Intelligent tractor hybrid power system with supercapacitor and control method

Abstract

A smart tractor hybrid power system with supercapacitor includes a range extender, a power battery, a supercapacitor, a traction motor, a PTO motor, a low-voltage battery, two DC / DC converters and a DC / AC converter. The range extender is electrically connected to the power battery, the two DC / DC converters and the DC / AC converter through a DC bus, the power battery is electrically connected to the second DC / DC converter and the DC / AC converter, the second DC / DC converter is electrically connected to the low-voltage battery, the first DC / DC converter is electrically connected to the supercapacitor, the supercapacitor is electrically connected to the DC / AC converter, the DC / AC converter is electrically connected to the traction motor and the PTO motor, the traction motor is mechanically connected to the transmission, the transmission is mechanically connected to the central transmission, and the central transmission is mechanically connected to the rear wheel. The present invention controls the range extender, the power battery and the supercapacitor based on the information provided by the intelligent driving system, which not only protects the power battery, but also improves the power, fuel economy and emission of the tractor.

Description

Technical Field

[0001] The present invention belongs to the technical field of tractors, and in particular relates to an intelligent tractor hybrid power system with a supercapacitor and a control method thereof. Background Art

[0002] Although electric tractors have the characteristics of zero emission, no pollution, and low noise, the operating environment of tractors is complex and changeable, and pure electric tractors cannot meet the expectations of high load and long working hours. Hybrid tractors have attracted widespread attention due to their significant advantages such as low emissions, low energy consumption, and long working time.

[0003] At present, the power of hybrid tractors is mainly composed of engine generator sets and batteries. Under conditions where frequent acceleration causes frequent increases in the power demand of the entire machine, when the battery is the main power source, frequent large-current discharges will affect the energy efficiency and life of the battery. When the engine generator set is the main power source, the frequent increase in power demand will make it difficult for the engine to always operate in the ideal range, thus affecting the performance of the entire machine. Summary of the invention

[0004] In response to the above technical problems, the present invention provides an intelligent tractor hybrid power system with a supercapacitor and a control method. Based on the information provided by the intelligent driving system, the range extender, power battery and supercapacitor are controlled, which can effectively protect the power battery and improve the power and emission of the tractor.

[0005] The intelligent tractor hybrid power system with supercapacitors described in the present invention comprises a range extender 1, a power battery 2, a supercapacitor 3, a traction motor 4, a PTO motor 5, a transmission 6, a central transmission device 7, a low-voltage battery 8, a first DC / DC converter 15, a second DC / DC converter 16 and a DC / AC converter 17. The range extender 1 is electrically connected to the power battery 2, the first DC / DC converter 15, the second DC / DC converter 16 and the DC / AC converter 17 through a DC bus, respectively; the power battery 2 is electrically connected to the low-voltage battery 8 through the second DC / DC converter 16, and the power battery 2 is electrically connected to the traction motor 4 and the PTO motor 5 through the DC / AC converter 17; the output end of the first DC / DC converter 15 is electrically connected to the supercapacitor 3, and the supercapacitor 3 is electrically connected to the traction motor 4 through the DC / AC converter 17; the output end of the traction motor 4 is mechanically connected to the input end of the transmission 6, the output end of the transmission 6 is mechanically connected to the input end of the central transmission device 7, and the output end of the central transmission device 7 is mechanically connected to the rear wheel 14.

[0006] The hybrid power system also includes a vehicle controller 9, which is connected to the range extender 1, the power battery 2, the supercapacitor 3, the traction motor 4, the PTO motor 5, the transmission 6, the low-voltage battery 8, the first DC / DC converter 15, the second DC / DC converter 16 and the DC / AC converter 17 through a CAN bus.

[0007] The intelligent tractor adopting the hybrid power system has two working modes: pure electric mode and hybrid power mode;

[0008] In pure electric mode, the vehicle controller 9 controls the power battery 2 to supply power to the whole machine;

[0009] In hybrid mode, the vehicle controller 9 controls the range extender 1 to start and maintain a constant output power P e , range extender 1 supplies electrical energy to the entire machine.

[0010] The intelligent tractor adopting the hybrid power system also includes an intelligent driving system, which includes a binocular camera 10, a laser radar 11, an industrial computer 12 and an electric power steering pump 13. The binocular camera 10 is connected to the industrial computer 12 through a CAN bus, the laser radar 11 is connected to the industrial computer 12 through Ethernet, the industrial computer 12 and the vehicle controller 9 communicate data through UDP communication, and the electric power steering pump 13 is connected to the vehicle controller 9 through a CAN bus.

[0011] The low-voltage battery 8 is electrically connected to the binocular camera 10 , the laser radar 11 , the electric power steering pump 13 , the industrial computer 12 and the vehicle controller 9 , respectively.

[0012] A control method for an intelligent tractor hybrid power system with a supercapacitor, comprising:

[0013] S1: The binocular camera 10 captures the front of the tractor and generates image data, and transmits the image data information to the industrial computer 12. At the same time, the laser radar 11 detects the front of the tractor and generates point cloud data, and transmits the point cloud data to the industrial computer 12;

[0014] S2: The industrial computer 12 analyzes and processes the image data and the point cloud data, obtains the desired acceleration a of the tractor, and transmits the desired acceleration information to the vehicle controller 9;

[0015] S3: The vehicle controller 9 obtains the expected tractor power P according to the expected acceleration a des , and obtain the SOC value of the power battery at the same time; the vehicle controller executes the following power supply mode according to the tractor's expected power and the SOC value of the power battery:

[0016] (1) When SOC ≥ 25%, the vehicle controller 9 controls the intelligent tractor to enter the pure electric mode; if P des ≤0, supercapacitor 3 does not work; if P des >0, the vehicle controller 9 controls the supercapacitor 3 to supply power to the traction motor 4;

[0017] (2) When SOC<25%, the vehicle controller 9 controls the intelligent tractor to enter the hybrid power mode; the vehicle controller 9 obtains the current output power P of the tractor. cur If P e ≥P cur +P des , supercapacitor 3 does not work; if P e <P cur +P des The vehicle controller 8 controls the supercapacitor 3 to supply power to the traction motor 4.

[0018] The present invention controls the range extender, power battery and supercapacitor based on the information provided by the intelligent driving system. The range extender can improve the endurance of the tractor; in pure electric mode, the supercapacitor acts as an auxiliary power source to ensure the stable output power of the power battery, and prevents the power battery from working at a high current peak for a long time, thereby protecting the power battery; in hybrid mode, the supercapacitor participates in the power supply, so that the range extender can work at the set output power, improving the fuel economy, power and emission of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a schematic diagram of the topological structure of an intelligent tractor adopting a hybrid power system with a supercapacitor according to the present invention.

[0020] Figure 2 The figure is a schematic diagram of the overall flow of a hybrid power system control method with a supercapacitor according to the present invention.

[0021] The annotations in the above figure are as follows:

[0022] 1. Range extender, 2. Power battery, 3. Supercapacitor, 4. Traction motor, 5. PTO motor, 6. Transmission, 7. Central transmission, 8. Low-voltage battery, 9. Vehicle controller, 10. Binocular camera, 11. LiDAR, 12. Industrial computer, 13. Electric power steering pump, 14. Rear wheel, 15. First DC / DC converter, 16. Second DC / DC converter, 17. DC / AC converter. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the embodiments and drawings.

[0024] Reference Figure 1, which is a schematic diagram of the topological structure of an intelligent tractor in this embodiment. The tractor adopts a hybrid power system with a supercapacitor proposed in the present invention, and the hybrid power system includes a range extender 1, a power battery 2, a supercapacitor 3, a traction motor 4, a PTO motor 5, a transmission 6, a central transmission device 7, a low-voltage battery 8, a first DC / DC converter 15, a second DC / DC converter 16 and a DC / AC converter 17. The range extender 1 is electrically connected to the power battery 2, the first DC / DC converter 15, the second DC / DC converter 16 and the DC / AC converter 17 through a DC bus, and the output end of the power battery 2 is electrically connected to the second DC / DC converter 16, the DC / AC converter 17 ... The output end of the first DC / DC converter 15 is electrically connected to the supercapacitor 3, the supercapacitor 3 is electrically connected to the DC / AC converter 17, the output end of the DC / AC converter 17 is electrically connected to the traction motor 4 and the PTO motor 5 respectively, the output end of the traction motor 4 is mechanically connected to the input end of the transmission 6, the output end of the transmission 6 is mechanically connected to the central transmission device 7 installed on the rear wheel axle, the output end of the central transmission device 7 is mechanically connected to the rear wheel 14 and is used to drive the rear wheel to rotate. The aforementioned mechanical connection method is an existing technology and will not be described in detail.

[0025] exist Figure 1 Based on the hybrid power system with supercapacitor shown in the figure, the range extender 1 can respectively power the power battery 2, the low-voltage battery 8, the supercapacitor 3, the traction motor 4 and the PTO motor 5; the power battery 2 respectively powers the traction motor 4 and the PTO motor 5 through the DC / AC converter 17, and the power battery 2 powers the low-voltage battery 8 through the second DC / DC converter 16; the supercapacitor 3 serves as an auxiliary power source and powers the traction motor 4 through the DC / AC converter 17.

[0026] Reference Figure 1 A smart tractor hybrid power system with supercapacitor also includes a vehicle controller 9, which is connected to the range extender 1, the power battery 2, the supercapacitor 3, the traction motor 4, the PTO motor 5, the transmission 6, the low-voltage battery 8, the first DC / DC converter 15, the second DC / DC converter 16 and the DC / AC converter 17 through the CAN bus. The vehicle controller 9 collects the working data of each component of the tractor through the CAN bus, and transmits control instructions to each component of the tractor through the CAN bus to realize different operation modes.

[0027] The intelligent tractor adopting the hybrid power system has two working modes: pure electric mode and hybrid power mode:

[0028] In pure electric mode, the vehicle controller 9 controls the power battery 2 to supply power to the whole machine, the range extender 1 is in the off state, and the power battery supplies power to the traction motor 4, the PTO motor 5, and the low-voltage battery 8;

[0029] In hybrid mode, the vehicle controller 9 controls the range extender 1 to start and maintain a constant output power P e , the range extender 1 supplies power to the whole machine, the power battery 2 stops working, and the range extender 1 supplies power to the traction motor 4, the PTO motor 5, and the low-voltage battery 8; the output power of the range extender is P e When the engine is running at the optimum fuel economy point, it has high fuel economy and good emissions.

[0030] Reference Figure 1 The intelligent tractor adopting the hybrid power system also includes an intelligent driving system, which includes a binocular camera 10, a laser radar 11, an industrial computer 12 and an electric power steering pump 13. The binocular camera 10 is connected to the industrial computer 12 through a CAN bus, the laser radar 11 is connected to the industrial computer 12 through Ethernet, the industrial computer 12 and the vehicle controller 9 communicate data through UDP communication, and the electric power steering pump 13 is connected to the vehicle controller 9 through a CAN bus.

[0031] The output ends of the low-voltage battery 8 are electrically connected to the binocular camera 10 , the laser radar 11 , the electric power steering pump 13 , the industrial computer 12 and the vehicle controller 9 , respectively, to supply power to the intelligent driving system and the vehicle controller 9 .

[0032] Reference Figure 2 ,exist Figure 1 Based on the hybrid power system with supercapacitor shown in the figure, the present invention also proposes a control method of a hybrid power system of an intelligent tractor with supercapacitor, comprising:

[0033] S1: The binocular camera 10 captures the front of the tractor and generates image data, and transmits the image data information to the industrial computer 12. At the same time, the laser radar 11 detects the front of the tractor and generates point cloud data, and transmits the point cloud data to the industrial computer 12;

[0034] S2: The industrial computer 12 processes the image data and the point cloud data, obtains the desired acceleration a of the tractor using a motion planning algorithm, and transmits the desired acceleration information to the vehicle controller 9;

[0035] S3: The vehicle controller 9 obtains the expected tractor power P according to the expected acceleration a. des , and at the same time obtain the SOC value of the power battery (for ease of explanation, hereinafter referred to as SOC), where δ is the rotation mass conversion coefficient, m is the tractor mass, and v is the operating speed:

[0036] (1) When SOC ≥ 25%, the vehicle controller 9 controls the intelligent tractor to enter the pure electric mode; in this working mode, the range extender is in the off state, the power battery supplies power to the traction motor, PTO motor, and low-voltage battery, and if P des ≤0, supercapacitor 3 does not work; if P des >0, the vehicle controller 9 controls the supercapacitor 3 to supply power to the traction motor 4 at the same time;

[0037] (2) When SOC<25%, the vehicle controller 8 controls the intelligent tractor to enter the hybrid power mode; in this working mode, the vehicle controller controls the range extender to start and maintain a constant output power P e , the power battery stops working, the range extender supplies power to the traction motor, PTO motor, and low-voltage battery, and the vehicle controller 8 obtains the current output power P of the tractor cur , if P e ≥P cur +P des , supercapacitor 3 does not work; if P e <P cur +P des , the vehicle controller 8 controls the supercapacitor 3 to supply power to the traction motor 4 at the same time; wherein, the current output power P of the tractor cur The vehicle controller obtains the current output power of the tractor P through the CAN bus. cur Including traction motor output power, PTO motor output power, and real-time power consumption of low-voltage battery.

[0038] Parts of the present invention not described in detail are prior art.

[0039] The above is only a preferred embodiment of the present invention and is not any form of limitation to the present invention. Although the present invention is described in detail with reference to the preferred embodiment, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A control method for a hybrid power system of an intelligent tractor with a supercapacitor, characterized in that: include: S1: The binocular camera captures the front of the tractor and generates image data, and transmits the image data information to the industrial computer. At the same time, the laser radar detects the front of the tractor and generates point cloud data, and transmits the point cloud data to the industrial computer; S2: The industrial computer processes the image data and point cloud data, uses the motion planning algorithm to obtain the expected acceleration a of the tractor, and transmits the expected acceleration information to the vehicle controller; S3: The vehicle controller obtains the expected tractor power P according to the expected acceleration a. des , tractor expected power Where δ is the rotation mass conversion coefficient, m is the tractor mass, v is the operating speed, and the SOC value of the power battery is obtained at the same time; the vehicle controller executes the following power supply mode according to the tractor's expected power and the SOC value of the power battery: (1) When SOC ≥ 25%, the vehicle controller controls the intelligent tractor to enter the pure electric mode; in this working mode, the range extender is in the off state, the power battery supplies power to the traction motor, PTO motor, and low-voltage battery, and if P des ≤0, the supercapacitor does not work; if P des >0, the vehicle controller controls the supercapacitor to supply power to the traction motor at the same time; (2) When SOC < 25%, the vehicle controller controls the intelligent tractor to enter the hybrid mode; in this working mode, the vehicle controller controls the range extender to start and maintain a constant output power P e , the power battery stops working, the range extender supplies power to the traction motor, PTO motor, and low-voltage battery, and the vehicle controller obtains the current output power P of the tractor through the CAN bus cur , specifically including the traction motor output power, PTO motor output power, and low-voltage battery real-time power consumption; and if P e ≥P cur +P des , the supercapacitor does not work; if P e <P cur +P des , the vehicle controller controls the supercapacitor to supply power to the traction motor at the same time; The control method is implemented based on an intelligent tractor hybrid power system with a supercapacitor. The intelligent tractor hybrid power system with a supercapacitor comprises a range extender (1), a power battery (2), a supercapacitor (3), a traction motor (4), a PTO motor (5), a transmission (6), a central transmission device (7), a low-voltage battery (8), a first DC / DC converter (15), a second DC / DC converter (16) and a DC / AC converter (17). The range extender (1) is connected to the power battery (2), the first DC / DC converter (15), the second DC / DC converter (16) and the DC / AC converter (17) through a DC bus. The second DC / DC converter (16) and the DC / AC converter (17) are electrically connected, the power battery (2) is electrically connected to the low-voltage battery (8) through the second DC / DC converter (16), and the power battery (2) is electrically connected to the traction motor (4) and the PTO motor (5) through the DC / AC converter (17), the output end of the first DC / DC converter (15) is electrically connected to the super capacitor (3), and the super capacitor (3) is electrically connected to the traction motor (4) through the DC / AC converter (17), and the output end of the traction motor (4) is mechanically connected to the input end of the transmission (6). The output end of the transmission (6) is mechanically connected to the input end of the central transmission device (7), and the output end of the central transmission device (7) is mechanically connected to the rear wheel (14); the intelligent tractor using the hybrid power system also includes an intelligent driving system, the intelligent driving system includes a binocular camera (10), a laser radar (11), an industrial computer (12) and an electric power steering pump (13), the low-voltage battery is electrically connected to the binocular camera (10), the laser radar (11), the industrial computer (12), the electric power steering pump (13) and the vehicle controller (9), respectively, the binocular camera (10) is electrically connected to the industrial computer ( 12) are connected via a CAN bus, the laser radar (11) is connected to the industrial computer (12) via Ethernet, the industrial computer (12) and the vehicle controller (9) perform data communication via UDP communication, and the vehicle controller (9) is respectively connected to the range extender (1), the power battery (2), the super capacitor (3), the traction motor (4), the PTO motor (5), the transmission (6), the low-voltage battery (8), the electric steering power pump (13), the first DC / DC converter (15), the second DC / DC converter (16) and the DC / AC converter (17) via the CAN bus.

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