, a rear box is in a low gear, and a PTO box is in a high gear; the ploughing mode is that a front motor and a rear motor work, a front box is in a high gear, a rear box is in a low gear, and a PTO box is in a neutral gear; the low-speed transfer mode comprises the steps that the front motor does not work, the rear motor works, and the front box is in a neutral position, the rear box is in a low position and the PTO box is in a neutral position; the high-speed transfer mode comprises the steps that the front motor does not work, the rear motor works, and the front box neutral gear, the rear box high gear and the PTO box neutral gear are adopted.
If the unmanned mode is selected, path planning is required to be carried out in advance, then the working mode is set, the working mode is set to be automatically completed by the unmanned system, the remote control setting mode is set remotely according to a driver and is issued to the whole vehicle electric control system in a wireless mode, and the whole vehicle electric control system judges and executes the corresponding electromagnetic valve to be processed according to the set working mode.
For example, a low-speed rotary tillage mode is set, the whole electric control system executes a clutch electromagnetic valve first, then executes a front box gear electromagnetic valve to a low gear, the rear box gear electromagnetic valve is a neutral gear, the PTO gear electromagnetic valve is a low gear, and after the execution is finished, a gear sensor of the gearbox system CAN monitor whether the gear is in place in real time.
Because this system adopts hydraulic pressure to shift gears, it has better advantage to compare the easy wearing and tearing of mechanical gear shifting, except foretell fender position sensor, still be equipped with oil temperature sensor and revolution speed sensor in the gearbox system, if take place unusually, sensor information can upload whole car electrical system very first time and handle, safe and reliable for the operation is more accurate.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an electric tractor multi-mode control system which characterized in that: the remote control system and the unmanned system are responsible for remotely switching control modes, the whole electric control system is used for executing switching commands sent by the remote control system and the unmanned system, the hydraulic system is responsible for providing hydraulic power for the gearbox system, the main electric system is responsible for driving the whole vehicle, and the main electric system is a power source of the whole vehicle and provides power for the main electric system.
2. The electric tractor multi-mode control system of claim 1, wherein: the unmanned system comprises an RTK, a satellite navigation module and a 5G module, a path is planned through a 5G signal, and then operation or transition is carried out through the satellite navigation module.
3. The electric tractor multi-mode control system of claim 1, wherein: the whole vehicle electric control system comprises a wireless receiving module, a signal processing module and an action execution module, and the wireless receiving module, the signal processing module and the action execution module are communicated through a CAN.
4. The electric tractor multi-mode control system of claim 1, wherein: the gearbox system comprises a front box, a rear box and a PTO box, wherein the front box is responsible for gear shifting and speed changing of the front power motor, the rear box is responsible for gear shifting and speed changing of the rear power motor, and the PTO box is responsible for power speed changing of the PTO.
5. The electric tractor multi-mode control system of claim 4, wherein: and a gear control electromagnetic valve, a gear oil pressure sensor, an oil temperature sensor and a rotating speed sensor are arranged in the front box, the rear box and the PTO box.
6. The electric tractor multi-mode control system of claim 1, wherein: the main motor system comprises a front motor and a rear motor, wherein the front motor is 155 horsepower and is responsible for front driving, and the rear motor is 250 horsepower and is responsible for rear driving and PTO power output.
7. The electric tractor multi-mode control system of claim 1, wherein: the main battery system adopts six lithium iron phosphate battery packs.
8. The electric tractor multi-mode control system of claim 1, wherein: the other systems include steering systems, braking systems, acousto-optic systems, networking systems, auxiliary hydraulic systems, lift and hydraulic output systems, and power supply systems.
9. A multi-mode control method of an electric tractor according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:
s1): starting a control screen, and then entering the step 2;
s2): selecting a control mode, and then entering step 3;
s3): detecting whether the mode is an unmanned mode, if so, entering a step 4, and if not, entering a step 5;
s4): planning a path through an unmanned system, and then entering step 6;
s5): selecting a remote control mode, and then entering step 6;
s6): selecting and determining the working mode, and then entering step 7;
s7): judging according to the work, and then entering the step 8;
s8): the electromagnetic valve executes corresponding action, and then the step 9 is carried out;
s9): monitoring the sensor in real time, and then entering step 10;
s10): monitoring whether the position is abnormal, if so, entering a step 11, and if not, entering a step 12;
s11): a fault processing flow;
s12): entering a corresponding working mode; then, the step 13 is carried out;
s13): and executing the work order.
10. The electric tractor multi-mode control method according to claim 9, characterized in that: the working modes comprise a low-speed rotary tillage mode, a high-speed rotary tillage mode, a synchronous rotary tillage mode, a ploughing mode, a low-speed transfer mode and a high-speed transfer mode, wherein the low-speed rotary tillage mode is that a front motor works and a rear motor works, and a front box low gear, a rear box neutral gear and a PTO box low gear are adopted; the high-speed rotary tillage mode is that a front motor and a rear motor work, a front box high gear, a rear box neutral gear and a PTO box high gear; the synchronous rotary tillage mode is that a front motor and a rear motor work, a front box is in a high gear, a rear box is in a low gear, and a PTO box is in a high gear; the ploughing mode is that a front motor and a rear motor work, a front box is in a high gear, a rear box is in a low gear, and a PTO box is in a neutral gear; the low-speed transfer mode comprises the steps that the front motor does not work, the rear motor works, and the front box is in a neutral position, the rear box is in a low position and the PTO box is in a neutral position; the high-speed transfer mode comprises the steps that the front motor does not work, the rear motor works, and the front box neutral gear, the rear box high gear and the PTO box neutral gear are adopted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010842204.5A CN111942392A (en) | 2020-08-20 | 2020-08-20 | Multi-mode control system and method for electric tractor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010842204.5A CN111942392A (en) | 2020-08-20 | 2020-08-20 | Multi-mode control system and method for electric tractor |
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| CN109747404A (en) * | 2019-01-10 | 2019-05-14 | 洛阳智能农业装备研究院有限公司 | A kind of electric tractor power matching method |
| CN110531764A (en) * | 2019-08-27 | 2019-12-03 | 第一拖拉机股份有限公司 | A kind of driverless tractor control system and control method |
| CN111231650A (en) * | 2020-01-08 | 2020-06-05 | 同济大学 | Tractor power split hybrid power system and control method thereof |
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2020
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040200648A1 (en) * | 2003-04-11 | 2004-10-14 | Deere & Company, A Delaware Corporation | Drive system for vehicles |
| US20090069964A1 (en) * | 2007-09-11 | 2009-03-12 | Hydro-Gear Limited Partnership | Electric Drive Vehicle Control System |
| CN106828064A (en) * | 2017-01-17 | 2017-06-13 | 中国农业大学 | A kind of electric tractor bi-motor multi-mode drive system and control method |
| CN107878217A (en) * | 2017-08-28 | 2018-04-06 | 江苏大学 | A kind of electric tractor EMS and control method |
| CN109466340A (en) * | 2018-11-21 | 2019-03-15 | 中国农业大学 | Double-motor coupling driving electric tractor and control method thereof |
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