CN114658059B - Loader control system and method - Google Patents
Loader control system and method Download PDFInfo
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- CN114658059B CN114658059B CN202210250515.1A CN202210250515A CN114658059B CN 114658059 B CN114658059 B CN 114658059B CN 202210250515 A CN202210250515 A CN 202210250515A CN 114658059 B CN114658059 B CN 114658059B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/202—Mechanical transmission, e.g. clutches, gears
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a loader control system and method, comprising a first motor, a second motor and a planetary gear set; by arranging the double motors to be matched with the planetary bars, the motor is not blocked under the shovel loading working condition, so that on one hand, the condition that the output torque generated by the motor is not blocked and overheated and the power is reduced during the operation is reduced, the driving force is insufficient is ensured, the waste of energy in a heating mode caused by the blocked rotation of the motor is avoided, and the stable working efficiency and the power consumption of the loader are ensured; in addition, by employing dual motors operating simultaneously, a greater braking torque can be achieved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a loader control system and method.
Background
The power system of the traditional loader comprises an engine, a hydraulic torque converter and a gearbox, wherein the rotating speed and torque of the hydraulic torque converter can be changed according to the change of load, and the automatic torque and speed changing functions are realized. When the shovel resistance is large, the speed of the vehicle is close to zero, the hydraulic torque converter has the maximum torque capacity, the shovel resistance is overcome, and the engine can still keep running at a certain rotating speed.
The existing electric loader is often arranged that a motor is provided with a gearbox, a hydraulic torque converter is not arranged, when the shovel loading resistance is very large, the resistance is overcome by the capacity of the motor, and when the speed of the vehicle is zero, the motor can be blocked.
Under the shovel loading working condition, the existing electric loader is very low in speed, a lot of situations that the speed of the vehicle is 0km/h exist, the motor is in a locked-rotor state under the situations, heating is serious in a short time, when the motor is overheated, the motor can run in a power-down mode, output torque is reduced, enough driving force cannot be provided, and energy is wasted in a heating mode when the motor is locked-rotor. The working scene of the loader also determines that the working conditions of low speed and locked rotor of the motor can occur frequently, and once the motor runs at a reduced power, the working efficiency and the power consumption of the loader can be seriously affected.
Therefore, it is desirable to provide a loader control system and method, so that the electric loader can keep the motor continuously running under the shovel loading condition, and power drop and electric energy waste caused by locked rotation are avoided.
Disclosure of Invention
In order to solve the defects and shortcomings in the prior art, the invention provides a loader control system and a loader control method.
The technical scheme provided by the invention is as follows: a loader control system, the system comprising a first motor (EM 1), a second motor (EM 2) and a planetary gear set (P), the first motor (EM 1) being connected with the planetary gear set via a first input gear set (GR 1), the second motor (EM 2) being connected with the planetary gear set via a second input gear set (GR 2), the planetary gear set being connected with a front axle output shaft and a rear axle output shaft via an output gear set (GR 3).
Further, the first input gear set (GR 1) includes a first input driving gear (G11) fixedly connected to an output shaft (S1) of the first motor (EM 1), and a first input driven gear (G12) fixedly connected to the intermediate shaft (S3), and the first input driving gear (G11) is correspondingly meshed with the first input driven gear (G12).
Further, the second input gear set (GR 2) includes a second input driving gear (G21) fixedly connected to an output shaft (S2) of the second point machine (EM 2), and a second input driven gear (G22) fixedly connected to the planetary gear set (P), and the second input driving gear (G21) is correspondingly meshed with the second input driven gear (G22).
Further, the output gear set (GR 3) includes an output driving gear (G31) fixedly connected with the planetary gear set (P) and an output driven gear (G32) fixedly connected with the output shaft (S5), the output driving gear (G31) is correspondingly meshed with the output driven gear (G32), and two ends of the output shaft (S5) are respectively connected with a front axle output shaft and a rear axle output shaft.
Further, the planetary gear set (P) comprises a sun gear (PS), a planet gear, a Planet Carrier (PC) and a gear ring (PR), wherein the sun gear (PS) is fixedly connected with a first input driven gear (G12) through an intermediate shaft (S3), the gear ring (PR) is fixedly connected with a second input driven gear (G22), the planet gear is located between the sun gear (P1) and the gear ring (P4) and is respectively correspondingly meshed with the sun gear (P1) and the gear ring (P4), and the Planet Carrier (PC) connected with the planet gear is fixedly connected with an output driving gear (G31) through the planet shaft (S4).
Further, the system comprises a shovel loading working condition, a driving working condition and a feedback working condition;
1) When the shovel loading working condition is adopted, the shovel loading resistance is high, the speed of the vehicle is 0km/h, the corresponding rotating speed nc of the planet carrier is 0rpm, and the rotating speed relation between the sun gear and the gear ring meets the following requirements
ns+knr＝0，
Wherein ns is the rotation speed of the sun gear, nr is the rotation speed of the gear ring, and k is the gear ratio of the gear ring to the sun gear;
at the moment, the motor works normally and cannot be blocked; the torque relationship of the planetary rows satisfies:
Ts：Tc：Tr＝1：k：-(1+k)
wherein, ts is the torque of a sun gear, tc is the torque of a planet carrier, tr is the torque of a gear ring,
under the spading working condition, the planet row outputs torque outwards through the planet carrier, the torque is (1+k) times of that of the first motor, at the moment, the first motor generates power, the second motor is driven, and heating loss caused by motor locked rotation does not exist;
2) When the running condition is adopted, the spading resistance is small, and the speed is more than 0km/h; the speed of the loader can be changed by adjusting the rotating speed of the first motor, so that the speed requirement is met;
3) And when the vehicle speed is higher than a preset threshold value under the feedback working condition, energy feedback is realized, the planet carrier is an input end, the first motor and the second motor are output ends, and the two motors generate electricity at the same time to feed back energy.
Also provided is a control method according to the loader, comprising the steps of:
1) When the vehicle speed is V, calculating to obtain the rotating speed nc of the planet carrier;
2) Operating speed range (-n) of first electric machine EM1 1max ，+n 1max ) Divided into a plurality of equidistant rotation speed points n 1i ；
3) Obtaining each rotating speed point n of the first motor by inquiring the external characteristic diagram of the first motor EM1 1i Maximum output torque T of the lower first motor EM1 1max Calculated and maximum output torque T 1max The corresponding system output torque is-i 1 ·T 1max (1+k); wherein i is 1 Is the output shaft speed ratio of the first motor EM 1;
4) Calculating the rotation speed n of the second motor EM2 through the determined rotation speed relation of the first motor EM1 and the second motor EM2 2i ；
5) Obtaining each rotating speed point n of the second motor by inquiring the external characteristic diagram of the second motor EM2 2i Maximum output torque T of lower second motor EM2 2max Calculated and maximum output torque T 2max The corresponding system output torque is-i 2 ·T 2max (1+k)/k; wherein i is 2 Is the output shaft speed ratio of the second motor EM 2;
6) Comparison-i 1 ·T 1max (1+k) and-i 2 ·T 2max (1+k)/k, taking the system maximum torque with a small absolute value as the vehicle speed V;
7) The maximum system torque at each vehicle speed is calculated by the same method, a system external characteristic table is made, and the corresponding rotating speeds of the first motor EM1 and the second motor EM2 at each external characteristic point are determined.
Further, in the step 7), the corresponding rotational speed process of the first motor EM1 and the second motor EM2 at each external characteristic point is determined as follows: when the driver presses the accelerator pedal, the opening alpha of the accelerator pedal is obtained, and the external characteristic table of the system is inquired at the current vehicle speed to obtain the maximum output torque T of the system at the vehicle speed max According to T req ＝T max Calculating x alpha to obtain the required torque T of the driver req According to the torque relationship Tc of the planetary row: tr=k: - (1+k) calculating the target torque of the second electric machine EM2
According to the maximum output torque T of the system max Obtaining the rotation speed of the first motor EM1, and setting the rotation speed as the target rotation speed n of the first motor EM1 1aim The method comprises the steps of carrying out a first treatment on the surface of the Wherein,,
alpha is accelerator pedal opening,%;
T max nm, which is the maximum output torque of the system;
T req torque, nm, is demanded for the driver;
i 1 an output shaft speed ratio for the first motor EM 1;
i 2 an output shaft speed ratio for the second motor EM 2;
i 3 is the output shaft speed ratio;
T 2aim is the target torque, nm, of the second electric machine EM 2;
n 1aim is the target rotational speed, rpm, of the first motor EM1.
Further, the sun gear is fixedly connected to the output shaft of the first electric machine EM1, so that the sun gear rotational speed ns=n 1aim I1, the ring gear is fixedly connected to the output shaft of the second electric machine EM2, so that the ring gear rotational speed nr=n 2aim I2, according to the rotational speed relationship ns+ knr =0 between the sun gear and the ring gear in step 1), the target rotational speed n of the second motor 2aim Satisfy n 2aim ＝-n 1aim ·i1/ki2。
Compared with the prior art, the invention has the following beneficial effects: by arranging the double motors to be matched with the planetary bars, the motor is not blocked under the shovel loading working condition, so that on one hand, the condition that the output torque generated by the motor is not blocked and overheated and the power is reduced during the operation is reduced, the driving force is insufficient is ensured, the waste of energy in a heating mode caused by the blocked rotation of the motor is avoided, and the stable working efficiency and the power consumption of the loader are ensured; in addition, by employing dual motors operating simultaneously, a greater braking torque can be achieved.
Drawings
Fig. 1 is a schematic diagram of a control system according to the present invention.
FIG. 2 is a schematic diagram of rotational speed and torque at various locations of a planetary gear set under the spading operation of the present invention.
Fig. 3-4 are diagrams of rotational speeds and torque at various positions of a planetary gear set under driving conditions of the present invention.
FIG. 5 is a schematic diagram of rotational speed and torque at each position of a planetary gear set under feedback conditions of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
A loader control system provided by embodiment 1 of the invention is shown in fig. 1, and includes a first motor EM1, a second motor EM2, and a planetary gear set P.
The first motor EM1 is connected with the planetary gear set P through a first input gear set GR1, the first input gear set GR1 includes a first input driving gear G11 fixedly connected with an output shaft S1 of the first motor EM1, and a first input driven gear G12 fixedly connected with an intermediate shaft S3, and the first input driving gear G11 is correspondingly meshed with the first input driven gear G12; during loading and driving conditions, power output by the first motor EM1 is transmitted to the planetary gear set P through the first input gear set GR1, and during feedback conditions, feedback power received by the planetary gear set P can also be transmitted to the first motor EM1 through the first input gear set GR 1.
The second motor EM2 is connected with the planetary gear set through a second input gear set GR2, the second input gear set GR2 comprises a second input driving gear G21 fixedly connected with an output shaft S2 of the second point machine EM2 and a second input driven gear G22 fixedly connected with the planetary gear set P, and the second input driving gear G21 is correspondingly meshed with the second input driven gear G22; during loading and driving conditions, power output by the second motor EM2 is transmitted to the planetary gear set P through the second input gear set GR2, and during feedback conditions, feedback power received by the planetary gear set P can also be transmitted to the second motor EM2 through the second input gear set GR 2.
The planetary gear set is connected with a front axle output shaft and a rear axle output shaft through an output gear set GR 3. The output gear set GR3 includes an output driving gear G31 fixedly connected to the planetary gear set P, and an output driven gear G32 fixedly connected to the output shaft S5, where the output driving gear G31 is correspondingly meshed with the output driven gear G32, and two ends of the output shaft S5 are respectively connected to a front axle output shaft and a rear axle output shaft; during loading and running conditions, power output by the first motor EM1 and the second motor EM2 is transmitted to a front axle output shaft and a rear axle output shaft through the planetary gear set P by the output shaft S5, and during feedback conditions, recovered braking energy is transmitted to the planetary gear set P through the output shaft 5 to drive the first motor EM1 and the second motor EM2 to generate power.
In the present embodiment, as shown in fig. 1, the planetary gear set P includes a sun gear PS, a planet gear, a planet carrier PC, and a ring gear PR. The sun gear PS is fixedly connected with the first input driven gear G12 through an intermediate shaft S3, the ring gear PR is fixedly connected with the second input driven gear G22, and the planet gears are located between the sun gear P1 and the ring gear P4 and respectively meshed with the sun gear P1 and the ring gear P4 correspondingly. The planet carrier PC, which is connected to the planet wheels, is fixedly connected to the output drive gear G31 via a planet shaft S4. When the shovel is installed and the driving working condition is met, the first motor EM1 and the second motor EM2 are used as power input ends, and the planet carrier PC is used as a power output end; and in the feedback working condition, the planet carrier PC is used as a braking energy input end, and the first motor EM1 and the second motor EM2 are used as power output ends for generating power.
In this embodiment, the system includes a shovel loading condition, a driving condition, and a feedback condition;
1) As shown in fig. 2, in the shovel loading working condition, the shovel loading resistance is high, the vehicle speed is 0km/h, the corresponding planet carrier rotating speed nc is 0rpm, and the rotating speed relation between the sun gear and the gear ring satisfies:
ns+knr＝0，
where ns is the sun gear speed, nr is the ring gear speed, and k is the gear ratio of the ring gear to the sun gear.
Therefore, as long as the rotation speed ratio of the first motor EM1 and the second motor EM2 is guaranteed to be k, and the directions are opposite, the loader can work under the shovel loading working condition, and the motors can work normally at the moment and cannot be blocked. The torque relationship of the planetary rows satisfies:
Ts：Tc：Tr＝1：k：-(1+k)
where Ts is sun gear torque, tc is carrier torque, and Tr is ring gear torque.
Under the spading working condition, the planet row keeps outputting torque outwards through the planet carrier, the torque is (1+k) times of that of the first motor, at the moment, the first motor generates power, the second motor is driven, and heating loss caused by motor stalling does not exist.
2) 3-4, the shovel loading resistance is small and the vehicle speed is greater than 0km/h under the driving working condition; the speed of the loader can be changed by adjusting the rotating speed of the first motor, so that the speed requirement is met.
3) As shown in fig. 5, when the vehicle speed is higher than the preset threshold, the energy feedback is realized, and the planet carrier is the input end, the first motor and the second motor are the output ends, and the two motors generate electricity at the same time to feedback energy.
Example 2
The embodiment 2 of the invention also provides a control method of the loader, which comprises the following steps:
1) When the vehicle speed is V, calculating to obtain the rotating speed nc of the planet carrier; at this time, the rotation speeds of the first motor EM1 and the second motor EM2 are combined in various ways;
2) Operating speed range (-n) of first electric machine EM1 1max ，+n 1max ) Divided into a plurality of equidistant rotation speed points n 1i ；
3) By querying the first electric machine EM1 outside specialThe sex diagram obtains each rotating speed point n of the first motor 1i Maximum output torque T of the lower first motor EM1 1max Calculated and maximum output torque T 1max The corresponding system output torque is-i 1 ·T 1max (1+k); wherein i is 1 Is the output shaft speed ratio of the first motor EM 1;
4) Calculating the rotation speed n of the second motor EM2 through the determined rotation speed relation of the first motor EM1 and the second motor EM2 2i ；
5) Obtaining each rotating speed point n of the second motor by inquiring the external characteristic diagram of the second motor EM2 2i Maximum output torque T of lower second motor EM2 2max Calculated and maximum output torque T 2max The corresponding system output torque is-i 2 ·T 2max (1+k)/k; wherein i is 2 Is the output shaft speed ratio of the second motor EM 2;
6) Comparison-i 1 ·T 1max (1+k) and-i 2 ·T 2max (1+k)/k, taking the system maximum torque with a small absolute value as the vehicle speed V;
7) The maximum system torque at each vehicle speed is calculated by the same method, a system external characteristic table is made, and the corresponding rotating speeds of the first motor EM1 and the second motor EM2 at each external characteristic point are determined.
8) The corresponding rotating speed process of the first motor EM1 and the second motor EM2 under each external characteristic point is determined as follows: when a driver presses an accelerator pedal, the opening alpha of the accelerator pedal is obtained, the external characteristic table of the system is queried under the current vehicle speed to obtain the maximum system torque Tmax under the vehicle speed, then the required torque Treq of the driver is obtained through calculation according to Treq=Tmax multiplied by alpha, and the torque relation Tc of the planetary rows is obtained according to the following steps: tr=k: - (1+k) calculating the target torque T of the second electric machine EM2 2aim ＝(-Treq(1+k))/(ki 3 i 2 ) The method comprises the steps of carrying out a first treatment on the surface of the From Tmax, the rotational speed of the motor EM1 can be obtained, which is set as the target rotational speed n of the first motor EM1 1aim The method comprises the steps of carrying out a first treatment on the surface of the Wherein,,
alpha is accelerator pedal opening,%;
tmax is the maximum output torque of the system, nm;
treq is the driver demand torque, nm;
i 1 an output shaft speed ratio for the first motor EM 1;
i 2 an output shaft speed ratio for the second motor EM 2;
i 3 is the output shaft speed ratio;
T 2aim is the target torque, nm, of the second electric machine EM 2;
n 1aim is the target rotational speed, rpm, of the first motor EM1.
On this basis, since the sun gear is fixedly connected to the output shaft of the first electric machine EM1, the sun gear rotational speed ns=n 1aim I1, since the ring gear is fixedly connected to the output shaft of the second electric machine EM2, the ring gear rotational speed nr=n 2aim I2, according to the rotational speed relationship ns+ knr =0 between the sun gear and the ring gear in step 1), the target rotational speed n of the second motor 2aim Satisfy n 2aim ＝-n 1aim ·i1/ki2。
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the scope of the application.
Claims (4)
1. A loader control system comprising a first electric machine (EM 1), a second electric machine (EM 2) and a planetary gear set (P), said first electric machine (EM 1) being connected to said planetary gear set via a first input gear set (GR 1), said second electric machine (EM 2) being connected to said planetary gear set via a second input gear set (GR 2), said planetary gear set being connected to a front axle output shaft and a rear axle output shaft via an output gear set (GR 3);
the first input gear set (GR 1) comprises a first input driving gear (G11) fixedly connected with an output shaft (S1) of the first motor (EM 1) and a first input driven gear (G12) fixedly connected with an intermediate shaft (S3), and the first input driving gear (G11) is correspondingly meshed with the first input driven gear (G12);
the second input gear set (GR 2) comprises a second input driving gear (G21) fixedly connected with an output shaft (S2) of the second point machine (EM 2) and a second input driven gear (G22) fixedly connected with the planetary gear set (P), and the second input driving gear (G21) is correspondingly meshed with the second input driven gear (G22);
the output gear set (GR 3) comprises an output driving gear (G31) fixedly connected with the planetary gear set (P) and an output driven gear (G32) fixedly connected with the output shaft (S5), the output driving gear (G31) is correspondingly meshed with the output driven gear (G32), and two ends of the output shaft (S5) are respectively connected with a front axle output shaft and a rear axle output shaft;
the planetary gear set (P) comprises a sun gear (PS), a planet wheel, a Planet Carrier (PC) and a gear ring (PR), wherein the sun gear (PS) is fixedly connected with a first input driven gear (G12) through an intermediate shaft (S3), the gear ring (PR) is fixedly connected with a second input driven gear (G22), the planet wheel is positioned between the sun gear (P1) and the gear ring (P4) and is respectively correspondingly meshed with the sun gear (P1) and the gear ring (P4), and the Planet Carrier (PC) connected with the planet wheel is fixedly connected with an output driving gear (G31) through a planet shaft (S4);
the method is characterized in that: the system comprises a shovel loading working condition, a driving working condition and a feedback working condition;
1) When the shovel loading working condition is adopted, the shovel loading resistance is high, the speed of the vehicle is 0km/h, the corresponding rotating speed nc of the planet carrier is 0rpm, and the rotating speed relation between the sun gear and the gear ring meets the following requirements
ns+knr＝0，
Wherein ns is the rotation speed of the sun gear, nr is the rotation speed of the gear ring, and k is the gear ratio of the gear ring to the sun gear;
at the moment, the motor works normally and cannot be blocked; the torque relationship of the planetary rows satisfies:
Ts：Tc：Tr＝1：k：-(1+k)
wherein, ts is the torque of a sun gear, tc is the torque of a planet carrier, tr is the torque of a gear ring,
under the spading working condition, the planet row outputs torque outwards through the planet carrier, the torque is (1+k) times of that of the first motor, at the moment, the first motor generates power, the second motor is driven, and heating loss caused by motor locked rotation does not exist;
2) When the running condition is adopted, the spading resistance is small, and the speed is more than 0km/h; the speed of the loader can be changed by adjusting the rotating speed of the first motor, so that the speed requirement is met;
3) And when the vehicle speed is higher than a preset threshold value under the feedback working condition, energy feedback is realized, the planet carrier is an input end, the first motor and the second motor are output ends, and the two motors generate electricity at the same time to feed back energy.
2. The control method of a loader control system according to claim 1, wherein: the method comprises the following steps:
1) When the vehicle speed is V, calculating to obtain the rotating speed nc of the planet carrier;
2) Operating speed range (-n) of the first motor (EM 1) 1max ，+n 1max ) Divided into a plurality of equidistant rotation speed points n 1i ；
3) Obtaining each rotating speed point n of the first motor (EM 1) by inquiring the external characteristic diagram of the first motor 1i Maximum output torque T of the lower first motor (EM 1) 1max Calculated and maximum output torque T 1max The corresponding system output torque is-i 1 ·T 1max (1+k); wherein i is 1 Is the output shaft speed ratio of the first motor (EM 1);
4) Calculating the rotation speed n of the second motor (EM 2) through the determined rotation speed relation of the first motor (EM 1) and the second motor (EM 2) 2i ；
5) Obtaining each rotating speed point n of the second motor (EM 2) by inquiring the external characteristic diagram of the second motor 2i Maximum output torque T of lower second motor (EM 2) 2max Calculated and maximum output torque T 2max The corresponding system output torque is-i 2 ·T 2max (1+k)/k; wherein i is 2 Is the output shaft speed ratio of the second electric machine (EM 2);
6) Comparison-i 1 ·T 1max (1+k) and-i 2 ·T 2max (1+k)/k, taking the system maximum torque with a small absolute value as the vehicle speed V;
7) The maximum system torque at each vehicle speed is calculated by the same method, an external system characteristic table is made, and the corresponding rotation speeds of the first motor (EM 1) and the second motor (EM 2) at each external characteristic point are determined.
3. A control method of a loader control system according to claim 2, characterized by: in the step 7), the corresponding rotating speed process of the first motor (EM 1) and the second motor (EM 2) under each external characteristic point is determined as follows: when the driver presses the accelerator pedal, the opening alpha of the accelerator pedal is obtained, and the external characteristic table of the system is inquired at the current vehicle speed to obtain the maximum output torque T of the system at the vehicle speed max According to T req ＝T max Calculating x alpha to obtain the required torque T of the driver req According to the torque relationship Tc of the planetary row: tr=k: - (1+k) calculating the target torque of the second electric machine (EM 2)
According to the maximum output torque T of the system max Obtaining the rotation speed of the first motor (EM 1), and setting the rotation speed as the target rotation speed n of the first motor (EM 1) 1aim The method comprises the steps of carrying out a first treatment on the surface of the Wherein,,
a is the opening degree of an accelerator pedal,%;
T max nm, which is the maximum output torque of the system;
T req torque, nm, is demanded for the driver;
i 1 an output shaft speed ratio for the first electric machine (EM 1);
i 2 an output shaft speed ratio for the second electric machine (EM 2);
i 3 is the output shaft speed ratio;
T 2aim is a target torque, nm, of the second electric machine (EM 2);
n 1aim for a target rotational speed of the first electric machine (EM 1),rpm。
4. a control method of a loader control system according to claim 3, characterized by: the sun gear is fixedly connected to the output shaft of the first electric machine (EM 1), so that the sun gear rotational speed ns=n 1aim I1, the ring gear is fixedly connected to the output shaft of the second electric machine (EM 2), so that the ring gear rotational speed nr=n 2aim I2, according to the rotational speed relationship ns+ knr =0 between the sun gear and the ring gear in step 1), the target rotational speed n of the second motor 2aim Satisfy n 2aim ＝-n 1aim ·i1/ki2。
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| CA2548815C (en) * | 2001-10-22 | 2008-12-23 | Toyota Jidosha Kabushiki Kaisha | Hybrid-vehicle drive system and operation method with a transmission |
| JP4215070B2 (en) * | 2006-04-26 | 2009-01-28 | トヨタ自動車株式会社 | Control device for vehicle drive device |
| JP6297821B2 (en) * | 2013-11-15 | 2018-03-20 | 株式会社小松製作所 | Work vehicle |
| CN205365218U (en) * | 2016-01-26 | 2016-07-06 | 李冰洋 | Hybrid transmission of platformization |
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