Control method for power distribution of hydrogen power plant protection machine

Abstract

The invention discloses a control method for power distribution of a hydrogen power plant protection machine. An accelerator pedal position sensor, a tilt angle sensor, a vehicle controller, a rotating speed sensor, a speed sensor, a hydrogen fuel cell, a lithium battery, a motor controller and a driving motor are included. The tilt angle sensor is mounted on the frame and is used for detecting the running gradient of the vehicle; the rotating speed sensor is mounted on a wheel for measuring and is used for detecting the rotating speed of the wheel; the accelerator pedal position sensor is installed on an accelerator pedal and used for detecting the opening degree of the accelerator pedal. According to the power distribution control method for the hydrogen power plant protection machine, the hydrogen fuel cell and the vehicle lithium battery are coupled for power supply, the motor input power can be determined according to driver input information and the vehicle driving road condition, and therefore it is guaranteed that the actual use power of a vehicle driving motor is guaranteed with the lowest power consumption, and the practical cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned agricultural machinery, and in particular to a control method for power distribution of a hydrogen-powered plant protection machine. Background Art

[0002] Power components are an important part of a vehicle. The vehicle's driving, traction and other functions are all achieved by power components. The vehicle's economy is positively correlated with its power components.

[0003] With the development of domestic new energy technologies, the number of hydrogen-powered vehicles has increased year by year. At present, the cost of domestic hydrogen fuel systems is higher than that of pure electric systems, and high-power hydrogen-powered vehicles need to be equipped with high-power hydrogen fuel cell systems, which makes the vehicle cost higher, consumes large power, and causes unnecessary energy loss. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a control method for power distribution of a hydrogen-powered crop protection machine, so that the hydrogen fuel cell is coupled with the vehicle's lithium battery for power supply. The motor input power can be determined based on the driver's input information and the vehicle's driving conditions, thereby ensuring that the vehicle's drive motor has the actual power usage guaranteed by the lowest power consumption, which can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a method for controlling power distribution of a hydrogen-powered plant protection machine, comprising an accelerator pedal position sensor, an inclination sensor, a vehicle controller, a rotation speed sensor, a speed sensor, a hydrogen fuel cell, a lithium battery, a motor controller and a drive motor;

[0006] The inclination sensor is mounted on the vehicle frame and is used to detect the slope of the vehicle;

[0007] The rotation speed sensor is installed on the wheel to detect the rotation speed of the wheel;

[0008] The accelerator pedal position sensor is installed on the accelerator pedal and is used to detect the opening and closing degree of the accelerator pedal;

[0009] The speed sensor is installed at the central wheel axle of the vehicle and is used to detect the current speed;

[0010] The output ends of the accelerator pedal position sensor, inclination sensor, rotation speed sensor and speed sensor are electrically connected to the input end of the vehicle controller respectively, the vehicle controller is bidirectionally connected to the lithium battery and the fuel cell respectively, the output end of the hydrogen fuel cell is electrically connected to the input end of the lithium battery, the output ends of the lithium battery and the hydrogen fuel cell are both electrically connected to the input end of the motor controller, and the output end of the motor controller is electrically connected to the input end of the drive motor.

[0011] As a preferred technical solution of the present invention, based on the information input of the vehicle and the calculation results of the vehicle controller, according to the principle of optimal energy consumption, the power of the hydrogen fuel cell and the lithium battery is optimally distributed to achieve the lowest energy consumption working mode.

[0012] As a preferred technical solution of the present invention, the optimal energy consumption principle is: before the vehicle outputs voltage, the vehicle controller determines the SOC range of the lithium battery;

[0013] When SOC min ≤SOC≤SOC max When the lithium battery and hydrogen fuel cell are coupled, they simultaneously output the optimal power;

[0014] When SOC≤SOC min or SOC ≥ SOC max When the battery is powered on, the hydrogen fuel cell charges the lithium battery and discharges it separately to drive the motor.

[0015] As a preferred technical solution of the present invention, the information input of the vehicle includes the driver's signal input to the accelerator pedal and the slope state of the vehicle itself.

[0016] As a preferred technical solution of the present invention, after the vehicle is discharged, the speed sensor and the driver's input signal determine whether the optimal power meets the current actual use requirements. If not, the information input is returned to recalculate the optimal power and energy consumption.

[0017] As a preferred technical solution of the present invention, the current actual use requirement of the vehicle is determined by calculating the required torque T of the vehicle.

[0018] As a preferred technical solution of the present invention, the calculation formula of the vehicle required torque T is as follows:

[0019] T=T b +T e1 +T e2 ;

[0020] T e1 =a·T max

[0021] Among them, T b is the basic torque required for vehicle driving, T e1 is the compensation torque I, T e2 is the compensation torque II, a is the accelerator pedal opening and closing degree and the torque load coefficient.

[0022] As a preferred technical solution of the present invention, the compensation torque I is determined according to the input value of the inclination sensor, and the greater the vehicle inclination, the greater the compensation value; the compensation torque II is determined according to the input value of the accelerator pedal position sensor, and the greater the opening and closing degree, the greater the compensation value.

[0023] As a preferred technical solution of the present invention, the value range of a is 0-1.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: the control method for power distribution of the hydrogen-powered plant protection machine optimally distributes power to the hydrogen fuel cell and lithium battery of the power system according to the principle of optimal energy consumption to achieve the lowest energy consumption working mode. The simultaneous output of the dual-electric system can meet the needs of the low-power hydrogen fuel system to drive a high-power motor, saving energy loss and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the control principle of the present invention;

[0026] Figure 2 It is the overall flow chart of the control method of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-2 The present invention provides a technical solution: a control method for power distribution of a hydrogen-powered crop protection machine, comprising an accelerator pedal position sensor, an inclination sensor, a vehicle controller, a rotation speed sensor, a speed sensor, a hydrogen fuel cell, a lithium battery, a motor controller and a drive motor, wherein the inclination sensor is mounted on a vehicle frame and is used to detect the slope of the vehicle, the rotation speed sensor is mounted on a wheel and is used to detect the rotation speed of the wheel, the accelerator pedal position sensor is mounted on an accelerator pedal and is used to detect the opening and closing degree of the accelerator pedal, and the speed sensor is mounted on a central wheel axle of the vehicle and is used to detect the current speed;

[0029] The output ends of the accelerator pedal position sensor, inclination sensor, rotation speed sensor and speed sensor are electrically connected to the input end of the vehicle controller respectively, the vehicle controller is bidirectionally connected to the lithium battery and the fuel cell respectively, the output end of the hydrogen fuel cell is electrically connected to the input end of the lithium battery, the output ends of the lithium battery and the hydrogen fuel cell are both electrically connected to the input end of the motor controller, and the output end of the motor controller is electrically connected to the input end of the drive motor.

[0030] According to the driver's signal input to the accelerator pedal and the vehicle's own slope status, based on the calculation results of the vehicle controller, according to the principle of optimal energy consumption, the hydrogen fuel cell and lithium battery are optimally allocated to achieve the lowest energy consumption working mode.

[0031] The optimal energy consumption principle is: before the vehicle outputs voltage, the vehicle controller determines the lithium battery SOC range;

[0032] When SOC min ≤SOC≤SOC max When the lithium battery and hydrogen fuel cell are coupled, they simultaneously output the optimal power;

[0033] When SOC≤SOC min or SOC ≥ SOC max When the battery is powered on, the hydrogen fuel cell charges the lithium battery and discharges it separately to drive the motor.

[0034] After the vehicle is discharged, the speed sensor and the driver's input signal determine whether the optimal power meets the current actual usage requirements. If not, the information input is returned to recalculate the optimal power and energy consumption.

[0035] The vehicle required torque T is calculated according to the following formula:

[0036] T=T b +T e1 +T e2 ;

[0037] T e1 =a·T max

[0038] Among them, T b is the basic torque required for vehicle driving, T e1 is the compensation torque I, T e2 is the compensation torque II, a is the accelerator pedal opening and closing degree and the torque load coefficient. The compensation torque I is determined according to the input value of the inclination sensor. The greater the inclination angle of the vehicle, the greater the compensation value. The compensation torque II is determined according to the input value of the accelerator pedal position sensor. The greater the opening and closing degree, the greater the compensation value. The value range of a is 0~1.

[0039] The present invention achieves optimal control of motor energy consumption through closed-loop control of the hydrogen power battery system, controls the high-power motor through the allocation of the hydrogen power battery system, controls the output power through coupling the battery system, actually changes the power supply mode by monitoring the remaining power of the lithium battery, and calculates the required torque by the method of basic torque and compensation torque.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling power distribution of a hydrogen-powered plant protection machine, characterized in that: Including accelerator pedal position sensor, inclination sensor, vehicle controller, speed sensor, speed sensor, hydrogen fuel cell, lithium battery, motor controller and drive motor; The inclination sensor is mounted on the vehicle frame and is used to detect the slope of the vehicle; The rotation speed sensor is installed on the wheel to detect the rotation speed of the wheel; The accelerator pedal position sensor is installed on the accelerator pedal and is used to detect the opening and closing degree of the accelerator pedal; The speed sensor is installed at the central wheel axle of the vehicle and is used to detect the current speed; The output ends of the accelerator pedal position sensor, inclination sensor, rotation speed sensor and speed sensor are electrically connected to the input end of the vehicle controller respectively, the vehicle controller is bidirectionally connected to the lithium battery and the fuel cell respectively, the output end of the hydrogen fuel cell is electrically connected to the input end of the lithium battery, the output ends of the lithium battery and the hydrogen fuel cell are both electrically connected to the input end of the motor controller, and the output end of the motor controller is electrically connected to the input end of the drive motor.

2. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 1, characterized in that: According to the information input from the vehicle and the calculation results of the vehicle controller, according to the principle of optimal energy consumption, the hydrogen fuel cell and lithium battery are optimally allocated to achieve the lowest energy consumption working mode.

3. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 2, characterized in that: The optimal energy consumption principle is: before the vehicle outputs voltage, the vehicle controller determines the lithium battery SOC range; When SOC min ≤SOC≤SOC max When the lithium battery and hydrogen fuel cell are coupled, they simultaneously output the optimal power; When SOC≤SOC min or SOC ≥ SOC max When the battery is powered on, the hydrogen fuel cell charges the lithium battery and discharges it separately to drive the motor.

4. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 2, characterized in that: The information input of the vehicle includes the signal input of the driver to the accelerator pedal and the slope state of the vehicle itself.

5. The method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 3, characterized in that: After the vehicle is discharged, the speed sensor and the driver's input signal determine whether the optimal power meets the current actual usage requirements. If not, the information input is returned to recalculate the optimal power and energy consumption.

6. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 5, characterized in that: The actual current vehicle usage requirements are determined by calculating the vehicle required torque T.

7. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 6, characterized in that: The calculation formula of the vehicle demand torque T is as follows: T=T b +T e1 +T e2 ; T e1 =a·T max Among them, T b is the basic torque required for vehicle driving, T e1 is the compensation torque I, T e2 is the compensation torque II, a is the accelerator pedal opening and closing degree and the torque load coefficient.

8. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 7, characterized in that: The compensation torque I is determined according to the input value of the inclination sensor. The greater the inclination of the vehicle, the greater the compensation value. The compensation torque II is determined according to the input value of the accelerator pedal position sensor. The greater the opening and closing degree, the greater the compensation value.

9. A method for controlling power distribution of a hydrogen-powered plant protection machine according to claim 7, characterized in that: The value range of a is 0 to 1.

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