CN113858972A - Double-motor control method for high-horsepower unmanned electric tractor - Google Patents
Double-motor control method for high-horsepower unmanned electric tractor Download PDFInfo
- Publication number
- CN113858972A CN113858972A CN202111252619.8A CN202111252619A CN113858972A CN 113858972 A CN113858972 A CN 113858972A CN 202111252619 A CN202111252619 A CN 202111252619A CN 113858972 A CN113858972 A CN 113858972A
- Authority
- CN
- China
- Prior art keywords
- motor
- mode
- control method
- horsepower
- entering
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000007935 neutral effect Effects 0.000 claims abstract description 6
- 238000003971 tillage Methods 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 9
- 239000003921 oil Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 101100236764 Caenorhabditis elegans mcu-1 gene Proteins 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 2
- 239000000725 suspension Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000012208 gear oil Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a double-motor control method for a high-horsepower unmanned electric tractor, which comprises the following steps of: s1: calibrating by CCP software which is compiled in advance to enable the torque value of the front motor to work in a proper range interval, and then entering the step 2: s2: setting a corresponding working mode through a remote controller, and then entering step 3; s3: limiting the maximum rotating speed value of the motor to be N2 through CCP software, and then entering step 4; s4: simultaneously turning on the front motor and the rear motor to enable, setting the control mode of the rear motor to be a rotating speed mode, setting the control mode of the front motor to be a Neutral mode, and then entering the step 5; according to the double-motor control method of the high-horsepower unmanned electric tractor, the two motors adopt different control modes so as to achieve the purpose of power matching, and tire wear, power loss and damage to the mechanical structure of the whole tractor caused by asynchronism are effectively avoided.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a double-motor control method for a high-horsepower unmanned electric tractor.
Background
The tractor occupies a vital position in the development of modern agriculture in China, and the cultivation and harvesting of crops can not be carried out, so that the development of agricultural machinery is advanced, and the tractor is used in the first place. At present, the current situation of domestic tractors is still mainly that a diesel engine is used, and although a part of unmanned tractors are subjected to electric unmanned transformation on the basis of the traditional fuel oil tractors, the tractor still adopts a single motor control mode of front wheel steering and rear wheel driving, has small horsepower, low efficiency and extremely poor practicability, and cannot meet the requirements of large farms. Particularly, the agricultural development mode in China is currently developed in the direction from the family co-production contract responsibility system to a large farm, and a dual-motor driving mode capable of providing enough power becomes a trend of the electric tractor.
However, the dual-motor drive also has a very serious challenge in coordinating the power matching of the two motors to achieve synchronization. The methods adopted in the prior art are mostly as follows: measures are taken to reduce the time delay caused by transmission media and the like, such as: 1. two motor controllers and a main controller are integrated on a control chip to serve as three modules of the chip, so that the transmission time delay of a physical medium is reduced; 2. two motor controllers are integrated together, which is equivalent to one motor controller simultaneously controlling two motors. Although the prior art can achieve the synchronization purpose to a certain extent by reducing time delay caused by transmission media and the like, the problem cannot be fundamentally solved, because the method is only applied to a particularly flat road surface, once the road surface is uneven, the actual stroke difference of each tire is huge, the whole synchronization is difficult to achieve, the abrasion and the slippage of the tire can be caused, the power loss is serious, and the coordination and the synchronization are difficult to ensure for a tractor with two motors.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a double-motor control method for a high-horsepower unmanned electric tractor, which achieves the purpose of power matching by adopting different control modes for a front motor and a rear motor, avoids the condition of stroke difference of front and rear tires under the condition of rough road conditions and can effectively solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a double-motor control method for a high-horsepower unmanned electric tractor comprises the following steps:
s1: calibrating by CCP software which is compiled in advance to enable the torque value of the front motor to work in a proper range interval, and then entering the step 2:
s2: setting a corresponding working mode through a remote controller, and then entering step 3;
s3: limiting the maximum rotating speed value of the motor to be N2 through CCP software, and then entering step 4;
s4: simultaneously turning on the front motor and the rear motor to enable, setting the control mode of the rear motor to be a rotating speed mode, setting the control mode of the front motor to be a Neutral mode, and then entering the step 5;
s5: gradually increasing the accelerator opening of the remote controller from 0 to 100, if the accelerator opening reaches 100, entering step 6, and if the accelerator opening does not reach 100, continuing to increase;
s6: calibrating the torque value T2 of the rear motor at the moment, and the rotating speed value of the front motor is N1, and then entering the step 7;
s7: setting the maximum torque value of the front motor to be T2N 2M 2/2N 1M 1 through CCP calibration software, and then entering step 8;
s8: modifying the control mode of the front motor into a torque mode, keeping the control mode of the rear motor unchanged in a rotating speed mode, and entering the step 9:
s9: with the complex change of the working condition road surface, the rear motor always keeps N2 unchanged, the front motor can adjust the torque value thereof at any time according to the characteristic curve of the motor so as to keep the rotating speed N1 of the front motor stable at M2 × N2/M1, if the N1 value is stable at a target value, the step 11 is carried out, and if the N1 value is not stable at the target value, the step 10 is carried out;
s10: continuously adjusting the maximum torque value N1 of the motor before adjustment;
s11: fixing the parameter value of the working mode, recording, and entering step 12;
s12: whether the parameters corresponding to the working mode are finished or not is judged, if yes, the step 13 is carried out, and if not, the step 2 is returned to continue setting;
s13: and finishing the setting of the corresponding working mode parameters.
As a preferable technical scheme of the invention, M1 and M2 are respectively the total reduction ratio of the front drive axle and the rear drive axle calculated by the speed ratio of the front gearbox and the rear gearbox of the whole vehicle and the speed ratio of the front axle and the rear axle of the whole vehicle.
As a preferred technical scheme of the invention, the working modes comprise a rapid 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 and high-speed transfer modes are driven by a single motor, and the other working modes adopt a mode that a front motor and a rear motor work simultaneously.
As a preferred technical scheme of the invention, a control system in a control method 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 battery system and other systems, wherein the remote control system and the unmanned system are used for remotely switching corresponding working modes, the output end of the remote control system is electrically connected with the input end of the whole vehicle electric control system, and the unmanned system comprises an RTK (real time kinematic) module, a satellite navigation module and a 5G 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, wherein the modules are communicated in a CAN communication mode.
As a preferable technical scheme of the invention, the hydraulic system comprises a hydraulic oil pump motor, an oil tank, a hydraulic pipeline and an oil cooling system, and the hydraulic system is used for providing hydraulic power for the gearbox system.
As a preferred aspect of the present invention, the transmission system includes a front axle transmission, a rear axle transmission, and a PTO case.
As a preferred technical scheme of the invention, the main motor system is responsible for driving the whole vehicle and consists of two motors, a front motor 155KW is responsible for front driving, a rear motor 250KW is responsible for rear driving and PTO power output, and the front motor and the rear motor are respectively composed of a controller system MCU1 and a controller system MCU 2.
As a preferred technical scheme of the invention, the battery system is a power source of a whole vehicle and adopts a lithium iron phosphate battery, 6 battery packs and 500 KW.h.
As a preferred technical scheme of the invention, the other systems comprise a lifting suspension and multi-way valve output system, an acousto-optic system, a network system, a cooling system and a safety guarantee system.
Compared with the prior art, the invention has the beneficial effects that: the method for controlling the two motors of the high-horsepower unmanned electric tractor simulates different rotating speed modes of the front motor and the rear motor under different working modes through CCP software, so that ideal coordination and synchronization of the front motor and the rear motor are realized, according to a power calculation formula P (N) T/9550 of the motors, the front motor just distributes half power of the whole tractor, if the power of the rear motor at the moment is P2 and the rotating speed of the rear motor is N2, the power P1 of the front motor is also approximately equal to P2, and the rear motor always keeps N2 unchanged along with complex changes of a working condition road surface, the front motor can adjust the torque value of the front motor at any moment according to a characteristic curve of the motor so as to maintain the rotating speed N1 of the front motor to be stabilized near M2N 2/M1, thereby achieving the consistency of speed pace, recording corresponding parameters of different working modes, realizing unmanned intelligent control, effectively avoiding tire wear caused by asynchronization, Power loss and damage to the mechanical structure of the whole vehicle, and has great practical prospect.
Drawings
FIG. 1 is a control flow diagram of the present invention;
FIG. 2 is a graph of motor characteristics;
FIG. 3 is a diagram of a control system according to 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. 1-2, the present invention provides a technical solution: a double-motor control method for a high-horsepower unmanned electric tractor comprises the following steps:
s1: calibrating by CCP software which is compiled in advance to enable the torque value of the front motor to work in a proper range interval, and then entering the step 2:
s2: setting a corresponding working mode through a remote controller, and then entering step 3;
s3: limiting the maximum rotating speed value of the motor to be N2 through CCP software, and then entering step 4;
s4: simultaneously turning on the front motor and the rear motor to enable, setting the control mode of the rear motor to be a rotating speed mode, setting the control mode of the front motor to be a Neutral mode, and then entering the step 5;
s5: gradually increasing the accelerator opening of the remote controller from 0 to 100, if the accelerator opening reaches 100, entering step 6, and if the accelerator opening does not reach 100, continuing to increase;
s6: calibrating the torque value T2 of the rear motor at the moment, and the rotating speed value of the front motor is N1, and then entering the step 7;
s7: setting the maximum torque value of the front motor to be T2N 2M 2/2N 1M 1 through CCP calibration software, and then entering step 8;
s8: modifying the control mode of the front motor into a torque mode, keeping the control mode of the rear motor unchanged in a rotating speed mode, and entering the step 9:
s9: with the complex change of the working condition road surface, the rear motor always keeps N2 unchanged, the front motor can adjust the torque value thereof at any time according to the characteristic curve of the motor so as to keep the rotating speed N1 of the front motor stable at M2 × N2/M1, if the N1 value is stable at a target value, the step 11 is carried out, and if the N1 value is not stable at the target value, the step 10 is carried out;
s10: continuously adjusting the maximum torque value N1 of the motor before adjustment;
s11: fixing the parameter value of the working mode, recording, and entering step 12;
s12: whether the parameters corresponding to the working mode are finished or not is judged, if yes, the step 13 is carried out, and if not, the step 2 is returned to continue setting;
s13: and finishing the setting of the corresponding working mode parameters.
After the whole vehicle is started, firstly calibrating by pre-programmed CCP software to enable the torque value of the front motor to work in a proper range interval, firstly setting the working mode to be in a plough mode by a remote controller, limiting the maximum rotating speed value of the rear motor to be N2 by the CCP software, simultaneously starting the front motor and the rear motor to enable, setting the control mode of the rear motor to be in a rotating speed mode, setting the control mode of the front motor to be in a Neutral mode, then gradually increasing the accelerator opening of the remote controller from 0 to 100 and keeping for a period of time, at the moment, calibrating the torque value T2 of the rear motor and the rotating speed value N1 of the front motor, setting the maximum torque value of the front motor to be T2N 2M 2/2N 1M 1 by the CCP calibration software, then modifying the control mode of the front motor to be in a torque mode, keeping the control mode of the rear motor unchanged, and at the moment, the front motor and the rear motor basically achieve ideal coordination synchronization, as the power calculation formula P of the motor is N T/9550, half of the power of the whole vehicle is distributed to the front motor at the moment, if the power of the rear motor at the moment is P2, and the rotating speed of the rear motor is N2, the power P1 of the front motor is also approximately equal to P2, and the rear motor always keeps N2 unchanged along with the complex change of a working condition road surface, the front motor can adjust the torque value thereof at any moment according to the characteristic curve of the motor so as to maintain the rotating speed N1 of the front motor to be stabilized near M2N 2/M1, and therefore the speed step consistency of the whole vehicle is achieved.
In order to achieve a more accurate synchronization effect, because the actual situation may be influenced by the mechanical structure of the whole vehicle, the actual power distribution situation of the front and rear motors is calculated through a plurality of experiments, then the most appropriate torque distribution value of the front motor is calculated, if N1 is slightly smaller, the maximum torque of the front motor is appropriately adjusted, if N1 is slightly larger, the maximum torque of the front motor is appropriately adjusted, so that the rotating speeds of the front and rear motors are finally stabilized on the same rotating speed level, and the synchronous working modes of other two motors are carried out according to the method.
The control system of the double-motor control method of the high-horsepower unmanned electric tractor 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 battery system and other systems, as shown in fig. 3, the remote control system and the unmanned system are responsible for remotely switching control modes, the remote control system sends the remote control modes to the whole vehicle electric control system in a wireless mode, the unmanned system comprises an RTK, a satellite navigation module and a 5G module, a path is planned through a 5G signal, then operation or transition is carried out through the satellite navigation system, and real-time mode switching is carried out according to a written algorithm and road conditions.
The whole vehicle electric control system is responsible for executing a remote control mode switching command sent by the remote control system and the unmanned system, and comprises a wireless receiving module, a signal processing module and an action execution module, and the communication mode adopts CAN communication.
The hydraulic system is responsible for providing hydraulic power for the gearbox system and comprises a hydraulic oil pump motor, an oil tank, a hydraulic pipeline and an oil cooling system.
The gearbox system consists of a front axle gearbox, a rear axle gearbox and a PTO (power take-off) box, wherein the front box is responsible for power gear shifting and speed changing of a front power motor, the rear box is responsible for power gear shifting and speed changing of a rear power motor, the PTO box is responsible for power speed changing of the PTO, and each box is used for real-time control and gear monitoring of a special gear control electromagnetic valve, a gear oil pressure sensor, an oil temperature sensor, a rotating speed sensor and the like.
The main motor system is responsible for driving the whole vehicle and consists of two motors, wherein the front motor 155KW is responsible for front driving, the rear motor 250KW is responsible for rear driving and PTO power output, and the front motor and the rear motor are respectively provided with a controller system MCU1 and a controller system MCU 2. The drive motor pre-charging is performed by the distribution box. In order to reduce the utilization rate of a CAN bus of the system and improve the execution efficiency of a control system, the system adopts two CAN paths, one path of a high-voltage driving system is adopted, the baud rate adopts 500Kbps, and the baud rate of the other path of the system adopts 250 Kbps.
The battery system is a power source of a whole vehicle, a lithium iron phosphate battery, 6 battery packs and 500 KW.h are adopted to provide strong power for front and rear motors of the whole vehicle, the working voltage is 400-700.8V, the maximum continuous discharge current is 635A, two large driving motors are driven, and a common battery system is formed by a high-voltage box and a BMS.
The front gearbox, the rear gearbox and the PTO gearbox are all provided with three gears of a high gear, a neutral gear and a low gear, and all gear combinations are simplified into corresponding working modes by the system: 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. The low-speed and high-speed transfer modes adopt single motor drive, the coordination problem of double motor drive is not involved, and the rest working modes adopt a mode that front and rear motors work simultaneously to provide strong power to work. In order to solve the synchronization problem when the double motors work simultaneously, the system controls the rear motor in a rotating speed mode, controls the front motor in a torque mode, enables the rear motor to be in a constant speed, enables the front motor to change at any time according to corresponding road condition loads, and automatically adjusts the rotating speed of the front motor according to the change of the self-adaptive load of the front motor according to a motor characteristic curve (shown in figure 2) so as to achieve the synchronization problem of the double motors.
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. A double-motor control method of a high-horsepower unmanned electric tractor is characterized by comprising the following steps of: the method comprises the following steps:
s1: calibrating by CCP software which is compiled in advance to enable the torque value of the front motor to work in a proper range interval, and then entering the step 2:
s2: setting a corresponding working mode through a remote controller, and then entering step 3;
s3: limiting the maximum rotating speed value of the motor to be N2 through CCP software, and then entering step 4;
s4: simultaneously turning on the front motor and the rear motor to enable, setting the control mode of the rear motor to be a rotating speed mode, setting the control mode of the front motor to be a Neutral mode, and then entering the step 5;
s5: gradually increasing the accelerator opening of the remote controller from 0 to 100, if the accelerator opening reaches 100, entering step 6, and if the accelerator opening does not reach 100, continuing to increase;
s6: calibrating the torque value T2 of the rear motor at the moment, and the rotating speed value of the front motor is N1, and then entering the step 7;
s7: setting the maximum torque value of the front motor to be T2N 2M 2/2N 1M 1 through CCP calibration software, and then entering step 8;
s8: modifying the control mode of the front motor into a torque mode, keeping the control mode of the rear motor unchanged in a rotating speed mode, and entering the step 9:
s9: with the complex change of the working condition road surface, the rear motor always keeps N2 unchanged, the front motor can adjust the torque value thereof at any time according to the characteristic curve of the motor so as to keep the rotating speed N1 of the front motor stable at M2 × N2/M1, if the N1 value is stable at a target value, the step 11 is carried out, and if the N1 value is not stable at the target value, the step 10 is carried out;
s10: continuously adjusting the maximum torque value N1 of the motor before adjustment;
s11: fixing the parameter value of the working mode, recording, and entering step 12;
s12: whether the parameters corresponding to the working mode are finished or not is judged, if yes, the step 13 is carried out, and if not, the step 2 is returned to continue setting;
s13: and finishing the setting of the corresponding working mode parameters.
2. The dual-motor control method of a high-horsepower unmanned electric tractor according to claim 1, wherein: m1 and M2 are the total reduction ratios of the front drive axle and the rear drive axle calculated through the front-rear gearbox speed ratio and the front-rear axle speed ratio of the whole vehicle respectively.
3. The dual-motor control method of a high-horsepower unmanned electric tractor according to claim 1, wherein: 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 and high-speed transfer modes are driven by a single motor, and the other working modes adopt a mode that a front motor and a rear motor work simultaneously.
4. The dual-motor control method of a high-horsepower unmanned electric tractor according to claim 1, wherein: the control system in the control method 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 battery system and other systems, wherein the remote control system and the unmanned system are used for remotely switching corresponding working modes, the output end of the remote control system is electrically connected with the input end of the whole vehicle electric control system, and the unmanned system comprises an RTK (real time kinematic), a satellite navigation module and a 5G (third generation) module.
5. The dual-motor control method of a high horsepower unmanned electric tractor according to claim 4, wherein: the whole vehicle electric control system comprises a wireless receiving module, a signal processing module and an action execution module, and the communication mode among the modules adopts CAN communication.
6. The dual-motor control method of a high horsepower unmanned electric tractor according to claim 4, wherein: the hydraulic system comprises a hydraulic oil pump motor, an oil tank, a hydraulic pipeline and an oil cooling system, and the hydraulic system is used for providing hydraulic power for the gearbox system.
7. The dual-motor control method of a high horsepower unmanned electric tractor according to claim 4, wherein: the gearbox system comprises a front axle gearbox, a rear axle gearbox and a PTO box.
8. The dual-motor control method of a high horsepower unmanned electric tractor according to claim 4, wherein: the main motor system is responsible for driving the whole vehicle and consists of two motors, a front motor 155KW is responsible for front driving, a rear motor 250Kw is responsible for rear driving and PTO power output, and the front motor and the rear motor are respectively composed of a controller system MCU1 and a controller system MCU 2.
9. The dual-motor control method of a high horsepower unmanned electric tractor according to claim 4, wherein: the battery system is a power source of a whole vehicle, and adopts a lithium iron phosphate battery and 6 battery packs, wherein the power source is 500 KW.h.
10. The dual-motor control method of a high horsepower unmanned electric tractor according to claim 4, wherein: the other systems comprise a lifting suspension and multi-way valve output system, an acousto-optic system, a network connection system, a cooling system and a safety guarantee system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111252619.8A CN113858972B (en) | 2021-10-27 | 2021-10-27 | Double-motor control method for unmanned electric tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111252619.8A CN113858972B (en) | 2021-10-27 | 2021-10-27 | Double-motor control method for unmanned electric tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113858972A true CN113858972A (en) | 2021-12-31 |
| CN113858972B CN113858972B (en) | 2024-03-12 |
Family
ID=78998367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111252619.8A Active CN113858972B (en) | 2021-10-27 | 2021-10-27 | Double-motor control method for unmanned electric tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113858972B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008105494A (en) * | 2006-10-24 | 2008-05-08 | Nissan Motor Co Ltd | Transmission control apparatus for hybrid vehicle |
| CN102923127A (en) * | 2012-10-17 | 2013-02-13 | 重庆长安汽车股份有限公司 | Calibration system of machine controller and hybrid electric vehicle |
| CN107599892A (en) * | 2017-09-13 | 2018-01-19 | 山东理工大学 | A kind of double drive non-driven motors of axle electric car of bi-motor, which drag, turns control method |
| CN109733175A (en) * | 2018-12-07 | 2019-05-10 | 江苏大学 | A kind of control device and method of gardening electric tractor double-motor power confluence |
| CN110001414A (en) * | 2019-03-13 | 2019-07-12 | 江苏大学 | A kind of electric tractor and its control system of bi-motor coupling driving |
-
2021
- 2021-10-27 CN CN202111252619.8A patent/CN113858972B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008105494A (en) * | 2006-10-24 | 2008-05-08 | Nissan Motor Co Ltd | Transmission control apparatus for hybrid vehicle |
| CN102923127A (en) * | 2012-10-17 | 2013-02-13 | 重庆长安汽车股份有限公司 | Calibration system of machine controller and hybrid electric vehicle |
| CN107599892A (en) * | 2017-09-13 | 2018-01-19 | 山东理工大学 | A kind of double drive non-driven motors of axle electric car of bi-motor, which drag, turns control method |
| CN109733175A (en) * | 2018-12-07 | 2019-05-10 | 江苏大学 | A kind of control device and method of gardening electric tractor double-motor power confluence |
| CN110001414A (en) * | 2019-03-13 | 2019-07-12 | 江苏大学 | A kind of electric tractor and its control system of bi-motor coupling driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113858972B (en) | 2024-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109466340B (en) | Double-motor coupling driving electric tractor and control method thereof | |
| US9656656B2 (en) | System and method for reducing fuel consumption of a work vehicle | |
| JP7292392B2 (en) | Electric tractor power distribution method | |
| CN111216540B (en) | Tractor electric-driven parallel hybrid power system and control method thereof | |
| CN112406558B (en) | Optimal control method for double-motor efficiency of electric automobile | |
| CN110001414B (en) | Electric tractor driven by double-motor coupling and control system thereof | |
| CN106828064B (en) | A kind of electric tractor bi-motor multi-mode drive system and control method | |
| CN109733175B (en) | Control device and method for double-motor power confluence of gardening electric tractor | |
| CN111231650B (en) | Tractor power split hybrid power system and control method thereof | |
| CN105711581A (en) | Stepless speed change tractor control system and control method thereof | |
| CN110259896A (en) | The stepless gear system of bi-motor planet power dividing in parallel | |
| CN113858972A (en) | Double-motor control method for high-horsepower unmanned electric tractor | |
| CN102275585B (en) | Power system efficiency control method of input distribution type hybrid vehicle | |
| CN110843554B (en) | Tractor power converging and shunting distribution method based on double-motor configuration | |
| CN112977040B (en) | Double-motor series-parallel hybrid power tractor and control method | |
| CN210363336U (en) | Parallel double-motor differential power split stepless speed change transmission system | |
| US8527165B2 (en) | Dual powertrain machine speed limiting | |
| CN215361231U (en) | Transmission control system of electric loader | |
| CN219467526U (en) | Electrohydraulic integrated loader power transmission system | |
| CN114852040B (en) | Torque control strategy for hybrid power tractor | |
| CN210371860U (en) | Parallel double-motor planetary power-split stepless speed change transmission system | |
| CN219339191U (en) | Double-motor coupling transmission device and agricultural machinery | |
| US20130018554A1 (en) | Controlling Power Output Of Secondary Powertrain In Dual Powertrain Machine | |
| CN118025122A (en) | Power self-adaptive control method and system for hybrid power tractor | |
| CN118560297A (en) | Distributed power control system and method for electric intelligent agricultural machinery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |