Hybrid tractor target torque, adaptive control method, control unit and system

Abstract

The application discloses a hybrid tractor target torque, an adaptive control method, a control unit and a system. The hybrid tractor target torque control method comprises the following steps: receiving vehicle speed information within a period of time; determining a vehicle speed change rate and a vehicle speed change counter number according to the vehicle speed information; obtaining throttle opening degree information and a whole vehicle state in a whole vehicle controller in response to the vehicle speed change rate and the vehicle speed change counter number satisfying a preset condition; determining a target torque to be optimized according to the whole vehicle state; determining a constant corresponding to a driving coefficient after weakening or strengthening through a table lookup method according to the preset condition satisfied by the throttle opening degree information, the vehicle speed change rate and the vehicle speed change counter number, and determining the driving coefficient according to the constant corresponding to the driving coefficient; and determining a target torque according to the target torque to be optimized and the driving coefficient. The application can improve energy utilization efficiency without the need of additionally increasing parts.

Description

Technical Field

[0001] This invention belongs to the field of hybrid tractor control technology, specifically relating to a target torque, adaptive control method, control unit, and system for a hybrid tractor. Background Technology

[0002] Tractors are essential agricultural production equipment, operating in a wide variety of agricultural scenarios and requiring the attachment of different implements for various tasks. The load varies significantly during actual operation. Traditional tractors are powered by diesel engines, which suffer from incomplete combustion, unstable exhaust emissions, and low energy efficiency under varying loads. With the development of the new energy vehicle industry in China, new power systems are constantly emerging. The development of new energy tractors has spurred continuous iteration and optimization of vehicle performance and energy consumption algorithms.

[0003] For new energy tractors, improving energy efficiency without compromising driving experience has become a key challenge. Current methods address this by adding extra components, such as positioning systems, RFID, and ADAS. However, adding these extra components inevitably increases costs. Summary of the Invention

[0004] To address the problem that increasing costs by using additional components to improve energy efficiency without affecting driving experience, this invention proposes a target torque, adaptive control method, control unit, and system for a hybrid tractor.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] The first aspect of this invention discloses a target torque control method for a hybrid tractor, comprising the following steps:

[0007] Receive vehicle speed information over a period of time;

[0008] The vehicle speed change rate and the number of times the vehicle speed change counter is determined based on the vehicle speed information;

[0009] In response to the vehicle speed change rate and the number of times the vehicle speed change counter meets a preset condition, the throttle opening information and the vehicle status in the vehicle controller are obtained.

[0010] The target torque to be optimized is determined based on the overall vehicle condition.

[0011] Based on the preset conditions satisfied by the throttle opening information, the vehicle speed change rate, and the number of times the vehicle speed change counter is used, the constant corresponding to the weakened or enhanced drive coefficient is determined by looking up a table, and the drive coefficient is determined based on the constant corresponding to the drive coefficient.

[0012] The target torque is determined based on the target torque to be optimized and the driving coefficient.

[0013] A second aspect of this invention discloses an adaptive control method for a hybrid tractor, comprising the target torque control method for a hybrid tractor described in the first aspect.

[0014] The process of obtaining throttle opening information also includes:

[0015] Obtain the target discharge power and actual discharge power of the range extender;

[0016] Calculate the difference between the actual discharge power of the range extender and its corresponding target discharge power;

[0017] The preset condition that the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied is condition A. Based on condition A and the difference, the increased power generation cycle power is determined by looking up a table.

[0018] The reduced power generation cycle power is determined by looking up a table based on the preset condition B that the vehicle speed change rate and the number of times the vehicle speed change counter is satisfied.

[0019] A third aspect of the present invention discloses a control unit, comprising a memory and a controller connected in sequence, wherein the memory stores a computer program, and the controller is used to read the computer program and execute the target torque control method for a hybrid tractor described in the first aspect.

[0020] The fourth aspect of the present invention discloses a control unit, comprising a memory and a controller connected in sequence, wherein the memory stores a computer program, and the controller is used to read the computer program and execute a hybrid tractor adaptive control method as described in the second aspect.

[0021] A fourth aspect of this invention discloses an adaptive control system for a hybrid tractor, comprising:

[0022] The data acquisition unit includes a vehicle speed acquisition module, a throttle opening acquisition module, a brake opening acquisition module, a torque acquisition module, and a range extender discharge power acquisition module.

[0023] The vehicle controller, wherein the data acquisition unit is signal-connected to the vehicle controller;

[0024] A control unit as described in the third or fourth aspect, wherein the control unit is signal-connected to the vehicle controller;

[0025] A drive motor controller that generates control commands based on the target torque and / or power generation cycle power of the control unit.

[0026] The beneficial effects of this invention are:

[0027] 1. This invention addresses the correlation between the operating parameters of components in a series hybrid tractor and vehicle speed. Using actual vehicle speed, throttle opening, brake pedal opening, and their corresponding rates of change as input conditions, it constructs a correlation model between the range extender's discharge power requirement, the drive motor's target torque, and vehicle speed. Combining the actual torque of the drive motor, the calculated target torque of the drive motor, the actual discharge power of the range extender, the target discharge power of the range extender, and the vehicle speed model output parameters as input, it performs adaptive control of the range extender and drive motor. This can improve the driving experience and energy utilization efficiency in actual operation.

[0028] 2. The method of the present invention is based on the working parameters of existing series hybrid tractor components, without the need for additional components and without increasing costs. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the adaptive control system for hybrid tractors of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0032] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0034] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship as commonly used when the product of this invention is in use, or as commonly understood by those skilled in the art. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the control unit or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] The first aspect of this invention discloses a target torque control method for a hybrid tractor, comprising steps S01 to S06. It should be noted that the step identifiers in this solution are merely for ease of explanation and do not constitute a limitation on the order of steps. The order of each step is determined by its verbal description and the sequential connection of each signal.

[0037] Step S01: Receive vehicle speed information over a period of time.

[0038] Step S02: Determine the vehicle speed change rate and the number of times the vehicle speed change counter is run based on the vehicle speed information.

[0039] Specifically, the vehicle speed change counter includes a first vehicle speed change counter and a second vehicle speed change counter. In this step, the vehicle speed change rate is first determined based on the vehicle speed information. When the vehicle speed change rate is less than a first threshold, the first vehicle speed change counter is incremented by 1; when the vehicle speed change rate is greater than a second threshold, the second vehicle speed change counter is incremented by 1, wherein the first threshold is less than the second threshold.

[0040] The above thresholds are set and calibrated based on actual testing.

[0041] Step S03: In response to the vehicle speed change rate and the number of times the vehicle speed change counter meets a preset condition, obtain the throttle opening information and the vehicle status in the vehicle controller.

[0042] Specifically, the preset conditions include condition A and condition B. Condition A is that the vehicle speed change rate is less than the first threshold and the count of the first vehicle speed change counter is greater than the third threshold; condition B is that the vehicle speed change rate is greater than the second threshold and the count of the second vehicle speed change counter is greater than the fourth threshold; wherein, the third threshold is less than the fourth threshold.

[0043] When the rate of change of vehicle speed is less than the first threshold and the count of the first vehicle speed change counter is greater than the third threshold, adaptive control is triggered; when the rate of change of vehicle speed is greater than the second threshold and the count of the second vehicle speed change counter is greater than the fourth threshold, adaptive control is also triggered; wherein, the third threshold is less than the fourth threshold.

[0044] If either condition A or condition B is met, adaptive control is triggered.

[0045] Step S04: Determine the target torque to be optimized based on the overall vehicle status.

[0046] Step S05: Based on the preset conditions satisfied by the throttle opening information, the vehicle speed change rate, and the number of times the vehicle speed change counter is used, determine the constant corresponding to the weakened or enhanced drive coefficient by looking up a table, and determine the drive coefficient based on the constant corresponding to the drive coefficient.

[0047] This step adjusts the drive coefficients in different ways based on varying throttle opening information and different preset conditions. The drive coefficients include the vehicle speed model drive coefficient, the coasting energy recovery coefficient, and the braking energy recovery coefficient.

[0048] Specifically:

[0049] If the throttle opening information indicates that the throttle opening is greater than zero, that is, if the throttle opening information indicates that the throttle opening is non-zero:

[0050] The preset condition that the vehicle speed change rate and the number of times the vehicle speed change counter meet is condition A. The constant corresponding to the enhanced vehicle speed model driving coefficient is determined by looking up a table based on the vehicle speed change rate.

[0051] The preset condition that the vehicle speed change rate and the number of times the vehicle speed change counter meet is condition B. The constant corresponding to the reduced vehicle speed model driving coefficient is determined by looking up a table based on the vehicle speed change rate.

[0052] Then, the vehicle speed model drive coefficient is calculated based on the constant corresponding to the vehicle speed model drive coefficient, the target torque to be optimized, and the actual torque of the drive motor. Specifically, the calculation method for the vehicle speed model drive coefficient Par_VSpdMod_Drv is as follows:

[0053] Par_VSpdMod_Drv= Cd*(T'-T) / T,

[0054] Cd is a constant corresponding to the driving coefficient of the vehicle speed model, T' is the target torque to be optimized, and T is the actual torque of the current drive motor.

[0055] If the throttle opening information indicates that the throttle opening is zero, then the braking opening information is acquired, and the coasting energy recovery coefficient or braking energy recovery coefficient is determined based on the braking information. Specifically:

[0056] If the braking opening information indicates that the braking opening is zero and the vehicle speed change rate and the number of times the vehicle speed change counter meet the preset condition A, the constant corresponding to the enhanced coasting energy recovery coefficient is determined by looking up a table based on the vehicle speed change rate.

[0057] If the braking opening information indicates that the braking opening is zero and the vehicle speed change rate and the number of times the vehicle speed change counter meet the preset condition B, the constant corresponding to the reduced coasting energy recovery coefficient is determined by looking up a table based on the vehicle speed change rate.

[0058] The coasting energy recovery coefficient is calculated based on the constant corresponding to the coasting energy recovery coefficient, the target torque to be optimized, and the actual torque of the drive motor. Specifically, the calculation method for the coasting energy recovery coefficient Par_VspdMod_Sld_Rcy is as follows:

[0059] Par_VspdMod_Sld_Rcy=Cc*|(T'-T) / T|

[0060] Cc is a constant corresponding to the gliding energy recovery coefficient, T' is the target torque to be optimized, and T is the actual torque of the current drive motor.

[0061] If the brake opening information indicates that the brake opening is greater than zero and the vehicle speed change rate and the number of times the vehicle speed change counter meet the preset condition A, the constant corresponding to the enhanced brake energy recovery coefficient is determined by looking up a table based on the vehicle speed change rate.

[0062] If the brake opening information indicates that the brake opening is greater than zero and the vehicle speed change rate and the number of times the vehicle speed change counter meet the preset condition B, the constant corresponding to the reduced brake energy recovery coefficient is determined by looking up a table based on the vehicle speed change rate.

[0063] The braking energy recovery coefficient is calculated based on the constant corresponding to the braking energy recovery coefficient, the target torque to be optimized, and the actual torque of the drive motor. Specifically, the braking energy recovery coefficient Par_VspdMod_Brk_Rcy is calculated as follows:

[0064] Par_VspdMod_Brk_Rcy=Cb*|(T'-T) / T|

[0065] Cb is a constant corresponding to the braking energy recovery coefficient, T' is the target torque to be optimized, and T is the actual torque of the current drive motor.

[0066] Step S06: Determine the target torque based on the target torque to be optimized and the drive coefficient.

[0067] Specifically, the target torque = the target torque to be optimized * the drive coefficient.

[0068] Based on the target torque control method for a hybrid tractor disclosed in the first aspect above, the second aspect of this invention discloses an adaptive control method for a hybrid tractor. Specifically, in addition to the aforementioned target torque control method for a hybrid tractor, this method further includes, when acquiring throttle opening information:

[0069] Obtain the target discharge power and actual discharge power of the range extender;

[0070] Calculate the difference between the actual discharge power of the range extender and its corresponding target discharge power;

[0071] The preset condition that the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied is condition A. Based on condition A and the difference, the increased power generation cycle power is determined by looking up a table.

[0072] The reduced power generation cycle power is determined by looking up a table based on the preset condition B that the vehicle speed change rate and the number of times the vehicle speed change counter is satisfied.

[0073] A third aspect of this invention discloses a control unit, comprising a memory and a controller connected in sequence. The memory stores a computer program, and the controller is used to read the computer program and execute a target torque control method for a hybrid tractor according to the first aspect or an adaptive control method for a hybrid tractor according to the second aspect. Specifically, the memory may include, but is not limited to, random-access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; the controller may not be limited to using a microcontroller of the STM32F105 series. Furthermore, the computer device may also include, but is not limited to, a power supply unit, a display screen, and other necessary components.

[0074] The fourth aspect of this invention discloses an adaptive control system for a hybrid tractor, such as... Figure 1 As shown, it includes a data acquisition unit, which includes, but is not limited to, a vehicle speed acquisition module, a throttle opening acquisition module, a brake opening acquisition module, a torque acquisition module, and a range extender discharge power acquisition module. It may also include existing data acquisition modules found on hybrid tractors, such as a key switch signal acquisition module and a P / R / N / D gear position signal acquisition module. A vehicle controller is also included, with the data acquisition unit connected to the vehicle controller via signals. A control unit, as described in the third aspect, is also included, connected to the vehicle controller via signals. This control unit can be a separate unit, or, to save costs, it can be directly integrated into the vehicle controller, such as... Figure 1 As shown, the drive motor controller generates control commands based on the target torque and / or power generation cycle power of the control unit.

[0075] Of course, other components of the hybrid tractor's adaptive control system, such as Figure 1 The drive motor, engine controller, etc. in this solution are all existing technologies, and their circuit connections are also existing relationships, which will not be elaborated in this solution.

[0076] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A target torque control method for a hybrid tractor, characterized in that, Includes the following steps: Receive vehicle speed information over a period of time; The vehicle speed change rate and the number of times the vehicle speed change counter is determined based on the vehicle speed information. The vehicle speed change counter includes a first vehicle speed change counter and a second vehicle speed change counter. In response to the vehicle speed change rate and the number of times the vehicle speed change counter meets a preset condition, the throttle opening information and the vehicle status in the vehicle controller are obtained. The target torque to be optimized is determined based on the overall vehicle condition. Based on the preset conditions satisfied by the throttle opening information, the vehicle speed change rate, and the number of times the vehicle speed change counter is used, the constant corresponding to the weakened or enhanced drive coefficient is determined by looking up a table, and the drive coefficient is determined based on the constant corresponding to the drive coefficient. The target torque is determined based on the target torque to be optimized and the driving coefficient; The process of determining the vehicle speed change rate and the number of times the vehicle speed change counter is used based on the vehicle speed information includes: The vehicle speed change rate is determined based on the vehicle speed information; When the rate of change of vehicle speed is less than the first threshold, the first vehicle speed change counter is incremented by 1. When the rate of change of vehicle speed exceeds a second threshold, the second vehicle speed change counter increments by 1, wherein the first threshold is less than the second threshold; the preset conditions include condition A and condition B. Condition A is that the vehicle speed change rate is less than the first threshold and the count of the first vehicle speed change counter is greater than the third threshold; Condition B is that the vehicle speed change rate is greater than the second threshold and the count of the second vehicle speed change counter is greater than the fourth threshold; wherein, the third threshold is less than the fourth threshold.

2. The target torque control method for a hybrid tractor according to claim 1, characterized in that, The constant corresponding to the weakened or enhanced drive coefficient is determined by looking up a table based on preset conditions satisfied by the throttle opening information, the vehicle speed change rate, and the number of times the vehicle speed change counter is used. The drive coefficient is then determined based on this constant, including: In response to the throttle opening information being a preset condition A that indicates the throttle opening is greater than zero and the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied, the constant corresponding to the enhanced vehicle speed model drive coefficient is determined by looking up a table based on the vehicle speed change rate. In response to the throttle opening information being a preset condition B that indicates the throttle opening is greater than zero and the vehicle speed change rate and the number of times the vehicle speed change counter is satisfied, the constant corresponding to the reduced vehicle speed model drive coefficient is determined by looking up a table based on the vehicle speed change rate. The vehicle speed model drive coefficient is calculated based on the constant corresponding to the vehicle speed model drive coefficient, the target torque to be optimized, and the actual torque of the drive motor.

3. The target torque control method for a hybrid tractor according to claim 1, characterized in that, The constant corresponding to the weakened or enhanced drive coefficient is determined by looking up a table based on preset conditions satisfied by the throttle opening information, the vehicle speed change rate, and the number of times the vehicle speed change counter is used. The drive coefficient is then determined based on this constant, including: In response to the throttle opening information indicating that the throttle opening is zero, brake opening information is obtained; In response to the brake opening information indicating that the brake opening is zero and the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied, the preset condition is condition A. Based on the vehicle speed change rate, the constant corresponding to the enhanced coasting energy recovery coefficient is determined by looking up a table. In response to the preset condition B that the braking opening information characterizes the braking opening as zero and the vehicle speed change rate and the number of times the vehicle speed change counter is satisfied, the constant corresponding to the reduced coasting energy recovery coefficient is determined by looking up a table based on the vehicle speed change rate. The gliding energy recovery coefficient is calculated based on the constant corresponding to the gliding energy recovery coefficient, the target torque to be optimized, and the actual torque of the drive motor.

4. The target torque control method for a hybrid tractor according to claim 1, characterized in that, The constant corresponding to the weakened or enhanced drive coefficient is determined by looking up a table based on preset conditions satisfied by the throttle opening information, the vehicle speed change rate, and the number of times the vehicle speed change counter is used. The drive coefficient is then determined based on this constant, including: In response to the throttle opening information indicating that the throttle opening is zero, brake opening information is obtained; In response to the brake opening information indicating that the brake opening is greater than zero and the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied, the preset condition is condition A. Based on the vehicle speed change rate, the constant corresponding to the enhanced brake energy recovery coefficient is determined by looking up a table. In response to the brake opening information indicating that the brake opening is greater than zero and the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied, the preset condition B is used to determine the constant corresponding to the reduced brake energy recovery coefficient by looking up a table based on the vehicle speed change rate. The braking energy recovery coefficient is calculated based on the constant corresponding to the braking energy recovery coefficient, the target torque to be optimized, and the actual torque of the drive motor.

5. The target torque control method for a hybrid tractor according to claim 1, characterized in that, The target torque determined based on the target torque to be optimized and the driving coefficient is as follows: Target torque = Target torque to be optimized * Drive coefficient.

6. An adaptive control method for a hybrid tractor, characterized in that, Including the target torque control method for a hybrid tractor as described in any one of claims 1 to 5, The process of obtaining throttle opening information also includes: Obtain the target discharge power and actual discharge power of the range extender; Calculate the difference between the actual discharge power of the range extender and its corresponding target discharge power; The preset condition that the vehicle speed change rate and the number of times the vehicle speed change counter are satisfied is condition A. Based on condition A and the difference, the increased power generation cycle power is determined by looking up a table. The reduced power generation cycle power is determined by looking up a table based on the preset condition B that the vehicle speed change rate and the number of times the vehicle speed change counter is satisfied.

7. A control unit comprising a memory and a controller connected in sequence, wherein the memory stores a computer program, characterized in that: The controller is used to read the computer program and execute the target torque control method for a hybrid tractor as described in any one of claims 1-5.

8. A control unit comprising a memory and a controller connected in sequence, wherein the memory stores a computer program, characterized in that: The controller is used to read the computer program and execute the adaptive control method for a hybrid tractor as described in claim 6.

9. An adaptive control system for a hybrid tractor, characterized in that, include: The data acquisition unit includes a vehicle speed acquisition module, a throttle opening acquisition module, a brake opening acquisition module, a torque acquisition module, and a range extender discharge power acquisition module. The vehicle controller, wherein the data acquisition unit is signal-connected to the vehicle controller; A control unit as described in claim 7 or 8, wherein the control unit is signal-connected to the vehicle controller; A drive motor controller that generates control commands based on the target torque and / or power generation cycle power of the control unit.

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