RU2737768C1 - Self-propelled machine with electric transmission - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to self-propelled machine with electric transmission. Proposed machine comprises wheeled or caterpillar chassis, cabin, at least one traction motor, traction accumulator battery (ACB), electrical equipment system, power plant and / or additional ACB. Traction motor is adapted to drive at least one of its driving wheel or at least one caterpillar track. Electrical equipment system is configured to transmit electric power from traction ACB to at least one traction motor and electric heater. Power plant and / or additional ACB are capable of delivering electric energy at minimum operating temperature of self-propelled machine. System of electrical equipment is configured to control power transmission from power plant and / or additional ACB to electric heater and / or at least to one traction electric motor.

EFFECT: autonomous thermal preparation for operation of self-propelled vehicle with electric transmission is achieved with simultaneous increase of its maximum traction power.

17 cl, 1 dwg

Description

The invention relates to industrial and agricultural tractors, loaders, motor graders, automobiles, transporters and other tracked and wheeled self-propelled vehicles designed for excavation, construction, road, transport, agricultural and other works.

Known self-propelled machine containing a traction battery (battery) connected to a network (external) power source capable of charging this battery, a heating element for heating the liquid circulating through the battery, and a control circuit that provides switching the energy flows of the network source to charge the battery or on a heating element, depending on the voltage on the battery (US 7683570 A2, 03/23/2010).

The disadvantage of this device is the lack of autonomy during the thermal preparation of the machine for operation in operation - dependence on an external energy source, as well as limited functionality due to the implementation of thermal preparation for operation of only the traction battery.

The closest to the proposed device is a vehicle with a device for warming it up, containing a traction battery that transmits electrical energy to a traction electric motor that drives a vehicle (self-propelled vehicle), a traction battery heater, a temperature sensor, and a current distribution control unit (controller ), which transfers energy from an external source to the traction battery charge and to its heater, depending on the battery temperature (RU 2510338 C2, 03/27/2014).

The disadvantage of this self-propelled machine is the impossibility of resuming its operation after a long stay at low ambient temperatures and the absence of an external energy source (charging station, ~ 220 / 380V network, etc.). This is due to the fact that long-term parking of a self-propelled vehicle under these conditions leads to a decrease in the temperature of the traction battery, the impossibility of its self-heating and receiving from it the power necessary to start the machine, to a decrease in the air temperature in the vehicle cabin, etc.

Another disadvantage of the known self-propelled vehicle, especially at low temperatures of the traction battery, is the reduced maximum value of its traction power, since the energy to the traction electric motor is supplied only from the traction battery, the characteristics of which significantly depend on its temperature and significantly deteriorate when this temperature drops.

From the analysis of analogs and the prototype, it follows that the prior art has not solved the technical problem of creating a self-propelled machine with an electric transmission, which has the ability to autonomously prepare it for work, as well as an increased maximum value of traction power.

The technical result provided by the invention is to provide the possibility of autonomous thermal preparation for the operation of a self-propelled machine with an electric transmission while increasing its maximum tractive power.

When implementing a self-propelled machine with an electric transmission, containing a wheeled or tracked chassis, a cabin, one or more traction electric motors used to drive one or more driving wheels or tracks of this machine, a traction battery, an electrical equipment system made with the possibility of transmitting electrical energy from the traction A battery for at least one traction electric motor, and an electric heater, the specified technical result is achieved due to the fact that the self-propelled vehicle is additionally equipped with a power unit and / or an additional battery capable of delivering electrical energy at the minimum operating temperature of the self-propelled vehicle, and the electrical system is additionally made with the ability to control the transfer of energy from the power unit and / or from the additional battery to the electric heater and / or to at least one traction motor.

In private embodiments of a self-propelled machine described in the dependent claims, this technical result is also achieved due to the fact that:

- the additional battery in comparison with the traction battery is made with a lower value of the minimum operating temperature and / or with a higher ratio of its capacity to internal resistance;

- an electric heater contains one or a group of Peltier thermoelectric converters or heating elements made of posistor ceramics or metal, installed with the possibility of heating the traction battery, and / or the cabin (for heating the air in the cabin, operator's seat, cabin glass, etc.), and / or transmission (final drives, traction motor, etc.), and / or running gear, and / or at least one component of the electrical equipment system of the self-propelled vehicle, and if the electric heater is implemented on the basis of Peltier thermocouples, then the electric heater controller switches them from heating mode to cooling mode and back, depending on the output signal of the temperature sensor from the condition of normalization of the temperature mode of operation of the traction battery and / or air in the operator's cabin;

- the electrical equipment system contains a device for receiving electrical energy from an external source, implemented in the form of an electrical connector, voltage converter or rectifier and providing the ability to transfer this energy to an electric heater independently or simultaneously with the transfer of electrical energy to this heater from a power unit or an additional battery;

- the power unit is made of a cogeneration type, and the self-propelled machine additionally contains a fan or a pump, as well as a control valve, adapted to create a flow of air or liquid, allowing the transfer and use of thermal energy of the coolant and / or oil in the lubrication system, and / or spent gases of the power unit for thermal preparation of a self-propelled machine for operation, and the electrical equipment system includes a temperature sensor for air, liquid or a component of a self-propelled machine, as well as a controller that controls a control valve and a fan or pump drive depending on the output signal of this sensor;

- the electrical equipment system contains at least one battery controller configured to independently control the charge and discharge of the traction and additional battery;

- traction and additional battery, directly or through protection and / or switching elements, have equal values of their nominal voltages, are connected in parallel and can be configured to charge them in constant voltage mode;

- The battery of the low-voltage part of the electrical equipment system is implemented with characteristics that allow its use as an additional battery;

- the electrical equipment system contains a voltage converter, which ensures the exchange of electrical energy between the traction and additional battery;

- the self-propelled machine additionally contains a supercapacitor battery, which is connected directly or through a reversing voltage converter to a traction battery or to an additional battery;

- the power unit is made in the form of a battery of fuel cells or an internal combustion engine (ICE), an electric generator, mechanically connected to the internal combustion engine, and a power unit controller that controls the generator and / or internal combustion engine, as well as rectifies the generator output voltage, if necessary.

The implementation of the distinctive, including alternative, features of the independent and dependent claims provides the same technical result.

Namely, the implementation of a distinctive feature of an independent claim, providing for equipping a self-propelled machine with an energy unit and / or an additional battery that retains its performance at the minimum operating temperature of the self-propelled machine, as well as transferring their energy to an electric heater, provides the possibility of autonomous thermal preparation of the self-propelled machine for operation after a long stay at low ambient temperatures. At the same time, an increase in the maximum tractive power of the self-propelled vehicle is achieved by transferring this power to the traction motors in addition to the power transmitted from the traction battery.

The implementation of the distinctive feature, according to which the additional battery, in comparison with the traction battery, has a lower value of the minimum operating temperature and / or a higher ratio of its capacity to internal resistance, provides the possibility of transferring increased power from the additional battery to an electric heater and traction motors, which also allows to realize autonomous thermal preparation of a self-propelled vehicle for operation at low ambient temperatures and to increase its tractive power.

The use of Peltier thermoelectric converters or heating elements of another type in an electric heater, as well as their use for heating not only the traction battery, but also the cabin (air in the cabin, operator's seat, cabin glass, etc.), transmission (final drives, traction electric motor, etc.), undercarriage and / or components of the electrical equipment system, allows more efficient use of the energy of the power unit or additional battery due to the primary heating of that component of the machine, the low temperature of which prevents the start of its operation, as well as reduce energy losses in cold units and assemblies of a self-propelled machine during its operation. This also contributes to the implementation of autonomous thermal preparation for the operation of a self-propelled vehicle while increasing its maximum tractive power.

In the case of the implementation of the following distinctive feature, which provides for the switching of Peltier thermoelectric converters from heating mode to cooling mode and vice versa, more rational use of the energy of the power unit or an additional battery is carried out by redistributing heat energy according to the principle of a heat pump, which leads to the achievement of the specified technical result for the same reasons ...

Simultaneous transmission of energy to an electric heater from a power unit or an additional battery, as well as from a device for receiving electrical energy from an external source through an electrical connector, a voltage converter, a rectifier, etc., provided by the following distinguishing feature of the invention, ensures the achievement of the specified technical result by increasing power transmitted both to the electric heater and to the traction motors. At the same time, in some cases, the autonomy of the thermal preparation of the self-propelled machine for work is preserved. For example, when placing an external power source on a trailer or other unit that is not part of a self-propelled vehicle.

The use of a cogeneration-type power unit on a self-propelled machine, as well as a fan, a pump and a control valve, ensuring the transfer of thermal energy of the cooling liquid, oil in the lubrication system and / or exhaust gases of the power unit through appropriate air or liquid flows to heated units and assemblies of a self-propelled machine, ensures the achievement of the specified technical result for similar reasons.

If the electrical equipment system contains a battery controller that provides independent control of the charge and discharge of the traction and additional battery, then on a self-propelled machine, energy is exchanged between the battery, energy is transferred from the additional battery to an electric heater or traction motors with minimal losses, as well as the possibility of charging an additional battery. eg regenerative braking of the machine with traction motors. This leads to an increase in the power transmitted from the additional battery to the electric heater and traction motors, which improves the possibility of autonomous thermal preparation for the operation of a self-propelled vehicle while increasing its maximum traction power.

In order to achieve the specified technical result by using the simplest technical means, the traction and additional battery can be connected in parallel directly or through protection and / or switching elements and, in particular, can be charged in a constant voltage mode. For the same purpose, the battery of the low-voltage part of the electrical equipment system can be implemented with characteristics that allow it to be used as an additional battery, i.e. with the possibility of transferring the necessary energy from this battery to an electric heater at the minimum operating temperature of the self-propelled machine.

To further improve the energy characteristics of a self-propelled vehicle, a voltage converter can be included in its electrical equipment system, which ensures the exchange of electrical energy between the traction and additional battery, as well as a supercapacitor battery connected to the traction or additional battery directly or through a reversible voltage converter. The implementation of these distinctive features opens up the possibility of transmitting voltage pulses of increased power to traction motors and an electric heater, as well as generating current pulses of such a form that corresponds to the fastest thermal preparation for operation of a self-propelled machine and ensures the achievement of its maximum tractive power, taking into account the characteristics of energy sources available on this machine.

The implementation of the power unit in the form of a battery of fuel cells, or an internal combustion engine with an electric generator and a controller, provides the possibility of starting an autonomous thermal preparation of a self-propelled vehicle for operation after it has been parked for a long time exceeding the self-discharge time of the battery. At the same time, due to the high specific power of such a power unit and the transmission of its output power to traction motors, an increase in the maximum tractive power of the machine is also ensured and, accordingly, the achievement of the specified technical result.

Additionally, causal relationships between the distinctive features of the invention and the achieved technical result are shown when describing various embodiments of the proposed self-propelled vehicle with an electric transmission.

The drawing shows its simplified diagram.

The transmission of this machine, due to the presence in its composition of various mechanical units, including final drives, can also be called an electromechanical transmission. The machine itself may be referred to as an electric self-propelled machine, an electric traction platform, an electric tractor, etc.

The role of the main source of energy on this machine is performed by the traction storage battery (ACB) 1.

Its energy is supplied to traction motors 2 and 3, which are directly or through additional transmission devices (couplings, shafts, additional gear drives, etc.) mechanically connected to the final drives 4, 5.

Traction electric motors can be asynchronous, valve reactive (inductor, induction - VRD, VID, VIRD) electric motors, with permanent magnets in the rotor, etc.

Driving wheels or sprockets 6, 7 are fixed on the final drives, respectively, of the wheeled or tracked undercarriage of the self-propelled machine.

It is possible to implement a self-propelled machine with traction electric motors built into each wheel, with one traction electric motor and with a main gear, with one or two driving axles, etc.

To carry out the thermal preparation of a self-propelled machine for operation, it includes an electric heater 8 and an additional battery 9 and / or a power unit 10.

The additional battery in comparison with the traction battery, as a rule, has a significantly lower capacity (less energy reserve) and smaller overall dimensions and weight.

The electric heater is made in the form of one or a group of Peltier thermoelectric converters or heating elements made of posistor ceramic or metal. They are installed with the possibility of transferring the heat generated in them to the traction battery 1, the cabin (air in the cabin, operator's seat, cabin windows, etc.), transmission (traction motors 2, 3, final drives 4, 5, etc.) .), undercarriage (for example, track rollers, idler, etc.) or any part of the electrical system of the self-propelled machine, if it uses electronic components that cannot work at low ambient temperatures. Heat transfer from Peltier thermoelectric converters or heating elements to individual units and assemblies of a self-propelled machine, depending on their design, can be carried out by heat transfer, natural convection, infrared radiation, or through the flow of any coolant - air or liquid, for example, antifreeze.

With the current state of the art, it is impossible to create a traction battery having both a high specific capacity and a wide range of operating temperatures. To solve this problem, the self-propelled vehicle is equipped with an additional battery 9, which should provide the ability to bring the traction battery into working condition - to warm it up. Accordingly, the additional battery must maintain its operability at the lowest ambient temperature, as well as be able to deliver at this temperature the power necessary for the operation of the electric heater 8 and have a supply of energy sufficient to warm up the traction battery. Further thermal preparation of a self-propelled vehicle, for example, heating the final drives and the operator's workplace, can be carried out using the energy of the traction battery. If the additional battery 9 has an increased energy reserve, it can be used to warm up both the traction battery and other components and assemblies of the self-propelled vehicle.

To realize these possibilities, the additional battery may have a lower minimum operating temperature than the traction battery. For example, traction battery 1 can be made of lithium-iron-phosphate (LiFePO4) with a minimum working discharge temperature of -20 ° С, and an additional battery 9 can be made of lithium-titanate (LTO) with a minimum operating discharge temperature of -40 ° С. In this case, during autonomous thermal preparation of the machine for operation after a long stay at a temperature of -40 ° C, the energy of the additional battery is used to heat the traction battery from -40 ° C to -20 ° C.

When the temperature in the battery decreases, the diffusion rate of electrolyte ions decreases, which leads to an increase in its internal resistance. Situations are possible when the traction battery retains the ability to supply energy to the load at the minimum operating temperature, but this energy, due to the increased internal resistance, is insufficient both for self-heating of this battery and for starting the movement of the self-propelled vehicle. Therefore, it is possible to implement an autonomous thermal preparation of a self-propelled vehicle for operation, in which the traction and additional battery have the same operating temperature ranges, but different internal resistances. In this case, the additional battery must be classified as "high power", ie. should have a low internal resistance at a low operating temperature and, accordingly, provide the ability to transfer the required power to the electric heater 8. This corresponds to the ratio of its capacitance to internal resistance, for example, in the range of 25 ~ 100 Ah / mΩ. At the same time, a traction battery with a large capacity, at low operating temperatures of a self-propelled vehicle, can have a significantly higher internal resistance per unit of its capacity.

Battery 9 of the low-voltage part of the electrical equipment can be used as an additional battery. In this case, it is implemented with characteristics in terms of the range of operating temperatures and internal resistance, ensuring the operation of at least an electric heater 8 at a low ambient temperature.

Parallel connection of traction and additional battery is possible directly or through protection elements (fuses) and / or commutation (relays, switches, contactors). In this case, the traction and additional batteries must be matched in their nominal operating voltage, and also made with the possibility of charging them in constant voltage mode in order to prevent overcharging of one of these batteries.

A supercapacitor battery can be connected to any of the batteries 1, 9 directly or through a reversing voltage converter (not conventionally shown in the drawing). It allows you to briefly transfer to the electric heater 8 and to the traction motors 2, 3 high power, which cannot be obtained from the battery.

Instead of an additional battery 9 or in addition to it, a power unit 10 can be placed on the machine, made in the form of a battery of fuel cells, for example, hydrogen-air, having a wide operating temperature range of the external environment (-40 ~ + 60 ° C). The power unit can also be made on the basis of an internal combustion engine (ICE) 11 running on any type of fuel (diesel fuel, gasoline, natural gas, hydrogen, etc.) and an electric generator 12.

If the power unit is made of a cogeneration type, then a fan or a pump and a control valve can be additionally installed on the self-propelled machine. They provide air or liquid flows that transfer the thermal energy of the coolant, oil in the lubrication system and / or the exhaust (exhaust) gases of the power unit to the heated units and assemblies (components) of the self-propelled machine.

In this case, the electrical system provides control of the control valve and the fan or pump drive, depending on the output signal of the air, liquid temperature sensor or a component of the self-propelled machine.

The electrical equipment system (monitoring, protection and control system) of a self-propelled vehicle generally includes high-voltage and low-voltage subsystems and contains a main (master) controller 13, two traction motor controllers 14, 15, an electric heater controller 16, a battery controller 17, a power unit controller 18, a voltage converter 19 (may be referred to as a battery controller 9), controls for movement and braking of a self-propelled vehicle 20 (joysticks, pedals, buttons, etc.), various low-voltage consumers (lighting devices, light and sound alarms, instrumentation , windshield wipers, etc.) 21, sensors of the operating parameters of a self-propelled machine and its other devices, not conventionally shown in the drawing.

The assignment of individual electrical components of a self-propelled machine to separate devices or to an electrical equipment system is conditional. For example, batteries 1, 9 and an electric heater 8 can be considered part of the electrical system of the machine, which is not of fundamental importance.

On a self-propelled machine, it is possible to combine controllers 13-18, converter 19 and controls 20 into a single block (module) or several blocks (modules), or their separate design, depending on the functions performed and requirements for the layout of the self-propelled machine. It is also possible to constructively combine the controller of the power unit 18 with the generator 12, and the controllers 14, 15 with traction motors 2,3.

The controller of the power unit 18 controls the start and the speed of rotation of the internal combustion engine 11, regulates the excitation of the generator 12 and, if necessary, converts the alternating output voltage of the generator into a constant voltage of the transmission power network supplied to the power bus 22 with a nominal voltage, for example, 275 V or 540 V ...

Traction motor controllers 14, 15 convert the voltage on the power buses into alternating voltage, or into unipolar pulses before being fed to the traction motors 2, 3. They can be made in the form of power frequency converters, inverters or switches and have built-in control systems implemented on based on microcontrollers.

The battery controller 17 controls the charge and discharge of the traction battery, including its protection of overcharge and discharge, from overcurrent, as well as equalization (balancing) of the voltage on its individual batteries during charging.

The controller of the electric heater 16 contains interconnected pulse-width regulator, implemented on the basis of a microcontroller, a temperature sensor, an interface for receiving and transmitting signals via the CAN bus and a power electronic key that connects the heating elements of the heater to the power buses 22. In this case, the temperature sensor can to measure the temperature of an electric heater (any heating element) or a heated component of a self-propelled machine (its unit or assembly). It is possible to use several temperature sensors and separate control of individual heating elements for the purpose of thermal preparation of various components of the self-propelled machine.

If the electric heater is implemented on the basis of Peltier thermocouples, then the electric heater controller 16 contains power electronic switches connected by a bridge circuit and providing switching of the direction of current in these thermocouples. This makes it possible to normalize the operating temperature of the traction battery and / or the air in the operator's cab by switching the heater from heating to cooling mode and back, depending on the output signal of the corresponding temperature sensor. In particular, to ensure protection of the traction battery from overheating when operating at high ambient temperatures.

The power levels required for warming up or cooling the traction battery and other components and assemblies of a self-propelled vehicle, as well as the most optimal operating modes of heating elements and Peltier thermocouples, are preliminarily determined by calculation or experimentally, then they are written into the non-volatile memory of microprocessor controllers 13, 16, 17 and 18 ...

The main controller 13 is designed to coordinate the operation of all controllers of the electrical equipment system. Its functions can be performed by any other controller of the electrical system. The communication lines between them are made using the CAN (Controller Area Network) 23 industrial network standard, LIN (Local Interconnection Network), RS-485 (EIA / TIA standard) interfaces, etc.

Mechanical friction brakes 24, 25, in particular normally closed parking brakes, can be integrated into electric motors 2, 3, final drives 4, 5 or transfer devices between them. The brakes are controlled directly by the main controller 13 or by the traction motor controllers 14, 15.

The electrical equipment system may comprise a device for receiving electrical energy from an external source, implemented, in particular, in the form of an electrical connector 26, which makes it possible to transfer this energy to an electric heater independently or simultaneously with the transfer of electrical energy to it from a power unit or an additional battery. An external power source can be connected to the power bus 22 directly, via a voltage converter 19 or a rectifier. Other options for connecting this source are also possible. For example, to a traction or additional battery, or directly to an electric heater 8.

The voltage converter 19 provides the exchange of electrical energy between the traction and the additional battery directly or through the power buses 22, matches their voltages, and also implements a controlled transfer of electrical energy from an external energy source through the electrical connector 26. In the general case, the converter is made reversible (bidirectional), in particular, based on a bridge pulse converter. Various redistribution of functions implemented by the voltage converter 19 and the battery controller 17 is possible, including their integration into a single unit (system) of intelligent battery management - Battery Management System (BMS).

A self-propelled vehicle may also contain various additional devices that are not conventionally shown in the drawing.

It works as follows.

Before the start of the self-propelled machine after its long stay in the cold season, the operator, using the controls 20, starts the power unit 10 (if available on the self-propelled machine), and also generates a signal to start the thermal preparation of the machine for operation. Signals about the need for transmission and the power level required for the thermal preparation of the self-propelled machine for operation are sent through the main controller 13 via the CAN bus to the controller of the power unit 18 and the voltage converter 19, and the signals to turn on the electric heater 8 to its controller.

Depending on the output signals of the temperature sensors, the heater controller 16 transmits electrical energy to the Peltier thermoelectric converters or the heating elements of the electric heater 8, which leads to an increase in the temperature of the heated components and assemblies of the self-propelled vehicle.

If a cogeneration-type power unit is installed on the machine, then for the specified heat treatment, the thermal energy of its cooling system, lubrication and exhaust gases is additionally used.

At the same time, if it is possible to connect the self-propelled machine to an external electrical network of ~ 220/380 V, to a charging station or to the electrical system of another machine, then this external energy source is additionally used to heat the machine for operation.

Information about the end of the thermal preparation of the self-propelled machine for work, as well as about possible restrictions on the load and the speed of its movement at the beginning of work, is generated by the main controller 13 based on the output signals of the temperature sensors and is displayed as information signals to the operator panel.

After that, the operator, using the controls 20, sets the direction and speed of the machine. In accordance with these commands, the main controller 13 via the CAN bus 23 transmits control signals of the traction motors to their controllers 14, 15.

Electric energy from the traction battery, the power unit and, if necessary, from the additional battery 9 through the power buses 22 is supplied to the traction motor controllers 14, 15. The traction motors 2, 3, receiving electrical energy from the controllers 14, 15, convert it into mechanical energy and transmit the torque to the final drives 4, 5 and further to the drive wheels or sprockets 6, 7, ensuring the movement of the machine.

The turns of the self-propelled machine are carried out by setting different angular speeds of traction motors 2, 3.

When the main controller 13 receives a stop (braking) signal of a self-propelled machine by moving the control of its movement to zero position or by acting on the brake control (for example, a pedal), the traction motors 2, 3 are transferred to the generator mode, convert the kinetic energy of the self-propelled machines into electrical energy and transmit it to the power network 22. Energy from this network through the battery controller 17 and is transmitted to the traction battery 1.

At the same time, the voltage converter (controller) 19, operating under the control of the main controller 13, reduces the voltage in the transmission power network and transfers energy from the power network to the additional battery 9.

By regulating the braking torque generated by the traction motors 2, 3, as well as the charging currents of the traction battery 1 and the additional battery 9, the required braking rate set by the control element 20 is provided. If the braking rate is insufficient, the main controller 13 generates a signal to turn on the brakes 24, 25.

If during the operation of the self-propelled vehicle the required temperature of the traction battery is within acceptable limits, including due to its self-heating, then the heater controller turns off its heating. Otherwise, traction battery 1 may continue to be heated or cooled (if Peltier thermoelectric elements are used in the electric heater).

In those time intervals when the temperature of the traction battery is in its operating range, it is used to replenish the charge of the additional battery in order to ensure the possibility of re-thermal preparation of the self-propelled vehicle for operation.

The traction battery is charged from a stationary energy source through the electrical connector 26. During long-term parking of the self-propelled vehicle, it is also possible to charge the traction battery from the power unit 10.

For specialists in this field of technology, it is clear that in addition to the described self-propelled machine with an electric transmission, other variants of its implementation are also possible based on the features set forth in the claims.

Claims (17)

1. Self-propelled machine with an electric transmission, containing a wheeled or tracked chassis, a cabin, at least one traction electric motor adapted to drive at least one of its driving wheels or at least one track, a traction battery (AKB), an electrical system , made with the possibility of transmitting electrical energy from the traction battery to at least one traction electric motor, and an electric heater, characterized in that it is additionally equipped with a power unit and / or an additional battery capable of delivering electrical energy at the minimum operating temperature of the self-propelled vehicle, and the electrical equipment system it is additionally configured to control the transmission of energy from the power unit and / or additional battery to an electric heater and / or to at least one traction motor. 2. Self-propelled vehicle according to claim 1, characterized in that the additional battery, in comparison with the traction battery, has a lower value of the minimum operating temperature and / or a higher ratio of its capacity to internal resistance. 3. Self-propelled machine according to claim. 1, characterized in that the electric heater is installed with the possibility of heating the traction battery, and / or the cab, and / or transmission, and / or chassis, and / or at least one component of the self-propelled electrical equipment system cars. 4. Self-propelled machine according to claim 3, characterized in that the electric heater is adapted to heat the air in the cab, and / or the operator's seat, and / or the glass of the cab, or the final drives, or the traction motor. 5. Self-propelled machine according to claim 1, characterized in that the electric heater contains at least one thermoelectric Peltier converter, or a heating element made of posistor ceramic, or a heating element made of metal, and the electrical equipment system comprises an electric heater controller and a temperature sensor connected to with this controller. 6. Self-propelled vehicle according to claim 5, characterized in that the temperature sensor is adapted to measure the temperature of the traction battery and / or the air in the cabin, and the electric heater controller is configured to switch the Peltier thermoelectric converter from heating to cooling mode and back, depending on the output signal of the specified sensor from the condition of normalization of the temperature mode of operation of the traction battery and / or air in the cabin. 7. Self-propelled machine according to claim 1 or 5, characterized in that the electrical equipment system comprises a device for receiving electrical energy from an external source, implemented in the form of an electrical connector, or a voltage converter, or a rectifier, and also configured to transfer this energy to an electric heater independently or simultaneously with the transfer of electrical energy to this heater from the power unit or additional battery. 8. Self-propelled machine according to claim 1, characterized in that the power unit is made of a cogeneration type and contains a fan or a pump adapted to create a flow of air or liquid, allowing the transfer and use of thermal energy of the coolant and / or oil in the lubrication system, and / or exhaust gases of the power unit for thermal preparation of the self-propelled machine for operation. 9. Self-propelled machine according to claim 1 or 8, characterized in that the electrical system includes at least one temperature sensor for air, liquid or a component of the self-propelled machine, as well as a controller adapted to control the fan or pump drive depending on the output signal of this sensor. 10. Self-propelled machine according to claim 9, characterized in that it further comprises at least one control valve adapted to change the direction of movement or the amount of air or fluid flow, and the controller of the electrical equipment system is configured to control this valve depending on the output signal temperature sensor. 11. Self-propelled vehicle according to claim. 1, characterized in that the electrical system contains at least one battery controller, configured to control the charge and discharge of the traction and additional battery. 12. Self-propelled vehicle according to claim 1, characterized in that the traction and additional battery are made with the possibility of their parallel connection directly or through at least one protective or switching device. 13. Self-propelled vehicle according to claim 12, characterized in that the traction and additional battery are made with the possibility of charging them in constant voltage mode. 14. Self-propelled vehicle according to claim 1, characterized in that the battery of the low-voltage part of the electrical equipment system is implemented with characteristics that allow it to be used as an additional battery. 15. Self-propelled machine according to claim. 1 or 14, characterized in that the electrical system contains a voltage converter configured to exchange electrical energy between the traction and additional battery. 16. Self-propelled vehicle according to claim 1, characterized in that it additionally contains a supercapacitor battery, which is connected directly or through a reversing voltage converter to a traction or additional battery. 17. Self-propelled machine according to claim 1, characterized in that the power unit is made in the form of a battery of fuel cells or an internal combustion engine (ICE), an electric generator mechanically connected to the ICE, and a power unit controller configured to control the generator and / or ICE, and also with the ability to rectify the output voltage of the electric generator if necessary.

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