A dual power coupling transmission device and control method thereof

Abstract

The invention relates to a dual-power coupling transmission device and a control method thereof, comprising a driving motor mainly transmitting power to a driving bridge, a PTO motor mainly used for driving a rotary tilling mechanism and a dual-power coupling transmission. The device realizes the control of the convergence and diversion of the power of two motors by arranging a first planetary gear coupling mechanism, a second planetary gear coupling mechanism, an auxiliary motor, an electromagnetic locker, a worm gear mechanism and a clutch. The device realizes the change of transmission ratio, the switching of transmission direction and the interruption of power transmission by arranging a transmission. The dual-power coupling transmission can not only effectively solve the limitation of large volume of a high-power driving system, but also optimize the working area of ​​the power source, increase the application range of the electric tractor, and improve the vehicle performance of the electric tractor.

Description

Technical Field

[0001] The invention relates to the field of electric tractors, and in particular to a dual-power coupling transmission device and a control method thereof. Background Art

[0002] At present, most tractors on the market still use diesel engines as their power source. This traditional diesel tractor is not only noisy, inefficient, but also seriously pollutes the environment. Electric tractors use electricity to drive vehicles. Compared with traditional diesel tractors, electric tractors have the advantages of low emissions, clean and pollution-free, low noise, and high energy utilization. In addition, the motor has the advantage of flexible control, which further simplifies the transmission structure of the tractor. Therefore, electric tractors have become a new trend in the development of tractors.

[0003] In the research of electric tractors, single motor drive is mostly used, which is difficult to meet the complex working conditions of tractors. In hybrid tractors, the electric motor is used as auxiliary power, and the diesel engine is mainly used as the main power. This method does not give full play to the characteristics of high energy utilization and flexible control of the electric motor. Although tractors driven by dual motors have been disclosed in the prior art, there are generally problems such as the large size of the dual motor power coupling mechanism, the single operation mode, insufficient power, and low energy utilization. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-power coupling transmission device and a control method thereof, which can realize the power convergence and diversion between the drive motor and the PTO motor, and improve the power and economy of the electric tractor by flexibly controlling the dual motors to adapt to the complex working conditions of the tractor, and significantly reduce the volume of the dual-motor coupling mechanism.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a dual-power coupling transmission device, comprising a BMS controller, a power battery pack and a distribution box which are installed on an electric tractor and are connected in sequence in a circuit, and the distribution box is respectively connected in a circuit with a whole machine controller, a drive motor controller, a PTO motor controller, an auxiliary motor controller, and a locking clutch controller; the whole machine controller is used to control the operation of the electric tractor, and the drive motor controller, the PTO motor controller, and the auxiliary motor controller respectively control the rotation of the drive motor, the PTO motor and the auxiliary motor; the locking clutch controller controls the operation of the dual-power coupling transmission;

[0006] The dual power coupling transmission comprises a first planetary gear coupling mechanism and a second planetary gear coupling mechanism arranged side by side, wherein a first gear ring of the first planetary gear coupling mechanism and an adjacent second gear ring arranged on the second planetary gear coupling mechanism are externally meshed for transmission;

[0007] The first input shaft of the first planetary gear coupling mechanism is connected to the drive motor, the first ring gear of the first planetary gear coupling mechanism is connected to the first electromagnetic locker, the first output shaft of the first planetary gear coupling mechanism is provided with a second electromagnetic locker for locking or unlocking the first planet carrier in the first planetary gear coupling mechanism to drive the first output shaft, the first output shaft is connected to the transmission, and the transmission is connected to the drive axle of the electric tractor through the third output shaft;

[0008] The second input shaft of the second planetary gear coupling mechanism is connected to the PTO motor, and a third electromagnetic locker for locking or unlocking the transmission of the second sun gear to the second output shaft in the second planetary gear coupling mechanism is provided at the second output shaft of the second planetary gear coupling mechanism, and the second output shaft is connected to the rotary tillage mechanism;

[0009] The auxiliary motor is connected to the worm gear mechanism, the worm gear mechanism is connected to the clutch through a transmission shaft, and the clutch is externally meshed with the second gear ring of the second planetary gear coupling mechanism through a transmission gear.

[0010] Furthermore, the first planetary gear coupling mechanism includes a first sun gear connected to the first input shaft, a first ring gear having external teeth and internal teeth, a first electromagnetic lock for locking or unlocking the first ring gear, a first planetary gear, and a first planet carrier connected to the first output shaft, the first planetary gear is externally meshed with the first sun gear, the first planetary gear is internally meshed with the first ring gear and is positioned and supported by the first planet carrier.

[0011] Furthermore, the second planetary gear coupling mechanism includes a second planetary carrier connected to the second input shaft, a second sun gear, a second ring gear having external teeth and internal teeth, and a second sun gear connected to the second output shaft, the second planetary gear is externally meshed with the second sun gear, the second planetary gear is internally meshed with the second ring gear and is positioned and supported by the second planetary carrier.

[0012] Furthermore, the whole machine controller obtains BMS controller information, drive motor controller information, locking clutch controller information, auxiliary motor controller information, PTO motor controller information and distribution box information through the high-speed CAN bus; sends control signals to the BMS controller, drive motor controller, locking clutch controller, auxiliary motor controller, PTO motor controller and distribution box through the high-speed CAN bus; the whole machine controller obtains electric tractor operation information through the low-speed CAN bus.

[0013] Furthermore, the BMS controller controls the power battery pack, and the power battery pack supplies power to the drive motor, PTO motor, auxiliary motor, clutch, first electromagnetic lock, second electromagnetic lock and third electromagnetic lock; the locking clutch controller controls the clutch interruption and engagement, and the locking or unlocking of the first electromagnetic lock, the second electromagnetic lock and the third electromagnetic lock.

[0014] Furthermore, the BMS controller, drive motor controller, locking clutch controller, auxiliary motor controller, PTO motor controller, distribution box and whole machine controller constitute a control system of a dual-power coupling transmission device, which is provided with a walking-only mode, an operating-only mode, a walking-operation separation mode, a walking-operation coupling mode and an energy recovery mode.

[0015] Furthermore, the electric tractor operation information includes a key signal, a gearbox gear signal, a pedal position signal, an operation mode signal, and a motor and a rotating shaft speed signal.

[0016] Furthermore, the worm gear mechanism includes a worm and a worm wheel, the worm is meshed with the worm wheel, and the auxiliary motor is connected to the worm shaft.

[0017] Furthermore, the transmission is an intermediate shaft type transmission.

[0018] After the electric tractor is started, the whole vehicle enters the system self-check. After the system self-check passes, the whole machine controller obtains the key signal, transmission gear signal, pedal position signal, operation mode signal, first electromagnetic lock position signal, second electromagnetic lock position signal, third electromagnetic lock position signal, clutch position signal, motor and shaft speed signal. The whole machine controller sends control signals to the BMS controller, drive motor controller, locking clutch controller, auxiliary motor controller, PTO motor controller and distribution box based on the information obtained, so that the electric tractor selects different control modes:

[0019] 1) Travel-only mode: When the whole machine controller receives the travel-only mode, the whole machine controller calculates the real-time required power Px. When the rated power of the drive motor Pq ≥ Px, the locking clutch controller controls the clutch to be interrupted and the first electromagnetic locker to be engaged. At this time, the drive motor is in a working state. The whole machine controller calculates the target speed nq of the drive motor and then transmits the signal to the drive motor controller. The drive motor adjusts the speed in real time according to the signal of the drive motor controller.

[0020] When Pq < Px, the lock-up clutch controller controls the clutch to disengage and the third electromagnetic lock-up to engage. At this time, both the drive motor and the PTO motor are in the working state. The machine controller calculates the target speed nq of the drive motor and the target speed np of the PTO motor based on the maximum working efficiency distribution control strategy, and then transmits the signals to the drive motor controller and the PTO motor controller. The drive motor adjusts its speed in real time according to the signal from the drive motor controller, and the PTO motor adjusts its speed in real time according to the signal from the PTO motor controller;

[0021] 2) Only operation mode: When the machine controller receives the only operation mode, the lock-up clutch controller controls the clutch to disengage and the first electromagnetic lock-up to engage. At this time, the PTO motor is in the working state. The machine controller calculates the target speed np of the PTO motor, and then transmits the signal to the PTO motor controller. The PTO motor operates at a constant speed according to the signal from the PTO motor controller. The sensor collects the actual speed of the PTO motor in real time. The machine controller compares the actual speed of the PTO motor with the target speed of the PTO motor and transmits the signal to the PTO motor controller in real time, and controls the speed of the PTO motor through the PTO motor controller to keep the PTO motor operating at a constant speed;

[0022] 3) Travel-operation separation mode: When the machine controller receives the travel-operation separation mode, the lock-up clutch controller controls the clutch to disengage and the first electromagnetic lock-up to engage. At this time, both the drive motor and the PTO motor are in the working state. The machine controller calculates the target speed nq of the drive motor and the target speed np of the PTO motor, and then transmits the signals to the drive motor controller and the PTO motor controller. The drive motor adjusts its speed in real time according to the signal from the drive motor controller, and the PTO motor operates at a constant speed according to the signal from the PTO motor controller. The sensor collects the actual speed of the PTO motor in real time. The machine controller compares the actual speed of the PTO motor with the target speed of the PTO motor and transmits the signal to the PTO motor controller in real time, and controls the speed of the PTO motor through the PTO motor controller to keep the PTO motor operating at a constant speed;

[0023] 4) Travel operation coupling mode: When the whole machine controller receives the travel operation coupling mode, the locking clutch controller controls the clutch to engage. At this time, the drive motor, PTO motor and auxiliary motor are all in working state. The whole machine controller calculates the target speed nq of the drive motor, the target speed np of the PTO motor and the target speed nf of the auxiliary motor based on the maximum work efficiency allocation control strategy and the required speed of the second output shaft and the third output shaft, and then transmits the signal to the drive motor controller, PTO motor controller and auxiliary motor controller. The drive motor adjusts its speed in real time according to the signal of the drive motor controller, and the PTO motor adjusts its speed in real time according to the signal of the PTO motor controller. The auxiliary motor controls the second gear ring in real time according to the signal of the auxiliary motor controller, the sensor collects the actual speed of the second output shaft and the third output shaft in real time, the whole machine controller compares the actual speed of the second output shaft and the third output shaft with the required speed of the second output shaft and the third output shaft, and transmits the signal to the drive motor controller, the PTO motor controller and the auxiliary motor controller in real time. The drive motor adjusts the speed in real time according to the signal of the drive motor controller, the PTO motor adjusts the speed in real time according to the signal of the PTO motor controller, and the auxiliary motor controls the second gear ring in real time according to the signal of the auxiliary motor controller, so as to keep the second output shaft working at a constant speed and adjust the speed of the third output shaft in real time;

[0024] 5) Energy recovery mode: When the whole machine controller recognizes that the tractor is stationary and the PTO is not working or braking, the locking clutch controller controls the clutch to be interrupted and the second electromagnetic lock and the third electromagnetic lock to be combined. At this time, the drive motor is in working state and the PTO motor works as a generator. The whole machine controller calculates the speed nq of the drive motor in the lowest energy consumption state, and then transmits the signal to the drive motor controller. The drive motor adjusts the speed in real time according to the signal of the drive motor controller, and the PTO motor acts as an electric motor to transmit electrical energy to the power battery pack.

[0025] The beneficial effects brought about by the present invention are: 1. The dual-power coupling transmission provided in the present invention has a more compact structure and a greater load-bearing capacity due to the external meshing transmission of the ring gear on the first planetary gear coupling mechanism and the ring gear provided on the second planetary gear coupling mechanism; compared with the dual-motor coupling mechanism of the electric tractor of the same level, the volume of the dual-power coupling transmission of the present invention is reduced by 20%, and on this basis, the capacity of the power battery can be increased, thereby increasing the cruising range of the electric tractor.

[0026] 2. Using dual motors as the power source of the electric tractor, the drive motor transmits power to the variable speed drive axle alone, and the PTO motor drives power to the rotary tillage mechanism alone. By controlling the dual power coupling transmission, the power of the drive motor and the PTO motor can be converged to the variable speed drive axle, which can simplify the gearbox structure and facilitate the layout of the entire vehicle. According to different operating requirements, the appropriate working mode can be selected to improve the motor's working efficiency and energy utilization.

[0027] 3. By controlling the lock and the clutch, the five operating modes of "walking only mode, working only mode, walking and working separation mode, walking and working coupling mode and energy recovery mode" can be flexibly switched to meet the multi-scenario operation needs of electric tractors and improve the power, economy and adaptability of the whole vehicle.

[0028] 4. When the electric tractor is temporarily parked or braking, the system enters the energy recovery mode to improve the energy utilization of the whole machine.

[0029] 5. The auxiliary motor is meshed with the second planetary gear coupling mechanism through a worm gear mechanism. By controlling the auxiliary motor, a dual power coupling transmission can be realized to distribute the power of the drive motor and the PTO motor to the drive axle and the rotary tillage mechanism based on a maximum work efficiency distribution control strategy.

[0030] 6. The power source used in the present invention is an electric motor, and the power battery pack provides electrical energy to achieve zero pollution emissions, effectively solving the harm of traditional tractor emissions to crops and the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of a dual power coupling transmission device;

[0032] Figure 2 is a schematic diagram of the structure of a dual power coupling transmission;

[0033] Figure 3 is a structural schematic diagram of the first planetary gear coupling mechanism;

[0034] Figure 4 is a structural schematic diagram of the second planetary gear coupling mechanism;

[0035] Figure 5 It is the circuit connection diagram of the dual power coupling control system;

[0036] Figure 6 The process of the control method of the dual power coupling transmission device is Figure 1 ;

[0037] Figure 7 The process of the control method of the dual power coupling transmission device is Figure 2 .

[0038] The following are the descriptions of the figures:

[0039] 1. BMS controller, 2. Power battery pack, 3. Drive motor controller, 4. Drive motor, 5. Locking clutch controller, 6. Dual power coupling transmission, 7. Drive axle, 8. Rotary tillage mechanism, 9. PTO motor, 10. Auxiliary motor, 11. Auxiliary motor controller, 12. PTO motor controller, 13. Distribution box, 14. Machine controller, 15. First input shaft, 16. First planetary gear coupling mechanism, 1601. First sun gear, 1602. First ring gear, 1603. First planetary gear, 1604. First planetary carrier, 17. First electromagnetic lock, 18. First output shaft, 19. Second electromagnetic lock, 20. Transmission, 21. Third output shaft, 22. Second output shaft, 23. Third electromagnetic lock, 24. Second planetary gear coupling mechanism, 2401. Second planetary carrier, 2402. Second planetary gear, 2403. Second ring gear, 2404. Second sun gear, 25. Transmission gear, 26. Clutch, 27. Transmission shaft, 28. Worm wheel, 29. Worm shaft, 30. Worm, 31. Second input shaft. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the "first", "second", "third" and "fourth" in the following embodiments are only used to distinguish the names of the devices and do not have specific meanings.

[0041] Reference Figure 1 A dual-power coupling transmission device and a control method thereof include a BMS controller 1, a power battery pack 2, a drive motor controller 3, a drive motor 4, a locking clutch controller 5, a dual-power coupling transmission 6, a drive axle 7, a rotary tillage mechanism 8, a PTO motor 9, an auxiliary motor 10, an auxiliary motor controller 11, a PTO motor controller 12, a distribution box 13 and a whole machine controller 14.

[0042] The BMS controller 1, the power battery pack 2 and the distribution box 13 are connected in circuit in sequence, and the distribution box 13 is respectively connected in circuit with the whole machine controller 14, the drive motor controller 3, the PTO motor controller 12, the auxiliary motor controller 11, and the locking clutch controller 5; the whole machine controller 14 is used to control the operation of the electric tractor, and the drive motor controller 3, the PTO motor controller 12, and the auxiliary motor controller 11 respectively control the rotation of the drive motor 4, the PTO motor 9 and the auxiliary motor 10; the locking clutch controller 5 controls the operation of the dual power coupling transmission 6.

[0043] Reference Figure 2The dual power coupling transmission 6 includes a first planetary gear coupling mechanism 16 and a second planetary gear coupling mechanism 24 arranged in parallel. The first input shaft 15 of the first planetary gear coupling mechanism 16 is connected to the drive motor 4, and the first output shaft 18 is connected to the transmission 20, and the transmission 20 is connected to the drive axle 7 of the electric tractor through the third output shaft 21. The second input shaft 31 of the second planetary gear coupling mechanism 24 is connected to the PTO motor 9, and the second output shaft 22 is connected to the rotary tillage mechanism 8. The auxiliary motor 10 is connected to the worm gear mechanism, and the worm gear mechanism is connected to the clutch 26 through the transmission shaft 27, and the clutch 26 is externally meshed with the second gear ring 2403 of the second planetary gear coupling mechanism 24 through the transmission gear 25. The clutch 26 is used to interrupt and combine the transmission shaft 27.

[0044] The worm gear mechanism includes a worm 30 and a worm wheel, the worm 30 is meshed with the worm wheel 28, and the auxiliary motor 10 is connected to the worm shaft 29. The worm gear mechanism has self-locking property. The transmission 20 is an intermediate shaft type transmission, which realizes changing the transmission ratio, switching the transmission direction and interrupting the power transmission.

[0045] The first ring gear 1602 of the first planetary gear coupling mechanism 16 is connected to the first electromagnetic lock 17, and the first output shaft 18 of the first planetary gear coupling mechanism 16 is provided with a second electromagnetic lock 19 for locking or unlocking the transmission of the first planetary carrier 1604 in the first planetary gear coupling mechanism 16 to the first output shaft 18, and the second output shaft 22 of the second planetary gear coupling mechanism 24 is provided with a third electromagnetic lock 23 for locking or unlocking the transmission of the second sun gear 2404 in the second planetary gear coupling mechanism 24 to the second output shaft 22.

[0046] Reference Figure 3 The first planetary gear coupling mechanism 16 includes a first sun gear 1601 connected to the first input shaft 15, a first ring gear 1602 with external teeth and internal teeth, a first electromagnetic lock 17 for locking or unlocking the first ring gear 1602, a first planetary gear 1603, and a first planet carrier 1604 connected to the first output shaft 18. The first planetary gear 1603 is externally meshed with the first sun gear 1601, internally meshed with the first ring gear 1602 and positioned and supported by the first planet carrier 1604. The first ring gear 1602 is externally meshed with the second ring gear 2403 arranged on the second planetary gear coupling mechanism 24 for transmission.

[0047] Reference Figure 4The second planetary gear coupling mechanism 24 includes a second planetary carrier 2401 connected to the second input shaft 31, a second sun gear 2404, a second ring gear 2403 with external teeth and internal teeth, and a second sun gear 2404 connected to the second output shaft 22. The second planetary gear 2402 is externally meshed with the second sun gear 2404, internally meshed with the second ring gear 2403 and positioned and supported by the second planetary carrier 2401. The second ring gear 2403 is externally meshed with the first ring gear 1602 arranged on the first planetary gear coupling mechanism 16, and externally meshed with the transmission gear 25.

[0048] Reference Figure 5 The BMS controller 1, the drive motor controller 3, the locking clutch controller 5, the auxiliary motor controller 11, the PTO motor controller 12, the distribution box 13, and the whole machine controller 14 constitute a control system of a dual-power coupling transmission device, which is provided with a walking-only mode, an operation-only mode, a walking-operation separation mode, a walking-operation coupling mode, and an energy recovery mode. The whole machine controller 14 obtains information from the BMS controller 1, the drive motor controller 3, the locking clutch controller 5, the auxiliary motor controller 11, the PTO motor controller 12, and the distribution box 13 through the high-speed CAN bus; sends control signals to the BMS controller 1, the drive motor controller 3, the locking clutch controller 5, the auxiliary motor controller 11, the PTO motor controller 12, and the distribution box 13 through the high-speed CAN bus; the whole machine controller 14 obtains the electric tractor operation information through the low-speed CAN bus, so that the driver can understand the whole vehicle information in real time. The electric tractor operation information includes key signals, gearbox gear signals, pedal position signals, operation mode signals, motor and rotating shaft speed signals.

[0049] The whole machine controller 14 transmits the control signal to the BMS controller 1 through the high-speed CAN bus to control the power battery pack 2, which is used to power the drive motor 4, the PTO motor 9, the auxiliary motor 10, the clutch 26, the first electromagnetic lock 17, the second electromagnetic lock 19 and the third electromagnetic lock 23; the power battery pack 2 is also connected to the low-voltage battery. The locking clutch controller 5 controls the clutch 26 to interrupt and engage, and the first electromagnetic lock 17, the second electromagnetic lock 19 and the third electromagnetic lock 23 to lock or unlock.

[0050] Reference Figure 6 and Figure 7, after the electric tractor starts, the whole vehicle enters the system self-check. After the system self-check passes, the whole vehicle controller 14 obtains the key signal, the transmission 20 gear signal, the pedal position signal, the operation mode signal, the first electromagnetic lock 17 position signal, the second electromagnetic lock 19 position signal, the third electromagnetic lock 23 position signal, the clutch 26 position signal, and the motor and rotating shaft speed signals. The whole vehicle controller 14 sends control signals to the BMS controller 1, the drive motor controller 3, the lock-up clutch controller 5, the auxiliary motor controller 11, the PTO motor controller 12, and the distribution box 13 according to the obtained information, so that the electric tractor selects different control modes:

[0051] 1) Only walking mode: When the whole vehicle controller 14 receives the only walking mode, the whole vehicle controller 14 calculates the real-time required power Px. When the rated power of the drive motor Pq≥Px, the lock-up clutch controller 5 controls the clutch 26 to disengage and the first electromagnetic lock 17 to engage. At this time, the drive motor 4 is in the working state. The whole vehicle controller 14 calculates the target speed nq of the drive motor 4, and then transmits the signal to the drive motor controller 3. The drive motor 4 adjusts the speed in real time according to the signal of the drive motor controller 3;

[0052] When Pq<Px, the lock-up clutch controller 5 controls the clutch 26 to disengage and the third electromagnetic lock 23 to engage. At this time, both the drive motor 4 and the PTO motor 9 are in the working state. The whole vehicle controller 14 calculates the target speed nq of the drive motor 4 and the target speed np of the PTO motor 9 based on the maximum working efficiency distribution control strategy, and then transmits the signal to the drive motor controller 3 and the PTO motor controller 12. The drive motor 4 adjusts the speed in real time according to the signal of the drive motor controller 3, and the PTO motor 9 adjusts the speed in real time according to the signal of the PTO motor controller 12;

[0053] 2) Only operation mode: When the whole vehicle controller 14 receives the only operation mode, the lock-up clutch controller 5 controls the clutch 26 to disengage and the first electromagnetic lock 17 to engage. At this time, the PTO motor 9 is in the working state. The whole vehicle controller 14 calculates the target speed np of the PTO motor 9, and then transmits the signal to the PTO motor controller 12. The PTO motor 9 operates at a constant speed according to the signal of the PTO motor controller 12. The sensor collects the actual speed of the PTO motor 9 in real time. The whole vehicle controller 14 transmits the signal to the PTO motor controller 12 in real time by comparing the actual speed of the PTO motor 9 with the target speed of the PTO motor 9, and controls the speed of the PTO motor 9 through the PTO motor controller 12 to keep the PTO motor 9 operating at a constant speed;

[0054] 3) Walking operation separation mode: When the whole machine controller 14 receives the walking operation separation mode, the locking clutch controller 5 controls the clutch 26 to be interrupted and the first electromagnetic lock 17 to be engaged. At this time, the drive motor 4 and the PTO motor 9 are both in working state. The whole machine controller 14 calculates the target speed nq of the drive motor 4 and the target speed np of the PTO motor 9, and then transmits the signal to the drive motor controller 3 and the PTO motor controller 12. The drive motor 4 adjusts the speed in real time according to the signal of the drive motor controller 3, and the PTO motor 9 operates at a constant speed according to the signal of the PTO motor controller 12. The sensor collects the actual speed of the PTO motor 9 in real time. The whole machine controller 14 compares the actual speed of the PTO motor 9 with the target speed of the PTO motor 9 and transmits the signal to the PTO motor controller 12 in real time. The speed of the PTO motor 9 is controlled by the PTO motor controller 12 to keep the PTO motor 9 working at a constant speed.

[0055] 4) Travel operation coupling mode: When the whole machine controller 14 receives the travel operation coupling mode, the locking clutch controller 5 controls the clutch 26 to engage. At this time, the drive motor 4, the PTO motor 9 and the auxiliary motor 10 are all in working state. The whole machine controller 14 calculates the target speed nq of the drive motor 4, the target speed np of the PTO motor 9 and the target speed nf of the auxiliary motor 10 based on the maximum work efficiency distribution control strategy and the required speed of the second output shaft 22 and the third output shaft 21, and then transmits the signal to the drive motor controller 3, the PTO motor controller 12 and the auxiliary motor controller 11. The drive motor 4 adjusts its speed in real time according to the signal of the drive motor controller 3, the PTO motor 9 adjusts its speed in real time according to the signal of the PTO motor controller 12, and the auxiliary motor 10 adjusts its speed in real time according to the signal of the PTO motor controller 12. 10 controls the second gear ring in real time according to the signal of the auxiliary motor controller 11, the sensor collects the actual rotation speed of the second output shaft 22 and the third output shaft 21 in real time, the whole machine controller 14 compares the actual rotation speed of the second output shaft 22 and the third output shaft 21 with the required rotation speed of the second output shaft 22 and the third output shaft 21, and transmits the signal to the drive motor controller 3, the PTO motor controller 12 and the auxiliary motor controller 11 in real time, the drive motor 4 adjusts the speed in real time according to the signal of the drive motor controller 3, the PTO motor 9 adjusts the speed in real time according to the signal of the PTO motor controller 12, and the auxiliary motor 10 controls the second gear ring 2403 in real time according to the signal of the auxiliary motor controller 11, so as to keep the second output shaft 22 working at a constant speed and adjust the speed of the third output shaft 21 in real time;

[0056] 5) Energy recovery mode: When the whole machine controller 14 recognizes that the tractor is stationary and the PTO is not operating or braking, the locking clutch controller 5 controls the clutch 26 to be interrupted and the second electromagnetic lock 19 and the third electromagnetic lock 23 to be combined. At this time, the drive motor 4 is in working state, and the PTO motor works as a generator. The whole machine controller 14 calculates the speed nq of the drive motor 4 in the lowest energy consumption state, and then transmits the signal to the drive motor controller 3. The drive motor 4 adjusts the speed in real time according to the signal of the drive motor controller 3, and the PTO motor 9 acts as an electric motor to transmit electrical energy to the power battery pack 2.

[0057] In addition, according to actual needs, those skilled in the art can also select other possible working states.

[0058] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A dual power coupling transmission device, characterized in that: The electric tractor comprises a BMS controller (1), a power battery pack (2) and a distribution box (13) which are connected in sequence in a circuit and are installed on the electric tractor. The distribution box (13) is connected in a circuit to a whole machine controller (14), a drive motor controller (3), a PTO motor controller (12), an auxiliary motor controller (11) and a locking clutch controller (5). The whole machine controller (14) is used to control the operation of the electric tractor. The drive motor controller (3), the PTO motor controller (12) and the auxiliary motor controller (11) respectively control the rotation of the drive motor (4), the PTO motor (9) and the auxiliary motor (10). The locking clutch controller (5) controls the operation of a dual power coupling transmission (6). The dual power coupling transmission (6) comprises a first planetary gear coupling mechanism (16) and a second planetary gear coupling mechanism (24) arranged side by side, a first ring gear (1602) of the first planetary gear coupling mechanism (16) and an adjacent second ring gear (2403) arranged on the second planetary gear coupling mechanism (24) being externally meshed for transmission; The first input shaft (15) of the first planetary gear coupling mechanism (16) is connected to a drive motor (4); the first ring gear (1602) of the first planetary gear coupling mechanism (16) is connected to a first electromagnetic locker (17); a first output shaft (18) of the first planetary gear coupling mechanism (16) is provided with a second electromagnetic locker (19) for locking or unlocking the transmission of the first output shaft (18) by the first planet carrier (1604) in the first planetary gear coupling mechanism (16); the first output shaft (18) is connected to a transmission (20); and the transmission (20) is connected to a drive axle (7) of the electric tractor via a third output shaft (21); The second input shaft (31) of the second planetary gear coupling mechanism (24) is connected to the PTO motor (9); a third electromagnetic locker (23) for locking or unlocking the transmission of the second sun gear (2404) in the second planetary gear coupling mechanism (24) to the second output shaft (22) is provided at the second output shaft (22); and the second output shaft (22) is connected to the rotary tillage mechanism (8); The auxiliary motor (10) is connected to a worm gear mechanism, the worm gear mechanism is connected to a clutch (26) via a transmission shaft (27), and the clutch (26) is externally meshed with a second ring gear (2403) of a second planetary gear coupling mechanism (24) via a transmission gear (25).

2. A dual power coupling transmission device according to claim 1, characterized in that: The first planetary gear coupling mechanism (16) comprises a first sun gear (1601) connected to a first input shaft (15), a first ring gear (1602) provided with external teeth and internal teeth, a first electromagnetic locker (17) for locking or unlocking the first ring gear (1602), a first planetary gear (1603), and a first planet carrier (1604) connected to a first output shaft (18); the first planetary gear (1603) is externally meshed with the first sun gear (1601), the first planetary gear (1603) is internally meshed with the first ring gear (1602), and is positioned and supported by the first planet carrier (1604).

3. A dual power coupling transmission device according to claim 2, characterized in that: The second planetary gear coupling mechanism (24) comprises a second planet carrier (2401) connected to the second input shaft (31), a second sun gear (2404), a second ring gear (2403) provided with external teeth and internal teeth, and a second sun gear (2404) connected to the second output shaft (22); the second planetary gear (2402) is externally meshed with the second sun gear (2404), the second planetary gear (2402) is internally meshed with the second ring gear (2403), and is positioned and supported by the second planet carrier (2401).

4. A dual power coupling transmission device according to claim 3, characterized in that: The whole machine controller (14) obtains BMS controller (1) information, drive motor controller (3) information, locking clutch controller (5) information, auxiliary motor controller (11) information, PTO motor controller (12) information and distribution box (13) information through the high-speed CAN bus; sends control signals to the BMS controller (1), drive motor controller (3), locking clutch controller (5), auxiliary motor controller (11), PTO motor controller (12) and distribution box (13) through the high-speed CAN bus; and the whole machine controller (14) obtains electric tractor operation information through the low-speed CAN bus.

5. A dual power coupling transmission device according to claim 4, characterized in that: The BMS controller (1) controls the power battery pack (2), and the power battery pack (2) supplies power to the drive motor (4), the PTO motor (9), the auxiliary motor (10), the clutch (26), the first electromagnetic lock (17), the second electromagnetic lock (19), and the third electromagnetic lock (23); the locking clutch controller (5) controls the clutch (26) to be disconnected and engaged, and the first electromagnetic lock (17), the second electromagnetic lock (19), and the third electromagnetic lock (23) to be locked or unlocked.

6. A dual power coupling transmission device according to claim 5, characterized in that: The BMS controller (1), the drive motor controller (3), the locking clutch controller (5), the auxiliary motor controller (11), the PTO motor controller (12), the distribution box (13) and the whole machine controller (14) constitute a control system of a dual-power coupling transmission device, the system being provided with a walking-only mode, an operation-only mode, a walking-operation separation mode, a walking-operation coupling mode and an energy recovery mode.

7. A dual power coupling transmission device according to claim 4, characterized in that: The electric tractor operation information includes a key signal, a gearbox gear position signal, a pedal position signal, an operation mode signal, and a motor and a rotating shaft speed signal.

8. A dual power coupling transmission device according to claim 1, characterized in that: The worm and worm gear mechanism includes a worm (30) and a worm gear (28), the worm (30) meshes with the worm gear (28), and the auxiliary motor (10) is connected to the worm shaft (29).

9. A dual power coupling transmission device according to claim 1, characterized in that: The transmission (20) is an intermediate shaft type transmission.

10. The control method of a dual power coupling transmission device according to claim 6, characterized in that: After the electric tractor starts, the whole vehicle enters the system self-check. After the system self-check passes, the whole vehicle controller (14) obtains the key signal, the gear position signal of the transmission (20), the pedal position signal, the operation mode signal, the position signal of the first electromagnetic lock (17), the position signal of the second electromagnetic lock (19), the position signal of the third electromagnetic lock (23), the position signal of the clutch (26), and the motor and rotating shaft speed signals. The whole vehicle controller (14) sends control signals to the BMS controller (1), the drive motor controller (3), the lock-up clutch controller (5), the auxiliary motor controller (11), the PTO motor controller (12), and the distribution box (13) according to the obtained information, so that the electric tractor selects different control modes: 1) Only walking mode: When the whole vehicle controller (14) receives the only walking mode, the whole vehicle controller (14) calculates the real-time required power Px. When the rated power Pq of the drive motor is greater than or equal to Px, the lock-up clutch controller (5) controls the clutch (26) to disengage and the first electromagnetic lock (17) to engage. At this time, the drive motor (4) is in the working state. The whole vehicle controller (14) calculates the target speed nq of the drive motor (4), and then transmits the signal to the drive motor controller (3). The drive motor (4) adjusts the speed in real time according to the signal of the drive motor controller (3); When Pq < Px, the lock-up clutch controller (5) controls the clutch (26) to disengage and the third electromagnetic lock (23) to engage. At this time, both the drive motor (4) and the PTO motor (9) are in the working state. The whole vehicle controller (14) calculates the target speed nq of the drive motor (4) and the target speed np of the PTO motor (9) based on the maximum working efficiency distribution control strategy, and then transmits the signal to the drive motor controller (3) and the PTO motor controller (12). The drive motor (4) adjusts the speed in real time according to the signal of the drive motor controller (3), and the PTO motor (9) adjusts the speed in real time according to the signal of the PTO motor controller (12); 2) Operation mode only: When the whole machine controller (14) receives the operation mode only, the locking clutch controller (5) controls the clutch (26) to be interrupted and the first electromagnetic lock (17) to be engaged. At this time, the PTO motor (9) is in the working state. The whole machine controller (14) calculates the target speed np of the PTO motor (9), and then transmits the signal to the PTO motor controller (12). The PTO motor (9) operates at a constant speed according to the signal of the PTO motor controller (12). The sensor collects the actual speed of the PTO motor (9) in real time. The whole machine controller (14) compares the actual speed of the PTO motor (9) with the target speed of the PTO motor (9) and transmits the signal to the PTO motor controller (12) in real time. The speed of the PTO motor (9) is controlled by the PTO motor controller (12) to keep the PTO motor (9) operating at a constant speed. 3) Walking operation separation mode: When the whole machine controller (14) receives the walking operation separation mode, the locking clutch controller (5) controls the clutch (26) to be interrupted and the first electromagnetic lock (17) to be engaged. At this time, the drive motor (4) and the PTO motor (9) are both in working state. The whole machine controller (14) calculates the target speed nq of the drive motor (4) and the target speed np of the PTO motor (9), and then transmits the signal to the drive motor controller (3) and the PTO motor controller (12). The drive motor (4) adjusts the speed in real time according to the signal of the drive motor controller (3). The PTO motor (9) operates at a constant speed according to the signal of the PTO motor controller (12). The sensor collects the actual speed of the PTO motor (9) in real time. The whole machine controller (14) compares the actual speed of the PTO motor (9) with the target speed of the PTO motor (9) and transmits the signal to the PTO motor controller (12) in real time. The speed of the PTO motor (9) is controlled by the PTO motor controller (12) to keep the PTO motor (9) operating at a constant speed. 4) Traveling operation coupling mode: When the whole machine controller (14) receives the traveling operation coupling mode, the locking clutch controller (5) controls the clutch (26) to engage. At this time, the driving motor (4), the PTO motor (9) and the auxiliary motor (10) are all in working state. The whole machine controller (14) calculates the target speed nq of the driving motor (4), the target speed np of the PTO motor (9) and the target speed nf of the auxiliary motor (10) based on the maximum working efficiency distribution control strategy and the required speed of the second output shaft (22) and the third output shaft (21), and then transmits the signal to the driving motor controller (3), the PTO motor controller (12) and the auxiliary motor controller (11). The driving motor (4) adjusts its speed in real time according to the signal of the driving motor controller (3), the PTO motor (9) adjusts its speed in real time according to the signal of the PTO motor controller (12), and the auxiliary motor (11) adjusts its speed in real time according to the signal of the PTO motor controller (12). 0) controlling the second gear ring in real time according to the signal of the auxiliary motor controller (11), the sensor collecting the actual rotation speed of the second output shaft (22) and the third output shaft (21) in real time, the whole machine controller (14) comparing the actual rotation speed of the second output shaft (22) and the third output shaft (21) with the required rotation speed of the second output shaft (22) and the third output shaft (21), and transmitting the signal to the drive motor controller (3), the PTO motor controller (12) and the auxiliary motor controller (11) in real time, the drive motor (4) adjusting the speed in real time according to the signal of the drive motor controller (3), the PTO motor (9) adjusting the speed in real time according to the signal of the PTO motor controller (12), and the auxiliary motor (10) controlling the second gear ring (2403) in real time according to the signal of the auxiliary motor controller (11), so as to keep the second output shaft (22) working at a constant speed and the third output shaft (21) adjusting the speed in real time; 5) Energy recovery mode: When the whole machine controller (14) recognizes that the tractor is stationary and the PTO is not operating or is braking, the locking clutch controller (5) controls the clutch (26) to be interrupted and the second electromagnetic lock (19) and the third electromagnetic lock (23) to be engaged. At this time, the drive motor (4) is in a working state and the PTO motor works as a generator. The whole machine controller (14) calculates the speed nq of the drive motor (4) in the state of minimum energy consumption and then transmits the signal to the drive motor controller (3). The drive motor (4) adjusts the speed in real time according to the signal of the drive motor controller (3). The PTO motor (9) acts as an electric motor to transmit electric energy to the power battery pack (2).

Images