Control method for hybrid agricultural vehicle, processor and hybrid agricultural vehicle

Abstract

The invention discloses a control method, a processor and a control device for a hybrid agricultural vehicle and the hybrid agricultural vehicle. The control method comprises the steps that it is determined that the hybrid agricultural vehicle is in a start allowing state; determining that the engine enters an engine starting mode; controlling a high-voltage power distribution unit to distribute electric energy of the power battery to a generator; controlling the generator to rotate and driving the engine to rotate; acquiring the actual rotating speed of the generator; comparing the actual rotating speed with a preset target rotating speed; and under the condition that the actual rotating speed reaches the preset target rotating speed, it is determined that the engine is in a starting completion state. The control method for the hybrid agricultural vehicle is simple and easy to operate, so that the hybrid agricultural vehicle can be better suitable for extreme environments such as low temperature and the like.

Description

Technical Field

[0001] The present application belongs to the technical field of agricultural vehicles, and specifically relates to a control method, a processor, a control device and a hybrid agricultural vehicle for a hybrid agricultural vehicle. Background Art

[0002] When starting agricultural vehicles (such as agricultural tractors) of the prior art, the most critical step is to activate the engine from a stopped state to a working state. The vehicle usually needs to be equipped with a separate starter motor (a starter motor refers to a motor that drags the engine from 0 speed to a set speed) to drag the engine from 0 speed to a critical speed. Under the condition that all controllers and conventional electrical accessories are normal, the driver turns the ignition lock to the ST gear. After the engine controller ECU receives the command signal, it controls the starter relay to power on. The vehicle's low-voltage battery (12VDC) is connected to the starter motor power supply harness. The starter motor drags the engine from a stationary state to a normal operating state. When the engine speed reaches a certain value, the engine controller ECU controls the starter relay to disconnect the starter motor power supply. However, the starter motor is affected by external conditions such as installation size, voltage level, battery capacity, and low-temperature power supply capability, and the starting torque provided is limited. Under harsh conditions such as low temperature, the engine requires a starting torque far exceeding that under normal conditions, making it difficult to achieve an ideal starting effect. Summary of the invention

[0003] The purpose of the present application is to provide a control method, a processor, a control device and a hybrid agricultural vehicle for a hybrid agricultural vehicle. The control method for the hybrid agricultural vehicle is simple and easy to operate, so that the hybrid agricultural vehicle can be better adapted to extreme environments such as low temperatures.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for a hybrid agricultural vehicle, wherein the hybrid agricultural vehicle comprises an engine, a generator, a power battery and a high-voltage power distribution unit, and the control method comprises:

[0005] Determine that the hybrid agricultural vehicle is in a state that allows starting;

[0006] Determine that the engine enters the engine start mode;

[0007] Control the high-voltage power distribution unit to distribute the power of the power battery to the generator;

[0008] Control the rotation of the generator and drive the engine to rotate;

[0009] Get the actual speed of the generator;

[0010] Compare the actual speed with the preset target speed;

[0011] When the actual speed reaches the preset target speed, it is determined that the engine is in a start-up completion state.

[0012] In an embodiment of the present application, the control method further includes:

[0013] When the actual speed is less than the preset target speed, the torque of the generator is adjusted according to the actual speed until the actual speed reaches the preset target speed.

[0014] In an embodiment of the present application, adjusting the torque of the generator according to the actual rotation speed includes:

[0015] Based on the PID closed-loop algorithm, the torque of the generator is adjusted according to the actual speed.

[0016] In an embodiment of the present application, based on a PID closed-loop algorithm, adjusting the torque of the generator according to the actual speed includes:

[0017] Obtain the difference between the actual speed and the preset target speed;

[0018] The difference is processed by a PID closed-loop algorithm, and the torque of the generator is adjusted according to the processing result of the PID closed-loop algorithm.

[0019] In an embodiment of the present application, the control method further includes:

[0020] After the engine is in a start-up completion state, determining that the actual speed is greater than a preset target speed;

[0021] The torque of the generator is adjusted to a preset torque so that the generator performs a power generation operation under the driving action of the engine.

[0022] In an embodiment of the present application, determining that the hybrid agricultural vehicle is in a start-permitted state includes:

[0023] Get the initialization information of the hybrid agricultural vehicle;

[0024] determining whether the hybrid agricultural vehicle meets the starting conditions according to the initialization information;

[0025] When the hybrid agricultural vehicle meets the starting condition, it is determined that the hybrid agricultural vehicle is in a starting permission state.

[0026] In an embodiment of the present application, the hybrid agricultural vehicle further includes a vehicle start switch and a display device, and the control method further includes:

[0027] Get the initialization information of the hybrid agricultural vehicle;

[0028] Control the display device to display initialization information;

[0029] Acquire a start signal sent by a vehicle start switch;

[0030] Determining that the hybrid agricultural vehicle enters a vehicle start mode;

[0031] Controls the engine to enter engine start mode.

[0032] A second aspect of the present application provides a processor, which includes the above-mentioned control method for a hybrid agricultural vehicle.

[0033] A third aspect of the present application provides a control device, which includes the above-mentioned processor.

[0034] A fourth aspect of the present application provides a hybrid agricultural vehicle, which comprises the above-mentioned control device.

[0035] It can be known from the above technical scheme that the control method includes: determining that the hybrid agricultural vehicle is in a state where starting is allowed; determining that the engine enters an engine starting mode; controlling the high-voltage distribution unit to distribute the electric energy of the power battery to the generator; controlling the generator to rotate and drive the engine to rotate; obtaining the actual speed of the generator; comparing the actual speed with the preset target speed; and determining that the engine is in a start-up completion state when the actual speed reaches the preset target speed. The control method is simple and easy to operate. The electric energy of the power battery is distributed to the generator through the high-voltage distribution unit, so that the generator drives the engine to rotate until the engine starts. The hybrid agricultural vehicle does not need to set up an additional low-voltage starter motor, which reduces the number of components of the hybrid agricultural vehicle, enables the generator to output greater torque to quickly complete the engine start, and makes the material requirements of the cable that transmits the return current lower and the loss smaller, which is conducive to extending the service life of the power battery and the hybrid agricultural vehicle, and can better meet the engine start requirements of the hybrid agricultural vehicle in continuous starting and extreme environments.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0038] Figure 1 This is a schematic diagram of the main flow of the control method in the embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of energy flow when the engine of a hybrid agricultural vehicle in an embodiment of the present application is started;

[0040] Figure 3 This is a schematic diagram of energy flow after the engine of the hybrid agricultural vehicle in the embodiment of the present application is started;

[0041] Figure 4 This is a schematic diagram of signal transmission of various components in a hybrid agricultural vehicle in an embodiment of the present application;

[0042] Figure 5 Schematic diagram of the starting conditions of a hybrid agricultural vehicle in an embodiment of the present application.

[0043] Description of Reference Numerals

[0044] 1-Engine; 2-Generator; 3-Power battery; 4-High-voltage distribution unit; 5-Processor; 6-Human-computer interaction module; 601-Display device; 602-Vehicle starting switch; 7-Vehicle control module; 701-Low-voltage electrical accessory system; 8-New energy drive module. DETAILED DESCRIPTION

[0045] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0046] Since the low-voltage electrical system of existing hybrid agricultural vehicles (such as hybrid tractors) is 12VDC, the voltage level of the starter motor needs to remain consistent. At the same time, the starter motor has an upper limit on current tolerance. Therefore, the power of the starter motor generally does not exceed 8kw, and the starting torque provided is limited, which cannot meet the requirements of extreme environments such as low temperature.

[0047] In order to solve the above technical problems, an embodiment of the present application provides a control method for a hybrid agricultural vehicle, wherein the hybrid agricultural vehicle comprises an engine 1, a generator 2, a power battery 3 and a high-voltage power distribution unit 4, such as Figure 1 As shown, the control method includes the following steps:

[0048] Step S101: Determine whether the hybrid agricultural vehicle is in a start-permitted state.

[0049] In one embodiment of the present application, step S101 determines that the hybrid agricultural vehicle is in a start-permitted state and further includes steps S201 to S203, wherein:

[0050] Step S201: Acquire initialization information of the hybrid agricultural vehicle.

[0051] Specifically, the hybrid agricultural vehicle in this embodiment may be selected as an agricultural tractor, and the engine 1 and the generator 2 are connected by a coupling (or other forms of connecting parts), and the coupling is a two-way drive connection, that is, the engine 1 can drive the generator 2 to rotate through the coupling, so that the generator 2 performs a power generation operation; conversely, the generator 2 can drive the engine 1 to rotate through the coupling, so as to start the engine 1. The power battery 3 in this embodiment is used to store electrical energy; the high-voltage distribution unit 4 is used to distribute electrical energy from the power battery 3, which can avoid the situation where the electrical energy cannot be distributed and is burned (if a low-voltage distribution unit is used, the situation where the electrical energy cannot be distributed and is burned may occur). Further, if Figure 4 As shown, the hybrid agricultural vehicle in this embodiment also includes a processor 5 (such as a vehicle controller VCU), which is communicated with the engine 1, the generator 2 and the power battery 3 and is configured to execute the control method in this embodiment. The engine 1, the generator 2, the high-voltage distribution unit 4 and the power battery 3 together constitute a new energy drive module 8.

[0052] Furthermore, the engine 1 in this embodiment includes an engine controller ECU and an engine body, and the processor 5 is communicatively connected to the engine controller ECU; the generator 2 includes a generator controller GCU and a generator body, and the processor 5 is communicatively connected to the generator controller GCU, and the generator body and the engine body are connected by a mechanical direct connection (such as using a coupling); the power battery 3 includes a battery controller BMS and a power battery body, and the processor 5 is communicatively connected to the battery controller BMS.

[0053] The hybrid agricultural vehicle in this embodiment also includes a human-computer interaction module 6 and a vehicle control module 7, wherein the human-computer interaction module 6 includes a display device 601 (such as a touch display screen) and a vehicle starting switch 602 (such as an ignition lock); the vehicle control module 7 includes a processor 5 and a low-voltage electrical accessory system 701, and the low-voltage electrical accessory system 701 includes multiple low-voltage electrical accessories that are all connected to the vehicle control communication, and the multiple low-voltage electrical accessories include headlights and taillights, etc.

[0054] Before executing step S201, the processor 5 in this embodiment must first determine that the low-voltage electrical accessory system 701 is powered on. After the low-voltage electrical accessory system 701 is powered on, the processor 5 can be activated. Further, the hybrid agricultural vehicle also includes a power-on button (the power-on button can be a physical button or a virtual button on a touch screen). After the operator presses the power-on button, the power-on button sends a corresponding signal to the processor 5. After receiving the above signal, the processor 5 can determine that the low-voltage electrical accessory system 701 is powered on.

[0055] After the low-voltage electrical accessory system 701 is powered on, the new energy drive module 8 and the low-voltage electrical accessory module send their respective status information (ie, initialization information of the hybrid agricultural vehicle) to the processor 5 .

[0056] Step S202: judging whether the hybrid agricultural vehicle meets the starting conditions according to the initialization information;

[0057] Step S203: when the hybrid agricultural vehicle meets the starting condition, determine that the hybrid agricultural vehicle is in a start-permitted state.

[0058] Specifically, the initialization information in this embodiment includes but is not limited to the power information of the power battery 3, the gear information of the gearbox, the gear information of the steering gear, the fault status information of the power battery 3, the fault status information of the engine 1, the fault status information of the generator 2, the fault status information of the high-voltage distribution unit 4, and the fault status information of the low-voltage electrical accessory system 701. After receiving the above initialization information, if the processor 5 determines that the remaining power of the power battery 3 is greater than or equal to a preset percentage of the total power of the power battery 3 (such as the power battery SOC>50%) according to the power information of the power battery 3, the gear position of the gearbox is determined to be N gear according to the gear information of the gearbox, and the gear position of the direction gear is determined to be N gear according to the gear information of the direction gear, and the power battery 3 is determined to have no fault according to the fault status information of the power battery 3 (such as the power battery 3 has no fault code), the engine 1 is determined to have no fault according to the fault status information of the engine 1 (such as the engine 1 has no fault code), the generator 2 is determined to have no fault according to the fault status information of the generator 2 (such as the generator 2 has no fault code), the high-voltage distribution unit 4 is determined to have no fault according to the fault status information of the high-voltage distribution unit 4 (such as the high-voltage distribution unit 4 has no fault code), and the low-voltage electrical accessory system 701 is determined to have no major fault according to the fault status information of the low-voltage electrical accessory system 701, then it is determined that the electric agricultural vehicle meets the starting conditions, and then it is determined that the hybrid agricultural vehicle is in the starting allowed state, and the hybrid agricultural vehicle can be started at this time.

[0059] In an embodiment of the present application, the hybrid agricultural vehicle further includes a display device 601 and a vehicle start switch 602, and the control method further includes the following steps:

[0060] Step S301: obtaining initialization information of a hybrid agricultural vehicle;

[0061] Step S302: controlling the display device 601 to display initialization information;

[0062] Step S303: obtaining a start signal sent by the vehicle start switch 602;

[0063] Step S304: determining that the hybrid agricultural vehicle enters a vehicle start mode;

[0064] Step S305: Control the engine 1 to enter the engine start mode.

[0065] Specifically, Figure 5 As shown, after receiving initialization information such as power information of the power battery 3, gear information of the gearbox, gear information of the steering gear, fault status information of the power battery 3, fault status information of the engine 1, fault status information of the generator 2, fault status information of the high-voltage distribution unit 4, and fault status information of the low-voltage electrical accessory system 701, and determining that the hybrid agricultural vehicle is in a start-permitted state based on the above initialization information, the processor 5 controls the display device 601 to display the above initialization information in a graphic manner. After the operator sees the above initialization information and further manually determines that the hybrid agricultural vehicle is in a start-permitted state, the operator can implement the vehicle start operation by operating the vehicle start switch 602 (such as turning the key to operate the ignition lock). After the vehicle start operation is completed, the vehicle start switch 602 sends a start signal to the processor 5, so that the processor 5 subsequently obtains the start signal sent by the vehicle start switch 602. After receiving the above signal, the processor 5 can determine that the hybrid agricultural vehicle enters the vehicle start mode, and then calculates the component operation data and logic, and then sends a start instruction to the engine 1 to control the engine 1 to enter the engine start mode.

[0066] Step S102: Determine whether the engine 1 enters the engine start mode.

[0067] Specifically, after the engine 1 enters the engine start mode, it sends a corresponding signal to the processor 5 , and after receiving the above signal, the processor 5 determines that the engine 1 enters the engine start mode.

[0068] Step S103: controlling the high-voltage power distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2;

[0069] Step S104: Control the generator 2 to rotate so that the generator 2 drives the engine 1 to rotate.

[0070] Specifically, Figure 2As shown, after determining that the engine 1 enters the engine start mode, the processor 5 first controls the power battery 3 to release electric energy, and then controls the high-voltage power distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2. The generator 2 converts the electric energy into mechanical energy and rotates, and the generator 2 then drives the engine 1 to rotate through the coupling. When the generator 2 starts the engine 1, it is far superior to the low-voltage 12V starter motor in terms of power, controllability and signal feedback performance. In addition, the generator 2 is powered by the power battery 3. Compared with the 12VDC low-voltage battery, the power battery 3 is far superior to the 12VDC low-voltage battery used in the prior art in terms of performance parameters such as capacity, maximum output current, and safety protection. That is, the power battery 3 has a larger capacity and can output a higher voltage, which enables the generator 2 to output a larger torque to quickly start the engine 1. The loop current flowing to the power battery 3 is also smaller, which makes the material requirements of the cable transmitting the return current lower (such as the resistivity and insulation of the material) and the loss smaller, which is beneficial to extending the service life of the power battery 3 and the hybrid agricultural vehicle, and can better meet the starting requirements of the engine 1 of the hybrid agricultural vehicle in continuous starting and extreme environments.

[0071] Step S105: Acquire the actual rotation speed of the generator 2.

[0072] Specifically, the hybrid agricultural vehicle in this embodiment also includes a speed detector (such as a speed sensor) that is communicatively connected to the processor 5 and is used to detect the actual speed of the generator 2. The speed detector detects the actual speed of the generator 2 and sends it to the processor 5.

[0073] Step S106: comparing the actual speed with the preset target speed;

[0074] Step S107: When the actual speed reaches the preset target speed, it is determined that the engine 1 is in the start-up completion state.

[0075] Specifically, a preset target speed is pre-stored in the processor 5, which can be called out when needed. Furthermore, the preset target speed refers to the speed of the generator 2 when the engine 1 reaches the starting speed threshold (the preset target speed is consistent with the speed of the generator 2 when the engine 1 reaches the starting speed threshold). After obtaining the actual speed, the processor 5 compares it with the preset target speed. If the actual speed reaches the preset target speed, it means that the speed of the engine 1 has reached the starting speed threshold and the engine 1 has completed starting (that is, the engine 1 is in a starting completion state). Furthermore, the operator can also adjust the preset target speed in this embodiment according to the different starting requirements of different types of engines 1 to achieve the purpose of starting the engine 1.

[0076] The control method in this embodiment is simple and easy to operate. The electric energy of the power battery 3 is distributed to the generator 2 through the high-voltage distribution unit 4, so that the generator 2 drives the engine 1 to rotate until the engine 1 is started. This makes it unnecessary to set up an additional 12VDC voltage level starting motor for the hybrid agricultural vehicle, reduces the number of components of the hybrid agricultural vehicle, and enables the hybrid agricultural vehicle to better meet the requirements of continuous starting and starting in extreme environments.

[0077] In one embodiment of the present application, the rated voltage of the generator 2 is greater than 500 V. Further, the rated voltage of the generator 2 is greater than or equal to 600 V, that is, the generator 2 in this embodiment is a high-voltage, high-power generator 2, which ensures that the generator 2 can be used as a motor after rotation to achieve the effect of a starter motor, and can provide a torque far exceeding that of a starter motor, ensuring that the engine 1 can be started under the drive of the generator 2, and can further enhance its superiority in power, controllability and signal feedback.

[0078] In one embodiment of the present application, the control method further includes:

[0079] Step S301: when the actual speed is less than the preset target speed, the torque of the generator 2 is adjusted according to the actual speed until the actual speed reaches the preset target speed.

[0080] Specifically, after the processor 5 controls the rotation of the generator 2 and receives the actual speed A_Spd sent by the speed detector, if it is determined that the actual speed A_Spd is less than the preset target speed T_Spd after comparing the actual speed A_Spd and the preset target speed T_Spd, it means that the engine 1 has not been started and the torque of the generator 2 needs to be adjusted. After the torque of the generator 2 is adjusted, its actual speed A_Spd will also change accordingly until the actual speed A_Spd of the generator 2 reaches the preset target speed T_Spd by adjusting the torque of the generator 2.

[0081] In one embodiment of the present application, adjusting the torque of the generator 2 according to the actual speed in step S301 further includes:

[0082] Step S401: Based on the PID closed-loop algorithm, the torque of the generator 2 is adjusted according to the actual rotation speed.

[0083] In one embodiment of the present application, step S401 is based on a PID closed-loop algorithm, and adjusting the torque of the generator 2 according to the actual speed further includes steps S501-S502, wherein:

[0084] Step S501: obtaining the difference between the actual speed and the preset target speed;

[0085] Step S502: Process the difference using a PID closed-loop algorithm, and adjust the torque of the generator 2 according to the result of the PID closed-loop algorithm processing.

[0086] Further, after determining that the actual speed A_Spd is less than the preset target speed T_Spd, the processor 5 calculates the difference Δt between the actual speed A_Spd and the preset target speed T_Spd, and performs PID closed-loop algorithm processing on the difference Δt, so as to convert the difference Δt into the torque command of the generator 2 through the PID closed-loop algorithm, and the processor 5 adjusts the torque of the generator 2 based on the torque command. Further, after the torque of the generator 2 is adjusted, its actual speed A_Spd will also change accordingly, until the actual speed A_Spd of the generator 2 reaches the preset target speed T_Spd by adjusting the torque of the generator 2, and then the engine 1 is started. Since the PID closed-loop algorithm has strong adaptability and robustness, it can adapt to different industrial occasions, has good adaptability to various changes, and can work stably in different environments. In addition, the PID closed-loop algorithm has a certain resistance to interference. In this embodiment, the torque of the generator 2 is adjusted according to the processing result of the PID closed-loop algorithm, which can ensure the stability and reliability of the control method, so that the control method can accurately control the hybrid agricultural vehicle even under harsh conditions such as low temperature.

[0087] In one embodiment of the present application, the control method further includes the following steps:

[0088] Step S601: after the engine 1 is in a startup completion state, determining that the actual speed is greater than a preset target speed;

[0089] Step S602 : adjusting the torque of the generator 2 to a preset torque, so that the generator 2 performs a power generation operation under the driving action of the engine 1 .

[0090] Specifically, after step S107 is executed, it can be determined that the engine 1 has been started, and the speed detector still detects the actual speed A_Spd of the generator 2. If the processor 5 determines that the actual speed A_Spd is greater than the preset target speed T_Spd based on the comparison between the actual speed A_Spd and the preset target speed T_Spd, then the function mode of the generator 2 should be changed, that is, the generator 2 is switched from the motor drive mode to the power generation mode, so that the generator 2 performs the power generation operation under the driving action of the engine 1. Further, in this embodiment, the preset torque is 0, and the error of the preset torque is ±0.1N·m. For example, even if the torque of the generator 2 after adjustment is 0.1N·m due to the error in actual situation, the processor 5 still controls the generator 2 to switch from the motor drive mode to the power generation mode.

[0091] In the embodiments of the present application, Figure 3As shown, after the engine 1 is started, the engine 1 drives the generator 2 to rotate and generate electricity through the coupling, and the high-voltage distribution unit 4 then transmits the electric energy generated by the generator 2 to the power battery 3 and other functional motors of the hybrid agricultural vehicle.

[0092] Another embodiment of the present application provides a processor 5, which includes the control method for a hybrid agricultural vehicle in the above embodiment.

[0093] Specifically, the control method in this embodiment includes:

[0094] Determine that the hybrid agricultural vehicle is in a state that allows starting;

[0095] Determining that engine 1 enters engine start mode;

[0096] Control the high-voltage power distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2;

[0097] Control the generator 2 to rotate and drive the engine 1 to rotate;

[0098] Obtain the actual speed of generator 2;

[0099] Compare the actual speed with the preset target speed;

[0100] When the actual speed reaches the preset target speed, it is determined that the engine 1 is in the start-up completion state.

[0101] In one embodiment of the present application, the control method further includes:

[0102] When the actual rotation speed is less than the preset target rotation speed, the torque of the generator 2 is adjusted according to the actual rotation speed until the actual rotation speed reaches the preset target rotation speed.

[0103] In one embodiment of the present application, adjusting the torque of the generator 2 according to the actual rotation speed includes:

[0104] Based on the PID closed-loop algorithm, the torque of the generator 2 is adjusted according to the actual speed.

[0105] In one embodiment of the present application, based on the PID closed-loop algorithm, adjusting the torque of the generator 2 according to the actual speed includes:

[0106] Obtain the difference between the actual speed and the preset target speed;

[0107] The difference is processed by a PID closed-loop algorithm, and the torque of the generator 2 is adjusted according to the processing result of the PID closed-loop algorithm.

[0108] In one embodiment of the present application, the control method further includes:

[0109] After the engine 1 is in a start-up completion state, determining that the actual speed is greater than a preset target speed;

[0110] The torque of the generator 2 is adjusted to a preset torque so that the generator 2 performs a power generation operation under the driving action of the engine 1 .

[0111] In one embodiment of the present application, determining that the hybrid agricultural vehicle is in a start-permitted state includes:

[0112] Get the initialization information of the hybrid agricultural vehicle;

[0113] determining whether the hybrid agricultural vehicle meets the starting conditions according to the initialization information;

[0114] When the hybrid agricultural vehicle meets the starting condition, it is determined that the hybrid agricultural vehicle is in a starting permission state.

[0115] In one embodiment of the present application, the hybrid agricultural vehicle further includes a display device 601 and a vehicle start switch 602, and the control method further includes:

[0116] Get the initialization information of the hybrid agricultural vehicle;

[0117] Controlling the display device 601 to display initialization information;

[0118] Obtaining a start signal sent by the vehicle start switch 602;

[0119] Determining that the hybrid agricultural vehicle enters a vehicle start mode;

[0120] Control engine 1 to enter engine start mode.

[0121] The control method is simple and easy to operate. When applied to a hybrid agricultural vehicle, it can control the high-voltage distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2, so that the generator 2 drives the engine 1 to rotate until the engine 1 is started, so that the hybrid agricultural vehicle does not need to be additionally provided with a low-voltage starter motor, which reduces the number of components of the hybrid agricultural vehicle, enables the generator 2 to output a greater torque to quickly start the engine 1, and makes the material requirements and loss of the cable transmitting the return current lower, which is beneficial to prolonging the service life of the power battery 3 and the hybrid agricultural vehicle, and can better meet the starting requirements of the engine 1 of the hybrid agricultural vehicle in continuous starting and extreme environments.

[0122] Another embodiment of the present application provides a control device, the control device includes the processor 5 in the above embodiment, the processor 5 includes a control method for a hybrid agricultural vehicle, the control method includes:

[0123] Determine that the hybrid agricultural vehicle is in a state that allows starting;

[0124] Determining that engine 1 enters engine start mode;

[0125] Control the high-voltage power distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2;

[0126] Control the generator 2 to rotate and drive the engine 1 to rotate;

[0127] Obtain the actual speed of generator 2;

[0128] Compare the actual speed with the preset target speed;

[0129] When the actual speed reaches the preset target speed, it is determined that the engine 1 is in the start-up completion state.

[0130] In one embodiment of the present application, the control method further includes:

[0131] When the actual rotation speed is less than the preset target rotation speed, the torque of the generator 2 is adjusted according to the actual rotation speed until the actual rotation speed reaches the preset target rotation speed.

[0132] In one embodiment of the present application, adjusting the torque of the generator 2 according to the actual rotation speed includes:

[0133] Based on the PID closed-loop algorithm, the torque of the generator 2 is adjusted according to the actual speed.

[0134] In one embodiment of the present application, based on the PID closed-loop algorithm, adjusting the torque of the generator 2 according to the actual speed includes:

[0135] Obtain the difference between the actual speed and the preset target speed;

[0136] The difference is processed by a PID closed-loop algorithm, and the torque of the generator 2 is adjusted according to the processing result of the PID closed-loop algorithm.

[0137] In one embodiment of the present application, the control method further includes:

[0138] After the engine 1 is in a start-up completion state, determining that the actual speed is greater than a preset target speed;

[0139] The torque of the generator 2 is adjusted to a preset torque so that the generator 2 performs a power generation operation under the driving action of the engine 1 .

[0140] In one embodiment of the present application, determining that the hybrid agricultural vehicle is in a start-permitted state includes:

[0141] Get the initialization information of the hybrid agricultural vehicle;

[0142] determining whether the hybrid agricultural vehicle meets the starting conditions according to the initialization information;

[0143] When the hybrid agricultural vehicle meets the starting condition, it is determined that the hybrid agricultural vehicle is in a starting permission state.

[0144] In one embodiment of the present application, the hybrid agricultural vehicle further includes a display device 601 and a vehicle start switch 602, and the control method further includes:

[0145] Get the initialization information of the hybrid agricultural vehicle;

[0146] Controlling the display device 601 to display initialization information;

[0147] Acquire a start signal sent by a vehicle start switch;

[0148] Determining that the hybrid agricultural vehicle enters a vehicle start mode;

[0149] Control engine 1 to enter engine start mode.

[0150] When the control device is applied to a hybrid agricultural vehicle, it can control the high-voltage distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2, so that the generator 2 drives the engine 1 to rotate until the engine 1 is started, so that the hybrid agricultural vehicle does not need to be additionally provided with a low-voltage starter motor, thereby reducing the number of components of the hybrid agricultural vehicle, enabling the generator 2 to output a greater torque to quickly start the engine 1, and making the material requirements and losses of the cable transmitting the return current lower, which is beneficial to prolonging the service life of the power battery 3 and the hybrid agricultural vehicle, and can better meet the starting requirements of the engine 1 of the hybrid agricultural vehicle in continuous starting and extreme environments.

[0151] Another embodiment of the present application provides a hybrid agricultural vehicle, the hybrid agricultural vehicle includes the control device in the above embodiment, the hybrid agricultural vehicle may be a hybrid tractor, wherein the control device includes the processor 5 in the above embodiment, the processor 5 includes a control method for the hybrid agricultural vehicle, the control method includes:

[0152] Determine that the hybrid agricultural vehicle is in a state that allows starting;

[0153] Determining that engine 1 enters engine start mode;

[0154] Control the high-voltage power distribution unit 4 to distribute the electric energy of the power battery 3 to the generator 2;

[0155] Control the generator 2 to rotate and drive the engine 1 to rotate;

[0156] Obtain the actual speed of generator 2;

[0157] Compare the actual speed with the preset target speed;

[0158] When the actual speed reaches the preset target speed, it is determined that the engine 1 is in the start-up completion state.

[0159] In one embodiment of the present application, the control method further includes:

[0160] When the actual rotation speed is less than the preset target rotation speed, the torque of the generator 2 is adjusted according to the actual rotation speed until the actual rotation speed reaches the preset target rotation speed.

[0161] In one embodiment of the present application, adjusting the torque of the generator 2 according to the actual rotation speed includes:

[0162] Based on the PID closed-loop algorithm, the torque of the generator 2 is adjusted according to the actual speed.

[0163] In one embodiment of the present application, based on the PID closed-loop algorithm, adjusting the torque of the generator 2 according to the actual speed includes:

[0164] Obtain the difference between the actual speed and the preset target speed;

[0165] The difference is processed by a PID closed-loop algorithm, and the torque of the generator 2 is adjusted according to the processing result of the PID closed-loop algorithm.

[0166] In one embodiment of the present application, the control method further includes:

[0167] After the engine 1 is in a start-up completion state, determining that the actual speed is greater than a preset target speed;

[0168] The torque of the generator 2 is adjusted to a preset torque so that the generator 2 performs a power generation operation under the driving action of the engine 1 .

[0169] In one embodiment of the present application, determining that the hybrid agricultural vehicle is in a start-permitted state includes:

[0170] Get the initialization information of the hybrid agricultural vehicle;

[0171] determining whether the hybrid agricultural vehicle meets the starting conditions according to the initialization information;

[0172] When the hybrid agricultural vehicle meets the starting condition, it is determined that the hybrid agricultural vehicle is in a starting permission state.

[0173] In one embodiment of the present application, the hybrid agricultural vehicle further includes a display device 601 and a vehicle start switch 602, and the control method further includes:

[0174] Get the initialization information of the hybrid agricultural vehicle;

[0175] Controlling the display device 601 to display initialization information;

[0176] Acquire a start signal sent by a vehicle start switch;

[0177] Determining that the hybrid agricultural vehicle enters a vehicle start mode;

[0178] Control engine 1 to enter engine start mode.

[0179] The high-voltage distribution unit 4 of the hybrid agricultural vehicle can distribute the electric energy of the power battery 3 to the generator 2, so that the generator 2 drives the engine 1 to rotate until the engine 1 is started. There is no need to additionally set a low-voltage starter motor, which reduces the number of components and enables the generator 2 to output a greater torque to quickly start the engine 1. The material requirements and loss of the cable for transmitting the return current are lower, which is beneficial to extending the service life of the power battery 3. The engine 1 can achieve continuous starting and / or starting in extreme environments.

[0180] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0181] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0182] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0183] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method for a hybrid agricultural vehicle, characterized in that: The hybrid agricultural vehicle comprises an engine (1), a generator (2), a power battery (3) and a high-voltage power distribution unit (4), and the control method comprises: Determining that the hybrid agricultural vehicle is in a start-permitted state; Determining that the engine (1) enters an engine start mode; Controlling the high-voltage power distribution unit (4) to distribute the electric energy of the power battery (3) to the generator (2); Controlling the rotation of the generator (2) so that the generator (2) drives the engine (1) to rotate; Obtaining the actual rotation speed of the generator (2); comparing the actual speed with a preset target speed; When the actual speed reaches the preset target speed, it is determined that the engine (1) is in a start-up completion state.

2. The control method for a hybrid agricultural vehicle according to claim 1, characterized in that: The control method further comprises: When the actual speed is less than the preset target speed, the torque of the generator (2) is adjusted according to the actual speed until the actual speed reaches the preset target speed.

3. The control method for a hybrid agricultural vehicle according to claim 2, characterized in that: The step of adjusting the torque of the generator (2) according to the actual rotation speed comprises: Based on a PID closed-loop algorithm, the torque of the generator (2) is adjusted according to the actual rotation speed.

4. The control method for a hybrid agricultural vehicle according to claim 3, characterized in that: The step of adjusting the torque of the generator (2) based on the actual rotation speed based on the PID closed-loop algorithm comprises: Obtaining a difference between the actual speed and the preset target speed; The difference is processed using a PID closed-loop algorithm, and the torque of the generator (2) is adjusted according to the result of the PID closed-loop algorithm processing.

5. The control method for a hybrid agricultural vehicle according to claim 1, characterized in that: The control method further comprises: After the engine (1) is in the start-up completion state, determining that the actual speed is greater than the preset target speed; The torque of the generator (2) is adjusted to a preset torque so that the generator (2) performs a power generation operation under the driving action of the engine (1).

6. The control method for a hybrid agricultural vehicle according to any one of claims 1 to 5, characterized in that: The step of determining that the hybrid agricultural vehicle is in a start-permitted state includes: Acquiring initialization information of the hybrid agricultural vehicle; determining whether the hybrid agricultural vehicle meets a starting condition according to the initialization information; When the hybrid agricultural vehicle satisfies the start condition, it is determined that the hybrid agricultural vehicle is in the start-permitted state.

7. The control method for a hybrid agricultural vehicle according to any one of claims 1 to 5, characterized in that: The hybrid agricultural vehicle further comprises a display device (601) and a vehicle start switch (602), and the control method further comprises: Acquiring initialization information of the hybrid agricultural vehicle; Controlling the display device (601) to display the initialization information; Acquiring a start signal sent by the vehicle start switch (602); Determining that the hybrid agricultural vehicle enters a vehicle start mode; The engine (1) is controlled to enter an engine starting mode.

8. A processor, characterized in that: The processor (5) comprises a control method for a hybrid agricultural vehicle according to any one of claims 1-7.

9. A control device, characterized in that: The control device comprises a processor (5) according to claim 8.

10. A hybrid agricultural vehicle, characterized in that: The hybrid agricultural vehicle comprises a control device according to claim 9.

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