CN113044124A - Electric tractor rapid counterweight system and control method thereof - Google Patents
Electric tractor rapid counterweight system and control method thereof Download PDFInfo
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- CN113044124A CN113044124A CN202110399205.1A CN202110399205A CN113044124A CN 113044124 A CN113044124 A CN 113044124A CN 202110399205 A CN202110399205 A CN 202110399205A CN 113044124 A CN113044124 A CN 113044124A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
- B62D49/085—Counterweight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
Abstract
The invention relates to the technical field of electric tractors, in particular to a quick counterweight system of an electric tractor and a control method thereof, wherein the counterweight system is arranged on the body of the electric tractor and comprises a power battery pack (1), a power battery mounting frame (2), a bearing frame (3), a sliding adjusting mechanism (4) and a control system; the invention can fully utilize the characteristic of flexible arrangement of the power battery pack of the electric tractor, does not need to additionally increase the balancing weight, and can improve the operation stability, reduce the energy loss and improve the traction efficiency. The invention can observe the steering capacity and the slip rate of the rear wheel of the whole machine in real time, adjust the position of the power battery pack with high precision, change the distribution of the axle weights of the front axle and the rear axle, and realize the functions of quickly balancing the weight and improving the operation effect.
Description
Technical Field
The invention relates to the technical field of electric tractors, in particular to a quick counterweight system of an electric tractor and a control method thereof.
Background
The tractor is used as the most important agricultural power machine and needs to complete various field operations, transportation operations and fixed field operations. The tractive effort of the tractor can result in the transfer of front and rear axle loads; when the traction force is too large, the load of the front axle is seriously reduced to be even zero, the adhesion force of the front wheels is seriously influenced, the tractor loses the steering capability to cause the danger of head warping and overturning, the rear wheel seriously slips due to the overlarge load of the rear axle, the abrasion of tires is aggravated, the energy loss is increased, and the operation stability and the safety of a driver cannot be guaranteed. Therefore, adjusting the front and rear axle loads of the tractor becomes critical.
The traditional tractor usually adopts a mode of arranging a balancing weight at the front end to inhibit adverse effects caused by axle load transfer, but the balancing weight can increase the energy consumption of the tractor in the running process; in addition, the tractor can not adjust the size of balancing weight in real time according to the change of operation operating mode when field work to can't full play its complete machine performance. The power battery of the electric tractor has the characteristics of heavy weight, adjustable position and no vibration, so that the power battery can be used for replacing the balancing weight, the adjustment of the mass center of the tractor is realized by moving the position of the power battery, the quick balancing weight of the tractor is completed, and the operation performance of the whole tractor is improved.
The most core technology of the electric tractor different from the traditional tractor is 'three electricity', which comprises a battery, a motor and an electric control. Therefore, the structural arrangement of the electric tractor is greatly changed, and the installation position of a part of components (mainly electrical components) becomes more flexible; meanwhile, an advanced control system can be widely applied to the electric tractor, so that the optimization of the axle load distribution of the front axle and the rear axle and the optimization of the operation performance become possible.
Disclosure of Invention
The invention aims to solve the problem of serious unbalance of dynamic vertical loads of a front axle and a rear axle of an electric tractor under the traction operation, provides a quick counterweight system of the electric tractor, and provides a counterweight system control method for optimizing the operation performance.
In order to achieve the purpose, the invention adopts the technical scheme that:
a quick counterweight system of an electric tractor is arranged on the body of the electric tractor and comprises a power battery pack 1, a power battery mounting frame 2, a bearing frame 3, a sliding adjusting mechanism 4 and a control system;
the power battery pack 1 comprises a plurality of battery single cells;
the power battery mounting rack 2 comprises an electric push rod mounting seat 207, the electric push rod mounting seat 207 is positioned at the center of the bottom surface of the power battery pack 1, and the lower surface of the electric push rod mounting seat 207 is fixed with an electric push rod bracket 414;
the load-bearing frame 3 is of a beam structure and comprises a rear beam 301, an electric push rod mounting beam 302, a left beam 303, a right beam 304, an I-shaped beam mounting seat 305 and a front beam 306;
the front beam 306 and the rear beam 301 are parallel to each other, the left beam 303 and the right beam 304 are parallel to each other, and the left beam 303 and the right beam 304 are fixedly connected between the front beam 306 and the rear beam 301;
the electric push rod mounting beam 302 is positioned at the front end of the rear beam 301, is parallel to the rear beam 301, and is fixedly connected with the inner side surfaces of the left beam 303 and the right beam 304;
the I-shaped beam mounting seat 305 is positioned behind the front beam 306, is parallel to the front beam 306, and is fixedly connected with the inner side surfaces of the left beam 303 and the right beam 304;
the sliding adjusting mechanism 4 comprises an electric push rod 403, a left fixed slideway 406, a left V-shaped slideway 407, a right fixed slideway 408, a right V-shaped slideway 409, a V-shaped wheel 410, a V-shaped wheel mounting shaft 411, a V-shaped wheel bracket 412, a battery bracket 413 and an electric push rod bracket 414;
the electric push rod 403 is positioned between the left beam 303 and the right beam 304;
the V-shaped wheel 410, the V-shaped wheel mounting shaft 411 and the V-shaped wheel bracket 412 form a whole, wherein a bearing is embedded in the V-shaped wheel 410, the outer ring of the bearing is fixed with the V-shaped wheel 410, the inner ring of the bearing is fixed with the V-shaped wheel mounting shaft 411, and the lower part of the V-shaped wheel bracket 412 is provided with a through hole for supporting the V-shaped wheel mounting shaft 411, four groups of the V-shaped wheel 410, the V-shaped wheel mounting shaft 411 and the V-shaped wheel bracket 412 are arranged below the power battery mounting frame 2;
the left V-shaped slide 407 and the right V-shaped slide 409 are respectively and fixedly connected to the upper surfaces of the left beam 303 and the right beam 304, and are both in close contact with the V-shaped wheel 410;
the battery bracket 413 is fixedly connected below the power battery mounting rack 2; the left fixed slideway 406 and the right fixed slideway 408 are respectively fixedly connected to the inner side surfaces of the left beam 303 and the right beam 304; the battery bracket 413 is slidably connected with the left fixed slide 406 and the right fixed slide 408;
the control system comprises a front wheel steering angle sensor 501, a counterweight controller 502, a vehicle speed sensor 503, a vehicle body attitude sensor 504 and a wheel rotating speed sensor 505, wherein the front wheel steering angle sensor 501 is arranged on a front steering axle of the tractor, the wheel rotating speed sensor 505 is arranged on a rear wheel rotating shaft of the tractor, and the counterweight controller 502, the vehicle speed sensor 503 and the vehicle body attitude sensor 504 are respectively arranged on a tractor frame;
the front wheel steering angle sensor 501, the vehicle speed sensor 503, the vehicle body attitude sensor 504, and the wheel rotation speed sensor 505 are connected to the counterweight controller 502 via signal output lines, respectively, and the counterweight sensor 502 is connected to the electric push rod 403 via a signal output line.
The front end of the electric push rod mounting beam 302 is vertically and fixedly connected with a first bracket which comprises two first fixing plates which are parallel to each other, and the distance between the two first fixing plates is larger than the width of the electric push rod connector; the lower surface of the electric push rod bracket 414 is fixedly connected with a second bracket which comprises two second fixing plates, and a certain distance is reserved between the two second fixing plates; the base mounting joint of the electric push rod 403 is arranged between the two first fixing plates of the electric push rod mounting beam 302 and is connected with the two first fixing plates; the telescopic rod mounting joint of the electric push rod 403 is arranged between the two second fixing plates of the electric push rod bracket 414 and is connected with the two second fixing plates.
The power battery mounting frame 2 further comprises an upper frame 201, an upper reinforcing rib 202, an upper connecting piece 203, a lower frame 204, a lower reinforcing rib 205, a V-shaped wheel bracket mounting hole 206, an electric push rod mounting seat 207, a lower connecting piece 208, a lower mounting nut 209, a stud 210 and an upper mounting nut 211;
the upper frame 201 comprises four first rod pieces, the lengths of the four first rod pieces correspond to the four sides of the upper surface of the power battery pack 1 respectively, and the four first rod pieces are fixedly connected into a rectangle and used for hooping the upper edge of the power battery pack 1;
the cross section of the upper reinforcing rib 202 is U-shaped, and the length of the upper reinforcing rib is the same as the length of the long edge of the upper frame 201; the upper reinforcing ribs 202 are arranged along the edges of the single batteries, are parallel to the long edges of the upper frame 201, and are fixedly connected to the upper frame 201 at two ends;
the lower frame 204 comprises four second rod pieces, the lengths of the four second rod pieces correspond to the four sides of the lower surface of the power battery pack 1 respectively, and the four second rod pieces are fixedly connected into a rectangle and used for hooping the lower edge of the power battery pack 1;
the cross section of the lower reinforcing rib 205 is U-shaped, and the length of the lower reinforcing rib is the same as the length of the long side of the lower frame 204; the lower reinforcing ribs 205 are arranged along the edges of the battery cells and are parallel to the long sides of the lower frame 204, and two ends of the lower reinforcing ribs are fixedly connected to the lower frame 204;
the upper connecting piece 203 is uniformly and fixedly connected to the outer side of the upper frame 201, the horizontal surface of the upper connecting piece faces downwards, and a through hole for mounting the stud 210 is formed in the upper connecting piece;
the lower connecting pieces 208 are uniformly and fixedly connected to the outer side of the lower frame 204, face downwards horizontally and are provided with through holes for mounting the studs 210;
the double-end studs 210 are uniformly distributed on the side surface of the power battery pack 1, the upper ends of the double-end studs penetrate through the through holes of the upper connecting piece 203, and the lower ends of the double-end studs penetrate through the through holes of the lower connecting piece 208; each stud 210 is provided with two upper mounting nuts 211 and two lower mounting nuts 209, the two upper mounting nuts 211 are arranged at two ends of the through hole of the upper connecting piece 203 and clamp the through hole, and the two lower mounting nuts 209 are arranged at two ends of the through hole of the lower connecting piece 208 and clamp the through hole;
the V-shaped wheel bracket mounting hole 206 is a countersunk hole and is positioned on the lower reinforcing rib 205; each set of counterbores can be secured to a "V" wheel bracket 412.
A control method for carrying out counterweight by using the quick counterweight system of the electric tractor comprises the following steps:
the method comprises the following steps: the current vehicle speed of the vehicle body is obtained by a vehicle speed sensor 503, the current outer steering wheel deflection angle is obtained by a front wheel steering angle sensor 501, and the theoretical yaw rate of the vehicle body of the electric tractor during steering is obtained according to the formula (1-1):
wherein r is the theoretical body yaw velocity of the electric tractor during steering, and the unit is DEG; v is the current vehicle speed of the vehicle body, and the unit is m/s; l is the wheelbase and is m; beta is the deflection angle of the outer steering wheel, and the unit is degree;
obtaining the actual vehicle body yaw velocity of the whole machine by a vehicle body attitude sensor 504, obtaining the current rotating speed of a rear wheel by a wheel rotating speed sensor 505, obtaining the current linear speed of the rear wheel according to a formula (1-2), obtaining the current vehicle speed of the vehicle body by a vehicle speed sensor 503, and obtaining the current slip ratio of the rear wheel of the electric tractor according to a formula (1-3):
vwheel＝ωwheel·R (1-2)
wherein, ω iswheelThe unit is rad/s which is the current angular speed of the rear wheel; r is the rolling radius of the rear wheel and is m; s is the current slip rate of the rear wheel; v. ofwheelThe current linear speed of the rear wheel is in m/s; v is the current vehicle speed of the vehicle body, and the unit is m/s;
step two: when the difference between the actual vehicle body yaw velocity and the theoretical vehicle body yaw velocity is detected to be less than 20% of the theoretical vehicle body yaw velocity, the complete machine is determined to have the steering capacity;
at this time, when the current slip rate of the rear wheel is less than 10%, the counterweight controller 502 controls the electric push rod 403 to shorten the length, and the power battery pack 1 moves backwards; when the current slip rate of the rear wheel is more than 30%, the counterweight controller 502 controls the electric push rod 403 to increase the length, and the power battery pack 1 moves forwards; when the current slip rate of the rear wheel is 10% -30%, the counterweight controller 502 controls the electric push rod 403 not to do any action, and the power battery pack 1 stops moving;
step three: when the difference between the actual yaw rate and the theoretical yaw rate is detected to be greater than 20% of the theoretical yaw rate, the steering capacity of the whole machine is determined to be insufficient, and at the moment, the counterweight controller 502 controls the electric push rod 403 to increase in length, so that the power battery pack 1 moves forwards.
The invention has the beneficial effects that:
(1) the invention can fully utilize the characteristic of flexible arrangement of the power battery pack of the electric tractor, does not need to additionally increase the balancing weight, and can improve the operation stability, reduce the energy loss and improve the traction efficiency.
(2) The V-shaped wheels, the V-shaped slide ways, the battery bracket and the battery bracket slide ways enable the power battery pack to move linearly, and the electric push rod is adopted to provide power for the movement of the power battery pack. The common linear sliding module (such as a guide rail, a screw motor and the like) needs higher matching precision, lubricating oil needs to be filled at regular time, the operation working condition of the tractor is complex, and dust and impurities can influence the matching part. The invention can avoid the influence of dust and impurities, is easy to control, has high positioning accuracy and strong reliability, and the electric push rod has self-locking function and limiting function, thereby reducing the complexity of the system structure.
(3) The sliding adjusting mechanism of the invention adopts the combination of two mechanisms of a V-shaped wheel and a V-shaped slideway and a battery bracket slideway to limit the interaction relation of the power battery pack and the bearing frame together. The V-shaped wheels are tightly contacted with the V-shaped slide ways, so that the resistance of the power battery assembly during the front and back movement is reduced, and the power battery assembly is prevented from moving left and right. The battery bracket and the battery bracket slide way are connected by the loose bolt, so that the power battery assembly can be prevented from shaking up and down, and the stability of the power battery assembly is improved.
(4) The invention can observe the steering capacity and the slip rate of the rear wheel of the whole machine in real time, adjust the position of the power battery pack with high precision, change the distribution of the axle weights of the front axle and the rear axle, and realize the functions of quickly balancing the weight and improving the operation effect.
Drawings
Other features, objects, and advantages of the invention will become apparent upon reading the following detailed description with reference to the drawings in which:
FIG. 1 is a schematic structural view of an electric tractor quick counterweight system of the present invention;
FIG. 2 is a schematic view of a power cell mounting bracket 2 of the present invention;
fig. 3 is a schematic view of a load-bearing frame 3 of the present invention;
FIG. 4 is a schematic view of the "V" shaped wheel and "V" shaped chute combination of the present invention;
FIG. 5 is a schematic view of the battery carrier and battery carrier slide of the present invention;
FIG. 6 is a schematic view of the installation of the power putter of the present invention;
FIG. 7 is a schematic view of the sensor mounting location of the present invention;
FIG. 8 is a force diagram of the electric tractor according to the present invention;
FIG. 9 is a graph of the steering wheel deflection angle of the present invention;
fig. 10 is a block diagram of the control flow of the counterweight system of the present invention.
1. Power battery pack 2 and power battery mounting rack
201. Upper frame 202 and upper reinforcing ribs
203. Upper connecting piece 204 and lower frame
205. Lower reinforcing rib 206 and V-shaped wheel bracket mounting hole
207. Electric push rod mounting seat 208 and lower connecting piece
209. Lower mounting nut 210, stud
211. Upper mounting nut 3 and bearing frame
301. Back beam 302 and electric push rod mounting beam
303. Left beam 304, right beam
305. I-shaped beam mounting base 306 and front beam
4. Slide adjusting mechanism 401 and electric push rod mounting bolt
402. Electric push rod mounting nut 403 and electric push rod
404. Fixed slideway bolt 405, fixed slideway bolt
406. Left fixed slideway 407 and left V-shaped slideway
408. Right fixed slideway 409, right V-shaped slideway
410. V-shaped wheel 411 and V-shaped wheel mounting shaft
412. V-shaped wheel support 413 and battery bracket
414. Electric push rod support 501 and front wheel steering angle sensor
502. Counterweight controller 503 and vehicle speed sensor
504. Vehicle body posture sensor 505 and wheel rotation speed sensor
Detailed Description
A quick counterweight system of an electric tractor, which is arranged on the body of the electric tractor and is arranged in front, comprises a power battery pack 1, a power battery mounting frame 2, a bearing frame 3, a sliding adjusting mechanism 4 and a control system.
As shown in fig. 1, v is the forward direction of the counterweight system.
The power battery pack 1 comprises a plurality of single batteries, and the binding posts are positioned on the upper surfaces of the single batteries. Preferably, the power battery pack 1 comprises 12 battery cells.
The power battery mounting frame 2 comprises an upper frame 201, an upper reinforcing rib 202, an upper connecting piece 203, a lower frame 204, a lower reinforcing rib 205, a V-shaped wheel bracket mounting hole 206, an electric push rod mounting seat 207, a lower connecting piece 208, a lower mounting nut 209, a stud 210 and an upper mounting nut 211.
The upper frame 201 comprises four first rod pieces, the lengths of the four first rod pieces correspond to the four sides of the upper surface of the power battery pack 1 respectively, and the four first rod pieces are fixedly connected into a rectangle and used for hooping the upper edge of the power battery pack 1. Preferably, the first rod piece is an equilateral angle of 30mm × 30 mm.
The cross section of the upper reinforcing rib 202 is in a U shape, and the length of the upper reinforcing rib is the same as the length of the long edge of the upper frame 201. The upper reinforcing ribs 202 are arranged along the edges of the battery cells, are parallel to the long sides of the upper frame 201, and are fixedly connected to the upper frame 201 at two ends. Preferably, the upper reinforcing bead 202 is two. Preferably, the upper reinforcing rib 202 is machined from a 3mm thick sheet metal.
The lower frame 204 includes four second bar members, the lengths of the four second bar members respectively correspond to the four sides of the lower surface of the power battery pack 1, and the four second bar members are fixedly connected to form a rectangle for tightening the lower edge of the power battery pack 1. Preferably, the second rod piece is an equilateral angle of 30mm × 30 mm.
The cross section of the lower reinforcing rib 205 is in a U shape, and the length of the lower reinforcing rib is the same as the length of the long side of the lower frame 204. The lower reinforcing ribs 205 are arranged along the edges of the battery cells, are parallel to the long sides of the lower frame 204, and are fixedly connected to the lower frame 204 at two ends. Preferably, the lower reinforcing bead 205 is two. Preferably, the lower reinforcing bead 205 is machined from a 3mm thick sheet metal.
The upper connecting member 203 is uniformly fixed to the outer side of the upper frame 201, faces downward horizontally, and has a through hole for mounting the stud 210. Preferably, the upper connecting members 203 are six. Preferably, the upper connecting member 203 is formed by machining a steel plate with a thickness of 3 mm.
The lower connecting member 208 is uniformly fixed to the outer side of the lower frame 204, and has a through hole for mounting the stud 210, and the horizontal surface faces downward. Preferably, the lower links 208 are six. Preferably, the lower connecting member 208 is formed by machining a 3mm thick steel plate.
The studs 210 are uniformly distributed on the side surface of the power battery pack 1, the upper ends of the studs penetrate through the through holes of the upper connecting piece 203, and the lower ends of the studs penetrate through the through holes of the lower connecting piece 208. Each stud 210 is fitted with two upper mounting nuts 211 and two lower mounting nuts 209, the two upper mounting nuts 211 being placed on both ends of the through-hole of the upper connector 203 and clamping it, and the two lower mounting nuts 209 being placed on both ends of the through-hole of the lower connector 208 and clamping it. Preferably, the studs 210 are six in number.
The "V" shaped wheel bracket mounting hole 206 is countersunk on the lower reinforcement 205. Each set of counterbores may be secured to one "V" wheel bracket 412. Preferably, the "V" wheel bracket mounting holes 206 are four sets of four.
The electric push rod mounting seat 207 is located at the center of the bottom surface of the power battery pack 1, four stepped holes are arranged in the structure, and the lower surface of the electric push rod mounting seat 207 is fixed with the electric push rod support 414. Preferably, the power putter mount 207 is cut from a 14mm thick steel plate.
As shown in fig. 3, the load-bearing frame 3 is a beam structure, and includes a rear beam 301, an electric push rod mounting beam 302, a left beam 303, a right beam 304, an i-beam mounting seat 305, and a front beam 306.
The front beam 306 and the rear beam 301 are parallel to each other, the left beam 303 and the right beam 304 are parallel to each other, and the left beam 303 and the right beam 304 are fixedly connected between the front beam 306 and the rear beam 301. Preferably, the front beam 306, the rear beam 301, the left beam 303 and the right beam 304 are all machined from # 12 channel steel.
The electric push rod mounting beam 302 is positioned at the front end of the rear beam 301, is parallel to the rear beam 301, and is fixedly connected with the inner side surfaces of the left beam 303 and the right beam 304. The first support is fixedly connected to the front end of the electric push rod mounting beam 302 vertically and comprises two first fixing plates which are parallel to each other, the distance between the two first fixing plates is larger than the width of the electric push rod connector, and the first fixing plates are provided with through holes for mounting the electric push rods 403. Preferably, the power pushrod mounting rail 302 is a 10mm thick steel plate. Preferably, the first bracket is machined from two 6mm thick steel plates.
The I-shaped beam mounting base 305 is positioned behind the front beam 306 and is parallel to the front beam 306, the I-shaped beam is made of a steel plate with the thickness of 10mm, and the reinforcing ribs are made of a steel plate with the thickness of 6mm and are fixedly connected with the inner side surfaces of the left beam 303 and the right beam 304.
As shown in fig. 3, the sliding adjustment mechanism 4 includes an electric push rod mounting bolt 401, an electric push rod mounting nut 402, an electric push rod 403, a fixed slide bolt 404, a fixed slide nut 405, a left fixed slide 406, a left "V" shaped slide 407, a right fixed slide 408, a right "V" shaped slide 409, a "V" shaped wheel 410, a "V" shaped wheel mounting shaft 411, a "V" shaped wheel support 412, a battery bracket 413, and an electric push rod support 414.
As shown in fig. 6, the electric putter bracket 414 is disposed at a lower portion of the electric putter mounting base 207 and is bolt-coupled thereto. The lower surface of the electric push rod bracket 414 is fixedly connected with a second bracket, which comprises two second fixing plates, and a certain distance is arranged between the two second fixing plates. Two second fixing plates are respectively provided with a through hole for installing the electric push rod 403. Preferably, the power pushrod support 414 is a steel plate 10mm thick. Preferably, the second fixing plate is machined from a 6mm thick steel plate.
The electric push rod 403 is located between the left beam 303 and the right beam 304, the base mounting joint of the electric push rod 403 is arranged between the two first fixing plates of the electric push rod mounting beam 302, so that the mounting hole of the base mounting joint of the electric push rod 403 is aligned with the through holes on the two first fixing plates, and the base mounting joint of the electric push rod 403 is connected with the electric push rod mounting beam 302 through a group of electric push rod mounting bolts 401 and electric push rod mounting nuts 402. The telescopic rod installation joint of the electric push rod 403 is arranged between the two second fixing plates of the electric push rod bracket 414, so that the installation hole of the telescopic rod installation joint of the electric push rod 403 is aligned with the through holes on the two second fixing plates, and the telescopic rod installation joint of the electric push rod 403 is connected with the electric push rod bracket 414 through a group of electric push rod installation bolts 401 and electric push rod installation nuts 402.
As shown in fig. 4, the "V" shaped wheel 410, the "V" shaped wheel mounting shaft 411 and the "V" shaped wheel bracket 412 form a whole, wherein a bearing is embedded in the "V" shaped wheel 410, an outer ring of the bearing is fixed to the "V" shaped wheel 410, and an inner ring of the bearing is fixed to the "V" shaped wheel mounting shaft 411. The lower portion of the "V" shaped wheel bracket 412 is provided with a through hole for supporting the "V" shaped wheel mounting shaft 411. Four sets of the "V" shaped wheel 410, the "V" shaped wheel mounting shaft 411, and the "V" shaped wheel bracket 412 are mounted on the lower surface of the lower reinforcing rib 205 and correspond to each set of the "V" shaped wheel bracket mounting holes 206. Preferably, the "V" wheel bracket 412 is machined from 6mm thick sheet steel.
The left V-shaped slide 407 and the right V-shaped slide 409 are respectively and fixedly connected to the upper surfaces of the left beam 303 and the right beam 304, and both of the two are in close contact with the V-shaped wheel 410.
As shown in fig. 5, the battery bracket 413 is fixed below the power battery mounting frame 2. Preferably, the battery bracket 413 is uniformly fixed to the lower surface of the lower reinforcing rib 205. Preferably, the number of the battery brackets 413 is four, and the battery brackets are formed by machining a 6mm thick steel plate.
The left fixed slideway 406 and the right fixed slideway 408 are respectively fixed on the inner side surfaces of the left beam 303 and the right beam 304.
The battery bracket 413 is slidably connected to the left stationary slide 406 and the right stationary slide 408. Preferably, the left battery bracket 413 and the left fixed slide 406 are loosely bolted to the fixed slide nut 405 by the fixed slide bolt 404, and the right battery bracket 413 and the right fixed slide 408 are loosely bolted to the fixed slide nut 405 by the fixed slide bolt 404.
As shown in fig. 7, the control system includes a front wheel steering angle sensor 501, a counterweight controller 502, a vehicle speed sensor 503, a vehicle body attitude sensor 504, and a wheel rotation speed sensor 505, wherein the front wheel steering angle sensor 501 is provided on a front steering axle of the tractor, the wheel rotation speed sensor 505 is provided on a rear wheel rotating shaft of the tractor, and the counterweight controller 502, the vehicle speed sensor 503, and the vehicle body attitude sensor 504 are respectively provided on a tractor frame.
The front wheel steering angle sensor 501, the vehicle speed sensor 503, the vehicle body attitude sensor 504, and the wheel rotation speed sensor 505 are connected to the counterweight controller 502 via signal output lines, respectively, and the counterweight sensor 502 is connected to the electric push rod 403 via a signal output line.
As shown in FIGS. 8 to 10, the electric tractor has the distribution of the front and rear axle static loads when the electric tractor is not equipped with a power battery pack and does not have traction operation, and the proportion of the rear axle static load and the total vertical load thereof is
Front axle static load and the proportion of the front axle static load in the total vertical load are
Wherein L is the wheelbase and the unit is m; a is the horizontal distance from the centroid to the front axis, and the unit is m; b is the horizontal distance from the center of mass to the rear axis in m; FSW is front axle static load, and the unit is N; RSW is the dead load of the rear axle and the unit is N; g is the gravity of the whole vehicle (when the power battery pack is not installed) and the unit is N; rhoFThe specific gravity of the front axle static load in the total vertical load; rhoRIs the proportion of the dead load of the rear axle to the total vertical load.
The dynamic vertical load of the front axle and the dynamic vertical load of the rear axle are distributed when the electric tractor is provided with a power battery pack and is in traction operation, and the proportion of the dynamic vertical load of the rear axle and the total vertical load of the dynamic vertical load of the rear axle is
Front axle dynamic vertical load and its proportion in total vertical load is
WF＝G+GBat+FR sinθ-WR,
Wherein, WFIs the dynamic vertical load of the front axle in the unit ofN；WRThe dynamic vertical load of the rear axle is N; gBatThe unit is the mass of the power battery pack and is kg; e is the horizontal distance from the center of mass of the power battery pack to the front axle, and the unit is m; deltaFThe specific gravity of the front axle dynamic vertical load in the total vertical load; deltaRThe specific gravity of the dynamic vertical load of the rear axle in the total vertical load; fRIs the traction force, and the unit is N; h is the height from the comprehensive traction force action point to the ground, and the unit is m; b is the distance between the comprehensive traction force action point and the rear axle, and the unit is m; theta is an included angle between the comprehensive traction force and the horizontal plane, and the unit is DEG; l is the wheelbase and is m; a is the horizontal distance from the centroid to the front axis, and the unit is m; g is the gravity of the whole vehicle (when the power battery pack is not installed) and the unit is N.
According to the analysis, the distribution of the dynamic vertical load of the front axle and the rear axle is determined by the whole electric tractor without the power battery pack, the power battery pack and the traction force. Therefore, when the rear axle load needs to be increased, the power battery pack 1 should be moved backward; conversely, the power battery 1 should be moved forward.
When the electric tractor turns, the theoretical yaw velocity of the body is
Wherein v is the current vehicle speed of the vehicle body, m/s; beta is the outboard steering wheel deflection angle, °.
Rear wheel current linear velocity of
vwheel＝ωwheel·R (1-2)
Wherein, ω iswheelIs the current angular velocity of the rear wheel, rad/s; r is the rolling radius of the rear wheel, m; v. ofwheelIs the current linear speed of the rear wheel, m/s.
The slip ratio of the electric tractor is
And S is the current slip rate of the rear wheel.
A control method of a quick counterweight system of an electric tractor comprises the following steps:
the method comprises the following steps: the current vehicle speed of the vehicle body is obtained by a vehicle speed sensor 503, the current outer steering wheel deflection angle is obtained by a front wheel steering angle sensor 501, and the theoretical yaw rate of the vehicle body of the electric tractor during steering is obtained according to the formula (1-1):
wherein r is the theoretical body yaw velocity of the electric tractor during steering, and the unit is DEG; v is the current vehicle speed of the vehicle body, and the unit is m/s; l is the wheelbase and is m; beta is the outboard steering wheel deflection angle in degrees.
Obtaining the actual vehicle body yaw velocity of the whole machine by a vehicle body attitude sensor 504, obtaining the current rotating speed of a rear wheel by a wheel rotating speed sensor 505, obtaining the current linear speed of the rear wheel according to a formula (1-2), obtaining the current vehicle speed of the vehicle body by a vehicle speed sensor 503, and obtaining the current slip ratio of the rear wheel of the electric tractor according to a formula (1-3):
vwheel＝ωwheel·R (1-2)
wherein, ω iswheelThe unit is rad/s which is the current angular speed of the rear wheel; r is the rolling radius of the rear wheel and is m; s is the current slip rate of the rear wheel; v. ofwheelThe current linear speed of the rear wheel is in m/s; and v is the current vehicle speed of the vehicle body and has the unit of m/s.
Step two: and when the difference between the actual vehicle body yaw velocity and the theoretical vehicle body yaw velocity is detected to be less than 20% of the theoretical yaw velocity, the complete machine is determined to be fully capable of steering.
At this time, when the current slip rate of the rear wheel is less than 10%, the counterweight controller 502 controls the electric push rod 403 to shorten the length, and the power battery pack 1 moves backwards; when the current slip rate of the rear wheel is more than 30%, the counterweight controller 502 controls the electric push rod 403 to increase the length, and the power battery pack 1 moves forwards; when the current slip rate of the rear wheel is 10% -30%, the counterweight controller 502 controls the electric push rod 403 not to do any action, and the power battery pack 1 stops moving.
Step three: and when the difference between the actual vehicle body yaw velocity and the theoretical vehicle body yaw velocity is detected to be more than 20% of the theoretical vehicle body yaw velocity, the steering capacity of the whole machine is determined to be insufficient. At this time, the counterweight controller 502 controls the electric push rod 403 to increase in length, and the power battery pack 1 moves forward.
Claims (4)
1. A quick counter weight system of electric tractor, this counter weight system arranges on electric tractor locomotive is its characterized in that: the counterweight system comprises a power battery pack (1), a power battery mounting frame (2), a bearing frame (3), a sliding adjusting mechanism (4) and a control system;
the power battery pack (1) comprises a plurality of battery monomers;
the power battery mounting rack (2) comprises an electric push rod mounting seat (207), the electric push rod mounting seat (207) is positioned in the center of the bottom surface of the power battery pack (1), and the lower surface of the electric push rod mounting seat (207) is fixed with an electric push rod support (414);
the bearing frame (3) is of a beam structure and comprises a rear beam (301), an electric push rod mounting beam (302), a left beam (303), a right beam (304), an I-shaped beam mounting seat (305) and a front beam (306);
the front beam (306) and the rear beam (301) are parallel to each other, the left beam (303) and the right beam (304) are parallel to each other, and the left beam (303) and the right beam (304) are fixedly connected between the front beam (306) and the rear beam (301);
the electric push rod mounting beam (302) is positioned at the front end of the rear beam (301), is parallel to the rear beam (301), and is fixedly connected with the inner side surfaces of the left beam (303) and the right beam (304);
the I-shaped beam mounting seat (305) is positioned behind the front beam (306), is parallel to the front beam (306), and is fixedly connected with the inner side surfaces of the left beam (303) and the right beam (304);
the sliding adjusting mechanism (4) comprises an electric push rod (403), a left fixed slideway (406), a left V-shaped slideway (407), a right fixed slideway (408), a right V-shaped slideway (409), a V-shaped wheel (410), a V-shaped wheel mounting shaft (411), a V-shaped wheel bracket (412), a battery bracket (413) and an electric push rod bracket (414);
the electric push rod (403) is positioned between the left beam (303) and the right beam (304);
the V-shaped wheel (410), the V-shaped wheel mounting shaft (411) and the V-shaped wheel support (412) form a whole, wherein a bearing is embedded in the V-shaped wheel (410), the outer ring of the bearing is fixed with the V-shaped wheel (410), the inner ring of the bearing is fixed with the V-shaped wheel mounting shaft (411), the lower part of the V-shaped wheel support (412) is provided with four groups of through holes for supporting the V-shaped wheel mounting shaft (411), the V-shaped wheel (410), the V-shaped wheel mounting shaft (411) and the V-shaped wheel support (412) are arranged below the power battery mounting frame (2);
the left V-shaped slideway (407) and the right V-shaped slideway (409) are fixedly connected to the upper surfaces of the left beam (303) and the right beam (304) respectively, and are in close contact with the V-shaped wheel (410);
the battery bracket (413) is fixedly connected below the power battery mounting rack (2); the left fixed slideway (406) and the right fixed slideway (408) are respectively fixedly connected to the inner side surfaces of the left beam (303) and the right beam (304); the battery bracket (413) is connected with the left fixed slide way (406) and the right fixed slide way (408) in a sliding way;
the control system comprises a front wheel steering angle sensor (501), a counterweight controller (502), a vehicle speed sensor (503), a vehicle body attitude sensor (504) and a wheel rotating speed sensor (505), wherein the front wheel steering angle sensor (501) is arranged on a front steering axle of the tractor, the wheel rotating speed sensor (505) is arranged on a rear wheel rotating shaft of the tractor, and the counterweight controller (502), the vehicle speed sensor (503) and the vehicle body attitude sensor (504) are respectively arranged on a tractor frame;
the front wheel steering angle sensor (501), the vehicle speed sensor (503), the vehicle body posture sensor (504) and the wheel rotating speed sensor (505) are respectively connected with signal output lines and a counterweight controller (502), and the signal output lines of the counterweight sensor (502) are connected with the electric push rod (403).
2. The electric tractor quick counterweight system of claim 1, wherein:
the front end of the electric push rod mounting beam (302) is vertically and fixedly connected with a first bracket which comprises two first fixing plates which are parallel to each other, and the distance between the two first fixing plates is larger than the width of the electric push rod connector; the lower surface of the electric push rod bracket (414) is fixedly connected with a second bracket which comprises two second fixing plates, and a certain distance is reserved between the two second fixing plates; the base mounting joint of the electric push rod (403) is arranged between the two first fixing plates of the electric push rod mounting beam (302) and is connected with the two first fixing plates; the telescopic rod mounting joint of the electric push rod (403) is arranged between the two second fixing plates of the electric push rod bracket (414) and is connected with the two second fixing plates.
3. The electric tractor quick counterweight system of claim 1, wherein:
the power battery mounting rack (2) further comprises an upper frame (201), an upper reinforcing rib (202), an upper connecting piece (203), a lower frame (204), a lower reinforcing rib (205), a V-shaped wheel bracket mounting hole (206), an electric push rod mounting seat (207), a lower connecting piece (208), a lower mounting nut (209), a double-end stud (210) and an upper mounting nut (211);
the upper frame (201) comprises four first rod pieces, the lengths of the four first rod pieces correspond to the four sides of the upper surface of the power battery pack (1) respectively, and the four first rod pieces are fixedly connected into a rectangle and used for hooping the upper edge of the power battery pack (1);
the cross section of the upper reinforcing rib (202) is U-shaped, and the length of the upper reinforcing rib is the same as the length of the long edge of the upper frame (201); the upper reinforcing ribs (202) are arranged along the edges of the battery cells and are parallel to the long sides of the upper frame (201), and two ends of the upper reinforcing ribs are fixedly connected to the upper frame (201);
the lower frame (204) comprises four second rod pieces, the lengths of the four second rod pieces correspond to the four sides of the lower surface of the power battery pack (1) respectively, and the four second rod pieces are fixedly connected into a rectangle and used for hooping the lower edge of the power battery pack (1);
the cross section of the lower reinforcing rib (205) is U-shaped, and the length of the lower reinforcing rib is the same as that of the long edge of the lower frame (204); the lower reinforcing ribs (205) are arranged along the edges of the battery cells and are parallel to the long sides of the lower frame (204), and two ends of the lower reinforcing ribs are fixedly connected to the lower frame (204);
the upper connecting piece (203) is uniformly and fixedly connected to the outer side of the upper frame (201), the horizontal surface of the upper connecting piece faces downwards, and a through hole for mounting the stud (210) is formed in the upper connecting piece;
the lower connecting pieces (208) are uniformly and fixedly connected to the outer side of the lower frame (204), face downwards horizontally and are provided with through holes for mounting the stud bolts (210);
the double-end studs (210) are uniformly distributed on the side surface of the power battery pack (1), the upper ends of the double-end studs penetrate through the through holes of the upper connecting piece (203), and the lower ends of the double-end studs penetrate through the through holes of the lower connecting piece (208); each stud (210) is provided with two upper mounting nuts (211) and two lower mounting nuts (209), the two upper mounting nuts (211) are arranged at two ends of the through hole of the upper connecting piece (203) and clamp the through hole, and the two lower mounting nuts (209) are arranged at two ends of the through hole of the lower connecting piece (208) and clamp the through hole;
the V-shaped wheel bracket mounting hole (206) is a countersunk hole and is positioned on the lower reinforcing rib (205); each set of counterbores is capable of being secured to a "V" wheel bracket (412).
4. A control method for balancing weight using the electric tractor quick counterweight system according to claims 1-3, characterized in that:
the method comprises the following steps:
the method comprises the following steps: obtaining the current vehicle speed of a vehicle body by a vehicle speed sensor (503), obtaining the current outer side steering wheel deflection angle by a front wheel steering angle sensor (501), and obtaining the theoretical yaw velocity of the vehicle body of the electric tractor during steering according to a formula (1-1):
wherein r is the theoretical body yaw velocity of the electric tractor during steering, and the unit is DEG; v is the current vehicle speed of the vehicle body, and the unit is m/s; l is the wheelbase and is m; beta is the deflection angle of the outer steering wheel, and the unit is degree;
obtaining the actual vehicle body yaw velocity of the whole machine by a vehicle body attitude sensor (504), obtaining the current rotating speed of a rear wheel by a wheel rotating speed sensor (505), obtaining the current linear speed of the rear wheel according to a formula (1-2), obtaining the current vehicle speed of the vehicle body by a vehicle speed sensor (503), and obtaining the current slip ratio of the rear wheel of the electric tractor according to a formula (1-3):
vwheel＝ωwheel·R (1-2)
wherein, ω iswheelThe unit is rad/s which is the current angular speed of the rear wheel; r is the rolling radius of the rear wheel and is m; s is the current slip rate of the rear wheel; v. ofwheelThe current linear speed of the rear wheel is in m/s; v is the current vehicle speed of the vehicle body, and the unit is m/s;
step two: when the difference between the actual vehicle body yaw velocity and the theoretical vehicle body yaw velocity is detected to be less than 20% of the theoretical vehicle body yaw velocity, the complete machine is determined to have the steering capacity;
at the moment, when the current slip rate of the rear wheel is less than 10%, the counterweight controller (502) controls the electric push rod (403) to shorten the length, and the power battery pack (1) moves backwards; when the current slip rate of the rear wheel is more than 30%, the counterweight controller (502) controls the electric push rod (403) to increase the length, and the power battery pack (1) moves forwards; when the current slip rate of the rear wheel is 10% -30%, the counterweight controller (502) controls the electric push rod (403) not to do any action, and the power battery pack (1) stops moving;
step three: when the difference between the actual yaw velocity and the theoretical yaw velocity is detected to be greater than 20% of the theoretical yaw velocity, the steering capacity of the whole machine is determined to be insufficient, and at the moment, the counterweight controller (502) controls the electric push rod (403) to increase in length, and the power battery pack (1) moves forwards.
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