CN114475211A - 一种并联式混合动力联合收获机和控制方法 - Google Patents

一种并联式混合动力联合收获机和控制方法 Download PDF

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CN114475211A
CN114475211A CN202210108569.4A CN202210108569A CN114475211A CN 114475211 A CN114475211 A CN 114475211A CN 202210108569 A CN202210108569 A CN 202210108569A CN 114475211 A CN114475211 A CN 114475211A
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motor
parallel hybrid
engine
generator
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徐立章
朱志豪
胡金鹏
路恩
张千
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/02—Self-propelled combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/40—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the assembly or relative disposition of components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B60W20/16—Control strategies specially adapted for achieving a particular effect for reducing engine exhaust emissions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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Abstract

本发明提供一种并联式混合动力联合收获机和控制方法，本发明发动机和电机通过动力耦合装置进行耦合，耦合后的动力通过分动箱分别输入PTO和发电机，结合联合收获机的结构特点和工作特点，本发明中功率消耗最大的脱粒系统以及行走系统由PTO直接驱动，功率消耗较低的割台系统、清选系统、碎草系统等工作系统及其部分子部件均由独立的电机驱动。本发明通过部分分布式电驱动使得联合收获机多个工作系统之间的机械解耦，解决了传统联合收获机传动系统部件多、路径长，作业参数无法实时调节的问题，具有结构布局灵活、能源利用率高等优点，同时，动力电池和电机的应用可以降低整机的燃油消耗和碳排放，提高环境友好性。

Description

一种并联式混合动力联合收获机和控制方法
技术领域
本发明属于农业机械技术领域，尤其涉及一种并联式混合动力联合收获机和控制方法。
背景技术
目前，伴随着收获机械化水平不断的提高，能源的大量消耗和环境污染问题也日益突出，随着全球各国对节能减排和生态文明建设的重视，现代农业对生态、节能、环保提出了越来越高的要求，对低排放、低污染、低噪音的绿色动力农机的需求越来越迫切。由于作物品种的多样化，以及株型、产量、草谷比、含水量等因素的差异，使得联合收获机作业时作业负荷波动大、工况复杂多变。传统联合收获机采用柴油发动机+机械传动的方式驱动底盘、割台、脱粒清选等部件，传动系统部件多、路径长，作业参数无法实时调整，导致机器作业性能不稳定、低负荷时能耗浪费严重，致使油耗和污染大大增加。
发明内容
针对上述技术问题，本发明提供一种并联式混合动力联合收获机和控制方法，解决了传统联合收获机油耗、污染大、传动功率损失严重的问题。
本发明发动机和电机通过动力耦合装置进行耦合，耦合后的动力通过分动箱分别输入(Power-Take-off)动力输出轴PTO和发电机，结合联合收获机的结构特点和工作特点，本发明中功率消耗最大的脱粒系统以及行走系统由PTO直接驱动，功率消耗较低的割台系统、清选系统、碎草系统等工作系统及其部分子部件均由独立的电机驱动。本方案中的电机均由动力电池提供能源，并且控制系统可以按需对各电机的转速进行单独控制，发动机在输出动力的同时，也带动发电机向动力电池充电。本发明采用了并联式混合动力技术，使得整机的续航和节能得以兼顾，同时，本发明结合部分分布式电驱动使得联合收获机多个工作系统之间的机械解耦，解决了传统联合收获机传动系统部件多、路径长，作业参数无法实时调节的问题，具有结构布局灵活、能源利用率高等优点。
本发明的技术方案是：一种并联式混合动力联合收获机，所述并联式混合动力联合收获机，包括并联式混合动力系统、割台系统、控制系统、脱粒系统、行走系统和清选系统；
所述并联式混合动力系统包括动力电池、发动机、动力耦合装置、减速器、第一电机、分动箱、离合器和发电机；所述发动机和第一电机通过动力耦合装置进行动力耦合，动力输入分动箱；所述分动箱分别与动力输出轴PTO和发电机连接，将发动机和第一电机耦合后的动力分别输入动力输出轴PTO和发电机，发电机和分动箱之间设有离合器；发电机和动力电池连接，动力输出轴PTO分别与脱粒系统的滚筒、清选系统的风机和行走系统连接；
所述控制系统分别与并联式混合动力系统、割台系统、脱粒系统和清选系统连接。
上述方案中，所述动力耦合装置为行星齿轮动力耦合装置。
上述方案中，所述发动机和第一电机通过动力耦合装置进行动力耦合，耦合后的动力通过减速器输入分动箱。
上述方案中，所述割台系统包括拨禾轮、割刀、割台搅龙和输送带；
所述拨禾轮与第二电机连接，割台搅龙和割刀分别与第三电机连接，输送带与第四电机连接。
上述方案中，所述清选系统包括风机、清选筛、杂余搅龙和籽粒搅龙；
所述风机与动力输出轴PTO连接；所述清选筛与第五电机连接；所述杂余搅龙和籽粒搅龙分别与第六电机连接。
上述方案中，还包括碎草系统，所述碎草系统包括碎草刀筒和电机。
上述方案中，所述控制系统包括电机控制器、传感器和整车控制器；所述电机控制器分别与电机连接；所述传感器用于检测动力输出轴PTO的转速，并将信号发送给电机控制器和整车控制器；整车控制器与发动机连接。
一种根据所述的并联式混合动力联合收获机的控制方法，包括以下步骤：
所述发动机动力与电机的动力通过动力耦合装置进行耦合，耦合后的动力入分动箱，分动箱进一步将动力分流至动力输出轴PTO和发电机，
当联合收获机的工作载荷超过预设值时，控制系统控制离合器切断进入发电机的动力，使得发动机和电机的动力用于驱动脱粒系统和行走系统；当动力电池的SOC低于预设值时，控制系统控制电机停机，由发动机提供动力并带动发电机发电；
所述动力输出轴PTO通过传动装置带动脱粒系统的脱粒滚筒和行驶系统工作，通过所述控制系统对动力输出轴PTO的转速进行实时监测，并对发动机和电机进行实时调节以稳定脱粒滚筒的转速。
与现有技术相比，本发明的有益效果是：本发明发动机和电机通过动力耦合装置进行耦合，耦合后的动力通过分动箱分别输入PTO和发电机，结合联合收获机的结构特点和工作特点，本发明中功率消耗最大的脱粒系统以及行走系统由PTO直接驱动，功率消耗较低的割台系统、清选系统、碎草系统等工作系统及其部分子部件均由独立的电机驱动。本发明通过部分分布式电驱动使得联合收获机多个工作系统之间的机械解耦，解决了传统联合收获机传动系统部件多、路径长，作业参数无法实时调节的问题，具有结构布局灵活、能源利用率高等优点，同时，动力电池和电机的应用可以降低整机的燃油消耗和碳排放，提高环境友好性，此外并联式混合动力技术的应用，使得整机的续航和节能得以兼顾。
附图说明
图1为本发明一实施方式的并联式混合动力联合收获机的原理简图；
图2为本发明一实施方式的所述并联式混合动力联合收获机的俯视图；
图3为本发明一实施方式的所述并联式混合动力联合收获机的侧视图；
图4为本发明一实施方式的所述并联式混合动力联合收获机的侧面局部剖视图。
图中：10.割台系统，11.拨禾轮，11a.第二电机，12.割刀，12a.割刀传动连杆，12b.割刀传动轮，13.割台搅龙，13a.第三电机，13b.割台搅龙传动轮，14.输送带，14a.第四电机，21.整车控制器，22.电机控制器，23.传感器，30.发动机，31.行星齿轮耦合装置，32.减速器，33.第一电机，34.分动箱，35.动力输出轴PTO，35b.皮带传动轮，36.离合器，37.发电机，38.动力电池，39.整流器，40.脱粒系统，41.脱粒滚筒，42.动力传动装置，43.脱粒系统传动轮，50.行走系统，60.清选系统，61.风机，62a.第五电机，62b.清选传动连杆，62c.前抖动板，62d.后抖动板，62e.鱼鳞筛，62f.尾筛，62g.编织筛，63.底板，64a.第六电机，64b.杂余搅龙A，64c.杂余搅龙传动轮，64d.杂余搅龙B，65a.籽粒搅龙，65b.籽粒搅龙传动轮，70.储粮系统；71.粮箱，72.输粮筒，80.碎草系统，81a.第七电机，81b.碎草刀筒。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“轴向”、“径向”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
图1至图4所示为所述并联式混合动力联合收获机的一种较佳实施方式，所述并联式混合动力联合收获机，包括并联式混合动力系统、割台系统10、控制系统20、脱粒系统40、行走系统50、清选系统60、储粮系统70和碎草系统80。
所述并联式混合动力系统包括动力电池38、发动机30、动力耦合装置、减速器32、第一电机33、分动箱34、离合器36和发电机37；所述发动机30和第一电机33通过动力耦合装置进行动力耦合，动力通过减速器32输入分动箱34；所述分动箱34分别与动力输出轴PTO35和发电机37连接，将发动机30和第一电机33耦合后的动力分别输入动力输出轴PTO35和发电机37，发电机37和分动箱34之间设有离合器36，通过离合器36对输入发电机37的动力进行通断；发电机37和动力电池38连接，动力输出轴PTO35分别与脱粒系统40的滚筒41、清选系统60的风机61和行走系统50连接；所述控制系统20分别与并联式混合动力系统、割台系统10、脱粒系统40和清选系统60连接。
根据本实施例优选的，所述动力耦合装置为行星齿轮动力耦合装置31。
根据本实施例优选的，所述发动机30和第一电机33通过动力耦合装置进行动力耦合，动力通过减速器32输入分动箱34。
根据本实施例优选的，所述割台系统10包括拨禾轮11、割刀12、割台搅龙13和输送带14；所述拨禾轮11与第二电机11a连接，割台搅龙13和割刀12分别与第三电机13a连接，输送带14与第四电机14a连接。
根据本实施例优选的，所述清选系统60包括风机61、清选筛62、杂余搅龙64和籽粒搅龙65；所述风机61与动力输出轴PTO35连接；所述清选筛62与第五电机62a连接；所述杂余搅龙64和籽粒搅龙65分别与第六电机64a连接。
根据本实施例优选的，还包括碎草系统80，所述碎草系统80包括碎草刀筒81b和第七电机81a。
根据本实施例优选的，所述控制系统20包括电机控制器22、传感器23和整车控制器21；所述电机控制器22分别与电机连接；所述传感器23用于检测动力输出轴PTO35的转速，并将信号发送给电机控制器22和整车控制器21；整车控制器21与发动机30连接。
一种所述的并联式混合动力联合收获机的动力控制方法，包括以下步骤：
所述发动机30动力与电机33的动力通过动力耦合装置进行耦合，耦合后的动力入分动箱34，分动箱34进一步将动力分流至动力输出轴PTO35和发电机37，
当联合收获机的工作载荷超过预设值时，控制系统20控制离合器36切断进入发电机37的动力，使得发动机30和电机33的动力用于驱动脱粒系统40和行走系统50以保证工作质量；当动力电池38的SOC低于预设值时，控制系统20控制电机33停机，由发动机30提供所有动力并带动发电机37发电；
所述动力输出轴PTO35通过传动装置带动脱粒系统40和行驶系统50工作，为了保证工作过程中脱粒滚筒41能够在负载波动较大的情况下保持转速的相对恒定，通过所述控制系统20对动力输出轴PTO35的转速进行实时监测，并对发动机30和电机33进行实时调节以达到动力补偿的目的，以稳定脱粒滚筒41的转速。
图1至图4可以看出本发明中的联合收获机包括并联式混合动力系统、控制系统20、多个电机以及各工作部件构成，其中发动机30和动力电池38为整机的能量来源，结合行星齿轮耦合装置31、减速器32、电机33、分动箱34、发电机37等部件一同构成了整机的动力系统。此处发动机30的动力与电机33的动力通过行星齿轮耦合装置31进行耦合后对外输出，形成一种并联式混合动力系统，耦合后的动力经过减速器32进入分动箱34，分动箱34进一步将动力分流至动力输出轴PTO35和发电机37，其中发电机37前端设有离合器36，当联合收获机的工作载荷超过预设值时，离合器36切断进入发电机37的动力，使得发动机30和电机33的动力尽数用于驱动脱粒系统和行驶系统以保证工作质量。当动力电池38的SOC低于预设值时，则电机33停机，由发动机30提供所有动力并带动发电机37发电。此外动力输出轴PTO35通过传动装置带动脱粒系统40和行驶系统50工作，为了保证工作过程中脱粒滚筒41能够在负载波动较大的情况下保持转速的相对恒定，通过传感器23对动力输出轴PTO的转速进行实时监测，并对发动机30和电机33进行实时调节以达到动力补偿的目的，以稳定脱粒滚筒41的转速。由于本发明采用了分布式电驱动技术，多个工作部件之间实现了机械解耦，因此与传统联合收获机相比，发动机30不必始终工作在最大马力处。优选的，本发明中，基于发动机30的MAP图，对发动机30进行理想工作曲线的标定，并由整车控制器21对发动机30的转速进行控制，使得发动机30始终工作在理想区间。而动力电池38可以通过外接电源或发电机37进行充电。
本发明中的各电机均为独立工作的电机且均由动力电池38进行供电驱动，驾驶员可根据作物的不同属性对各工作部件的电机转速进行调节以更好地适应不同工况的需求。此外为了保证联合收获机工作性能的稳定，当驾驶员选定所需电机转速时，对各电机进行恒转速控制，通过多个传感器23监测各电机的转速，并实时将转速状态传输给整车控制器21，当电机工作负载发生变化时，由电机控制器22对电机的负载电压进行调节以稳定电机的转速，从而保证联合收获机稳定工作。
优选的，所述动力电池38可以作为配重块进行灵活布置，对整车重心起到稳定调节的作用。
所述割台系统10设有拨禾轮11、割刀12、割台搅龙13、输送带14，其中拨禾轮11由第二电机11a直接驱动；割台搅龙13由第三电机13a驱动，同时通过割刀传动轮12b、割台搅龙传动轮13b以及割刀传动连杆12a带动割刀工作；输送带14由第四电机14a直接驱动。在工作过程中，利用拨禾轮11将作物的杆茎拨入，并由割刀12将其割断，收割后的作物通过割台搅龙13聚集起来，并通过输送带14向后方输送至脱粒系统40。
所述脱粒系统40的主要工作部件为脱粒滚筒41，该系统是整机功率消耗最大的系统，由动力输出轴PTO35带动运转，动力输出轴PTO35上的动力通过皮带传动轮35b、脱离系统传动轮43和动力传动装置42带动脱粒滚筒41旋转。经脱粒系统40脱粒后的作物将进一步由清选系统60进行处理。
所述行走系统50与传统的联合收获机类似，并由动力输出轴PTO35经过传动装置直接驱动。
所述清选系统60主要包括清选部件：风机61、清选电机62a、清选部件连杆62b、前抖动板62c、后抖动板62d、鱼鳞筛62e、尾筛62f、编织筛62g和输送部件；输送部件主要包括底板63、横向杂余搅龙64b、纵向杂余搅龙64d、杂余搅龙电机64a和籽粒搅龙65a。其中，风机61安装在动力输出轴PTO35上，并由动力输出轴PTO直接带动工作；前抖动板62c、后抖动板62d、鱼鳞筛62e、尾筛62f通过第五电机62a、清选部件连杆62b进行驱动；杂余搅龙B64d由第六电机64a直接驱动，并通过杂余搅龙传动轮64c和杂余搅龙传动轮65b带动籽粒搅龙65a工作。通过脱粒系统40进行脱粒处理后的作物籽粒和杆茎、颖壳等杂余在重力的作用下掉落入清选系统60中，落在头部的籽粒和杂余在抖动板的抖动抛送下由于比重不同互相分离，进一步通过鱼鳞筛62e和编织筛62g将谷粒筛选出来，在此过程当中，收到风机61的气流吹散作用，轻的颖壳和碎稿被吹出机外，干净的谷粒落入底板63并滑落至籽粒搅龙65a处，进一步通过储粮系统70的输粮筒72输送到粮箱71。未脱净的杂余、断穗通过尾筛62f的筛孔落入落入底板63并滑落至杂余搅龙A64b处并送回到脱粒系统40经再次脱粒后进入清选装置60。杂余中的秸秆、短茎等则直接进入碎草系统80进行切碎。
所述碎草系统80主要包括碎草电机81a和碎草刀筒81b，碎草刀筒81b由第七电机81a直接驱动，从清选系统60中排出的秸秆、短茎等进入碎草系统80，通过碎草刀筒81b切碎后排出机外。
本发明针对联合收获机功率大、能耗高的特点，采用并联式混合动力技术兼顾整机续航和节能，与传统动力系统相比，并联式混合动力涉及内燃机和电动机双动力协调输出问题，两者之间理想的耦合方法是实现油电混合动力动态协调控制，满足整机功率需求的重要课题。而采用分布式电驱动技术的联合收获机具有结构布局灵活、能源利用率高等优点，作为直接产生动力的部分，驱动系统与动力系统减少机械连接，易于实现两者的控制解耦。此外，利用发电系统和储能模块的不同特性，让供电系统和推进系统工作在高效区，当在轻负荷作业工况时，发动机系统可以根据实际功耗动态按需分配，大大减少能量损失。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。

Claims (8)

1.一种并联式混合动力联合收获机，其特征在于，包括并联式混合动力系统、割台系统(10)、控制系统(20)、脱粒系统(40)、行走系统(50)和清选系统(60)；
所述并联式混合动力系统包括动力电池(38)、发动机(30)、动力耦合装置、减速器(32)、第一电机(33)、分动箱(34)、离合器(36)和发电机(37)；所述发动机(30)和第一电机(33)通过动力耦合装置进行动力耦合，动力输入分动箱(34)；所述分动箱(34)分别与动力输出轴PTO(35)和发电机(37)连接，将发动机(30)和第一电机(33)耦合后的动力分别输入动力输出轴PTO(35)和发电机(37)，发电机(37)和分动箱(34)之间设有离合器(36)；发电机(37)和动力电池(38)连接，动力输出轴PTO(35)分别与脱粒系统(40)的滚筒(41)、清选系统(60)的风机(61)和行走系统(50)连接；
所述控制系统(20)分别与并联式混合动力系统、割台系统(10)、脱粒系统(40)和清选系统(60)连接。
2.根据权利要求1所述的并联式混合动力联合收获机，其特征在于，所述动力耦合装置为行星齿轮动力耦合装置(31)。
3.根据权利要求1所述的并联式混合动力联合收获机，其特征在于，所述发动机(30)和第一电机(33)通过动力耦合装置进行动力耦合，耦合后的动力通过减速器(32)输入分动箱(34)。
4.根据权利要求1所述的并联式混合动力联合收获机，其特征在于，所述割台系统(10)包括拨禾轮(11)、割刀(12)、割台搅龙(13)和输送带(14)；
所述拨禾轮(11)与第二电机(11a)连接，割台搅龙(13)和割刀(12)分别与第三电机(13a)连接，输送带(14)与第四电机(14a)连接。
5.根据权利要求1所述的并联式混合动力联合收获机，其特征在于，所述清选系统(60)包括风机(61)、清选筛(62)、杂余搅龙(64)和籽粒搅龙(65)；
所述风机(61)与动力输出轴PTO(35)连接；所述清选筛(62)与第五电机(62a)连接；所述杂余搅龙(64)和籽粒搅龙(65)分别与第六电机(64a)连接。
6.根据权利要求1所述的并联式混合动力联合收获机，其特征在于，还包括碎草系统(80)，所述碎草系统(80)包括碎草刀筒(81b)和第七电机(81a)。
7.根据权利要求1所述的并联式混合动力联合收获机，其特征在于，所述控制系统(20)包括电机控制器(22)、传感器(23)和整车控制器(21)；
所述电机控制器(22)分别与电机连接；所述传感器(23)用于检测动力输出轴PTO(35)的转速，并将信号发送给电机控制器(22)和整车控制器(21)；整车控制器(21)与发动机(30)连接。
8.一种根据权利要求1-7任意一项所述的并联式混合动力联合收获机的控制方法，其特征在于，包括以下步骤：
所述发动机(30)动力与电机(33)的动力通过动力耦合装置进行耦合，耦合后的动力入分动箱(34)，分动箱(34)进一步将动力分流至动力输出轴PTO(35)和发电机(37)，
当联合收获机的工作载荷超过预设值时，控制系统(20)控制离合器(36)切断进入发电机(37)的动力，使得发动机(30)和电机(33)的动力用于驱动脱粒系统(40)和行走系统(50)；当动力电池(38)的SOC低于预设值时，控制系统(20)控制电机(33)停机，由发动机(30)提供动力并带动发电机(37)发电；
所述动力输出轴PTO(35)通过传动装置带动脱粒系统(40)的脱粒滚筒(41)和行驶系统(50)工作，通过所述控制系统(20)对动力输出轴PTO(35)的转速进行实时监测，并对发动机(30)和电机(33)进行实时调节以稳定脱粒滚筒(41)的转速。
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