Power system of hybrid sugarcane harvester and control method thereof

Abstract

The invention discloses a power system of a hybrid sugarcane harvester and a control method of the power system. An FISG motor controller, a walking motor integrated controller, an integrated motor controller 1 and an integrated motor controller 2 of the power system are all connected with a high-voltage distribution box through a high-voltage circuit; the FISG motor is connected with the FISG motor controller through a high-voltage circuit; the walking motor integrated controller is used for controlling the walking motor to drive the crawler belt to walk; the integrated motor controller 1 is used for controlling the conveying motor, the leaf stripping motor and the feeding motor to work through a high-voltage circuit; the integrated motor controller 2 is used for controlling a cutter motor, a pressing motor and a sugarcane lifting motor to work through a high-voltage circuit; the control system is used for controlling the power system to work through low-voltage communication, and comprises a system controller which is connected with each component of the control system through pressing communication; therefore, the problem of power loss in each link in the energy transfer process in the prior art can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of new energy power systems, and in particular to a power system of a hybrid sugarcane harvester and a control method thereof. Background Art

[0002] With the improvement of agricultural production efficiency, the number of combine harvesters is expected to continue to grow in the future. As a high-power agricultural machinery, sugarcane harvesters have complex operating procedures and numerous actuators. In the actual operation of traditional sugarcane harvesters, the load changes frequently, resulting in constant changes in the pressure and flow of the entire hydraulic system, and serious overflow and throttling losses.

[0003] In response to the requirements of energy conservation and emission reduction, the application of new energy drive technology in agricultural machinery has positive significance for improving the power supply of agricultural machinery, reducing emission pollution and reducing energy consumption.

[0004] like Figure 1 As shown in the figure, the traditional power system of sugarcane harvester is a diesel engine output power distribution. The power output of the sugarcane harvester comes from the engine. The energy transfer process during the working process is: engine-hydraulic pump-hydraulic actuator (hydraulic motor, hydraulic cylinder)-working mechanism. During the energy transfer process, there is power loss in each link. In the end, only a small part of the power is transferred to the working structure, and the system energy transfer efficiency is low. The energy loss mainly includes mechanical loss, pipeline loss, loss caused by mismatch between hydraulic pump and load power, and loss caused by mismatch between engine and hydraulic pump power, such as Figure 2 shown.

[0005] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to provide a power and control system for a hybrid crawler sugarcane harvester, which can reduce and overcome the problem of power loss in each link during the energy transfer process in the prior art, and ultimately achieve the transmission of main power to the working structure, completing the efficient energy transfer of the power system.

[0007] Another object of the present invention is to provide a method for controlling a power system of a hybrid sugarcane harvester.

[0008] To achieve the above-mentioned purpose, the present invention provides a power system of a hybrid sugarcane harvester, including a power system and a control system; the power system is used to provide power, and the power system includes a high-voltage distribution box, a FISG motor controller, a FISG motor, a travel motor integrated controller, an integrated motor controller 1 and an integrated motor controller 2; the FISG motor controller is connected to the high-voltage distribution box through a high-voltage circuit; the FISG motor is connected to the FISG motor controller through a high-voltage circuit, and the FISG motor is integrated on the engine; the travel motor integrated controller is connected to the high-voltage distribution box through a high-voltage circuit, and the travel motor integrated controller is used to control the travel motor to drive the crawler to achieve walking; the integrated motor controller 1 is connected to the high-voltage distribution box through a high-voltage circuit, and the integrated motor controller 1 is used to control the conveying motor, the leaf stripping motor and the feeding motor to operate through the high-voltage circuit; the integrated motor controller 2 is connected to the high-voltage distribution box through a high-voltage circuit, and the integrated motor controller 2 is used to control the tool motor, the pressing motor and the sugarcane supporting motor to operate through the high-voltage circuit; the control system is used to control the power system to operate through low-voltage communication, and the control system includes a system controller, which is connected to each component of the control system through pressure communication.

[0009] In a preferred embodiment, the travel motor includes a left travel motor and a right travel motor. The left travel motor drives the left drive wheel to drive the left track to achieve walking through a mechanical connection, and the right travel motor drives the right drive wheel to drive the right track to achieve walking through a mechanical connection.

[0010] In a preferred embodiment, the conveying motor drives the conveying device through a mechanical connection to transport the sugarcane to the collection box, the leaf stripping motor drives the leaf stripping device through a mechanical connection to peel off the sugarcane leaves, and the feeding motor drives the feeding device through a mechanical connection to put the sugarcane into the box.

[0011] In a preferred embodiment, the cutter motor drives the cutting device through a mechanical connection to achieve sugarcane cutting, the pressing motor drives the pressing device through a mechanical connection to achieve sugarcane pressing and guiding, and the sugarcane supporting motor drives the sugarcane supporting device through a mechanical connection to achieve sugarcane straightening.

[0012] In a preferred embodiment, the high-voltage circuit includes a high-voltage bus and a high-voltage three-phase line. The high-voltage distribution box is connected to the walking motor integrated controller, the integrated motor controller 1, the integrated motor controller 2 and the FISG motor controller through the high-voltage bus. The walking motor integrated controller is connected to the left walking motor and the right walking motor through the high-voltage three-phase line. The integrated motor controller 1 is connected to the conveying motor, the leaf stripping motor and the feeding motor through the high-voltage three-phase line. The integrated motor controller 2 is connected to the cutter motor, the pressing click and the sugarcane supporting motor through the high-voltage three-phase line, and the FISG motor controller is connected to the FISG motor through the high-voltage three-phase line.

[0013] In a preferred embodiment, the power system of the hybrid sugarcane harvester also includes an engine, an energy storage device, an external charging device and a driver operating device; the engine drives the FISG motor through a mechanical connection; the energy storage device is connected to the high-voltage distribution box through a high-voltage bus; the external charging device is connected to the high-voltage distribution box through a high-voltage bus; and the driver operating device is connected to the system controller through a low-voltage communication.

[0014] In a preferred embodiment, the system controller receives instructions from the driver's operating device, which are converted into execution demand signals after logical arbitration by the system controller and sent to the control components for execution. The control components include an energy storage device controller, a high-voltage distribution box, an engine controller, a FISG motor controller, an integrated motor controller 1, an integrated motor controller 2, and a travel motor integrated controller. The system controller can also feedback the system control status to the driver's operating device for status display, and the displayed content includes the high-voltage battery remaining power value SOC, vehicle speed, power generation status, engine operating status, sugarcane supporting device operating status, crushing device operating status, cutting device operating status, feeding device operating status, leaf stripping device operating status, conveying device operating status, and system fault status. After receiving the instructions from the system controller, the energy storage device controller executes the connection and disconnection of the high-voltage battery relay based on the instructions. The high-voltage battery relay includes a main positive relay, a main negative relay, and a pre-charge relay. The energy storage device controller also displays the connection and separation status of the high-voltage battery relay and the remaining power SOC value, The fault status is fed back to the system controller; after the high-voltage distribution box receives the command from the system controller, it executes the connection and disconnection of the high-voltage accessory relay based on the command. The high-voltage accessory relay includes the FISG motor controller relay, the integrated motor controller 1 relay, the integrated motor controller 2 relay, and the walking motor integrated controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relay to the system controller; after the motor controller receives the command from the system controller, it executes the enable, control mode, torque command, and speed command of the FISG motor controller based on the command, and the motor controller feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the FISG motor controller to the system controller; and after the engine controller receives the command from the system controller, it executes the start and stop of the engine, the control mode, torque command, and speed command based on the command, and the engine controller feeds back the actual start and stop status, actual control mode status, actual torque value, actual speed value, and fault status of the engine to the system controller.

[0015] In a preferred embodiment, after the integrated motor controller 1 receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the sugarcane motor controller based on the instruction, and the sugarcane motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the sugarcane motor controller to the system controller; after the integrated motor controller 1 receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the controller of the overpowering motor based on the instruction, and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the overpowering motor controller to the system controller; after the integrated motor controller 1 receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the tool motor controller based on the instruction, and the tool motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the tool motor controller to the system system controller; after the integrated motor controller 2 receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the feed motor controller based on the instruction, feeds the motor controller and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value and fault state of the feed motor controller to the system controller; after the integrated motor controller 2 receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the leaf stripping motor controller based on the instruction, the leaf stripping motor controller and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value and fault state of the leaf stripping motor controller to the system controller; and after the integrated motor controller 2 receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the conveying motor controller based on the instruction, the conveying motor controller and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value and fault state of the conveying motor controller to the system controller.

[0016] In a preferred embodiment, after the walking motor integrated controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the left walking motor controller based on the instruction, and the left walking motor controller feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the left walking motor controller to the system controller; and after the walking motor integrated controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the right walking motor controller based on the instruction, and the right walking motor controller feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the right walking motor controller to the system controller.

[0017] To achieve the above-mentioned another object, the present invention also provides a control method for the power system of a hybrid sugarcane harvester, which is used for controlling the power system as mentioned above, and the control method includes: when the key is powered on at low voltage, the control components of the system are powered on at low voltage, and the various control components can communicate normally; based on the communication information between the various control components, the system collects the fault status information and fault-free information between the various control components, and the system controls the high-voltage system to perform high-voltage power-on operation. If the system triggers the fault level limit, the function of the control component of the system will be restricted by prohibiting the engine from starting or prohibiting the motor from enabling; if the high voltage is powered on normally and the system has no faults, the system determines whether it is powered on based on the remaining power SOC value of the high-voltage battery. Activate the parking charging function. When the SOC value is not greater than the first calibration threshold, activate the parking power generation function, correspondingly execute the engine start and enable the FISG motor, and then the engine executes the control state command, speed command or torque command, and the FISG motor executes the control state command, torque command or speed command. At this time, the high-voltage battery is charged until the battery power SOC value is greater than the second calibration threshold. At this time, the engine is stopped, the FISG motor is stopped, and the high-voltage battery enters the stop charging state, where 100≥the second calibration threshold>the first calibration threshold≥0; if the high voltage is powered on normally and there is no fault in the system, the system determines whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. Yes, when the SOC value is greater than the first calibration threshold, the system allows entering the driving and harvesting conditions; if the system meets the driving conditions, the system enters the driving activation state, and correspondingly executes the enabling of the left travel motor and the right travel motor, and then the left travel motor executes the control state instruction, speed instruction or torque instruction, and the right travel motor executes the control state instruction, torque instruction or speed instruction, and the system enters the working condition detection, and adjusts the speed and torque of the left and right travel motors based on no-load driving and harvesting state driving. When the system does not meet the driving conditions, the system enters the parking state; if the system meets the harvesting condition conditions, the system enters the harvesting activation state, and correspondingly executes the sugarcane supporting motor, pressing motor, cutter motor, feeding motor, leaf stripping motor, and conveying motor. The motor is enabled, and then the sugarcane supporting motor executes the control state instruction, speed instruction or torque instruction, the pressing motor executes the control state instruction, torque instruction or speed instruction, the cutter motor executes the control state instruction, speed instruction or torque instruction, the feeding motor executes the control state instruction, torque instruction or speed instruction, the leaf stripping motor executes the control state instruction, speed instruction or torque instruction, and the conveying motor executes the control state instruction, torque instruction or speed instruction. The system enters the harvesting condition detection. The harvesting conditions include evacuation harvesting conditions, ordinary harvesting conditions and intensive harvesting conditions. Based on the harvesting condition status, the driving is used to adjust the speed and torque of the sugarcane supporting motor, pressing motor, cutter motor, feeding motor, leaf stripping motor and conveying motor;And if the system detects that the vehicle is in parking state and the driver's key is powered off, the system controls the high-voltage battery to power off. After the high-voltage power off is completed, the system enters a dormant state. ;

[0018] Compared with the prior art, the power system and control method of the hybrid sugarcane harvester of the present invention have the following beneficial effects: this scheme adopts a high-voltage bus to connect high-voltage accessories such as the FISG motor controller, the travel motor integrated controller, the integrated motor controller 1 and the integrated motor controller 2 through a high-voltage distribution box, and then the high-voltage accessories adopt a high-voltage three-phase line to connect the travel drive motor, the first and the second working motors, and finally the drive motor and the working motor adopt a mechanical connection to drive the travel device to realize walking and the working device to operate; at the same time, the system controller is respectively connected to each controller, each relay, each high-voltage component, each drive motor and the working motor through a low-voltage communication line and controls them to realize walking and operation, which can well reduce and overcome the problem of power loss in each link in the energy transfer process of the prior art, and finally the main power can be transferred to the working structure to complete the efficient energy transfer of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of equipment layout of a power system according to an implementation method of the prior art;

[0020] Figure 2 is a schematic diagram of efficiency loss of a power system according to an implementation method of the prior art;

[0021] Figure 3 is a schematic diagram of equipment layout of a power system according to an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of a control strategy of a power system according to an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of a control flow of a control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0025] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0026] like Figure 3As shown, a power system of a hybrid sugarcane harvester according to a preferred embodiment of the present invention includes a power system and a control system; the power system is used to provide power, and the power system includes a high-voltage distribution box, a FISG motor controller, a FISG motor, a travel motor integrated controller, an integrated motor controller 1 and an integrated motor controller 2; the FISG motor controller is connected to the high-voltage distribution box through a high-voltage circuit; the FISG motor is connected to the FISG motor controller through a high-voltage circuit, and the FISG motor is integrated on the engine; the travel motor integrated controller is connected to the high-voltage distribution box through a high-voltage circuit, and the travel motor integrated controller is used to control the travel motor to drive the crawler to achieve walking; the integrated motor controller 1 is connected to the high-voltage distribution box through a high-voltage circuit, and the integrated motor controller 1 is used to control the conveying motor, the leaf stripping motor and the feeding motor to operate through the high-voltage circuit; the integrated motor controller 2 is connected to the high-voltage distribution box through a high-voltage circuit, and the integrated motor controller 2 is used to control the tool motor, the pressing motor and the sugarcane supporting motor to operate through the high-voltage circuit; the control system is used to control the power system to operate through low-voltage communication, and the control system includes a system controller, which is connected to each component of the control system through pressure communication.

[0027] In some embodiments, the travel motor includes a left travel motor and a right travel motor. The left travel motor drives the left drive wheel to drive the left track to achieve walking through a mechanical connection, and the right travel motor drives the right drive wheel to drive the right track to achieve walking through a mechanical connection.

[0028] In some embodiments, the conveying motor drives the conveying device through a mechanical connection to transport the sugarcane to the collection box, the leaf stripping motor drives the leaf stripping device through a mechanical connection to strip the sugarcane leaves, and the feeding motor drives the feeding device through a mechanical connection to put the sugarcane into the inside.

[0029] In some embodiments, the cutter motor drives the cutting device through a mechanical connection to achieve sugarcane cutting, the knockdown motor drives the knockdown device through a mechanical connection to achieve sugarcane knockdown guidance, and the sugarcane supporting motor drives the sugarcane supporting device through a mechanical connection to achieve sugarcane straightening.

[0030] In some embodiments, the high-voltage circuit includes a high-voltage bus and a high-voltage three-phase line. The high-voltage distribution box is connected to the walking motor integrated controller, the integrated motor controller 1, the integrated motor controller 2 and the FISG motor controller through the high-voltage bus. The walking motor integrated controller is connected to the left walking motor and the right walking motor through the high-voltage three-phase line. The integrated motor controller 1 is connected to the conveying motor, the leaf stripping motor and the feeding motor through the high-voltage three-phase line. The integrated motor controller 2 is connected to the cutter motor, the pressing click and the sugarcane supporting motor through the high-voltage three-phase line, and the FISG motor controller is connected to the FISG motor through the high-voltage three-phase line.

[0031] In some embodiments, the power system of the hybrid sugarcane harvester also includes an engine, an energy storage device, an external charging device and a driver operating device; the engine drives the FISG motor through a mechanical connection; the energy storage device is connected to the high-voltage distribution box through a high-voltage bus; the external charging device is connected to the high-voltage distribution box through the high-voltage bus; and the driver operating device is connected to the system controller through low-voltage communication.

[0032] In some embodiments, the high-voltage bus DC voltage range is between 300 and 1000 V, the output end of the engine is mechanically connected to one end of the FISG motor. Generally, the FISG motor is integrated on the engine. The engine includes an engine mechanical body and an engine controller. The engine fuel types include diesel engines, gasoline engines, methanol engines, and hydrogen engines; the energy storage device includes a high-voltage battery body and an energy storage device controller.

[0033] like Figure 4As shown, in some embodiments, the system controller receives instructions from the driver's operating device, which are converted into execution demand signals after logical arbitration by the system controller and sent to the control components for execution. The control components include an energy storage device controller, a high-voltage distribution box, an engine controller, a FISG motor controller, an integrated motor controller 1, an integrated motor controller 2, and a travel motor integrated controller; the system controller can also feedback the system control status to the driver's operating device for status display, and the displayed content includes the high-voltage battery remaining power value SOC, vehicle speed, power generation status, engine operating status, sugarcane supporting device operating status, crushing device operating status, cutting device operating status, feeding device operating status, leaf stripping device operating status, conveying device operating status, and system fault status; after the energy storage device controller receives the system controller instruction, it executes the connection and disconnection of the high-voltage battery relay based on the instruction. The high-voltage battery relay includes a main positive relay, a main negative relay, and a pre-charge relay. The energy storage device controller also displays the connection and separation status of the high-voltage battery relay and the remaining power SOC value, The fault status is fed back to the system controller; after the high-voltage distribution box receives the command from the system controller, it executes the connection and disconnection of the high-voltage accessory relay based on the command. The high-voltage accessory relay includes the FISG motor controller relay, the integrated motor controller 1 relay, the integrated motor controller 2 relay, and the walking motor integrated controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relay to the system controller; after the motor controller receives the command from the system controller, it executes the enable, control mode, torque command, and speed command of the FISG motor controller based on the command, and the motor controller feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the FISG motor controller to the system controller; and after the engine controller receives the command from the system controller, it executes the start and stop of the engine, the control mode, torque command, and speed command based on the command, and the engine controller feeds back the actual start and stop status, actual control mode status, actual torque value, actual speed value, and fault status of the engine to the system controller.

[0034] See also Figure 4In some embodiments, after the integrated motor controller 1 receives the instruction in the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the sugar cane motor controller based on the instruction, and the sugar cane motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the sugar cane motor controller to the system controller; after the integrated motor controller 1 receives the instruction in the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the controller of the overpowering motor based on the instruction, and feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the overpowering motor controller to the system controller; after the integrated motor controller 1 receives the instruction in the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the tool motor controller based on the instruction, and the tool motor controller feeds back the actual enablement state, actual control mode state, actual torque value, actual speed value, and fault state of the tool motor controller to the system system controller; after the integrated motor controller 2 receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the feed motor controller based on the instruction, feeds the motor controller and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value and fault state of the feed motor controller to the system controller; after the integrated motor controller 2 receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the leaf stripping motor controller based on the instruction, the leaf stripping motor controller and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value and fault state of the leaf stripping motor controller to the system controller; and after the integrated motor controller 2 receives the instruction in the system controller, it executes the enable, control mode, torque instruction and speed instruction of the conveying motor controller based on the instruction, the conveying motor controller and feeds back the actual enable state, actual control mode state, actual torque value, actual speed value and fault state of the conveying motor controller to the system controller.

[0035] Please continue reading Figure 4 In some embodiments, after the walking motor integrated controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the left walking motor controller based on the instruction, and the left walking motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the left walking motor controller to the system controller; and after the walking motor integrated controller receives the instruction in the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the right walking motor controller based on the instruction, and the right walking motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the right walking motor controller to the system controller.

[0036] like Figure 5As shown, in order to achieve the above-mentioned another purpose, the present invention also provides a control method for the power system of a hybrid sugarcane harvester, which is used for controlling the power system as mentioned above, and the control method includes: when the key is powered on at low voltage, the control components of the system are powered on at low voltage, and each control component can communicate normally; based on the communication information between each control component, the system collects the fault state information and fault-free information between each control component, and the system controls the high-voltage system to perform high-voltage power-on operation. If the system triggers the fault level limit, the function of the control component of the system will be restricted by prohibiting the engine from starting or prohibiting the motor from enabling; if the high voltage is powered on normally and the system has no faults, the system determines whether to activate the parking charging function based on the SOC value of the remaining power of the high-voltage battery. When the SOC value is not greater than the first calibration threshold value A% (A≥0, for example but not limited to A=10), the parking power generation function is activated, and the engine start and the FISG motor are enabled accordingly, and then the engine executes the control state instruction, the speed instruction or the torque instruction, and the FISG motor executes the control state instruction, the torque instruction Or speed command, then enter the high-voltage battery charging, until the battery power SOC value is greater than the second calibration threshold value B% (B%>A%, B≤100), then the engine is shut down, the FISG motor is shut down, and the high-voltage battery enters the stop charging state, wherein 100≥the second calibration threshold value>the first calibration threshold value≥0; if the high voltage is normally powered on and the system has no faults, the system determines whether to activate the parking charging function based on the remaining power SOC value of the high-voltage battery. When the SOC value is greater than the first calibration threshold value A% (A≥0, for example but not limited to A=10), the system allows entering the driving and harvesting conditions; if the system meets the driving conditions, the system enters the driving activation state, correspondingly executes the enabling of the left travel motor and the right travel motor, and then the left travel motor executes the control state command, the speed command or the torque command, and the right travel motor executes the control state command, the torque command or the speed command, the system enters the working condition detection, and adjusts the speed and torque of the left and right travel motors based on the no-load driving and the harvesting state driving. When the system does not meet the driving conditions, the system enters the parking state;If the system meets the harvesting working condition, the system enters the harvesting activation state, and correspondingly executes the enabling of the sugarcane supporting motor, the pressing motor, the cutter motor, the feeding motor, the leaf stripping motor, and the conveying motor. Then, the sugarcane supporting motor executes the control state instruction, the speed instruction, or the torque instruction, the pressing motor executes the control state instruction, the torque instruction, or the speed instruction, the cutter motor executes the control state instruction, the speed instruction, or the torque instruction, the feeding motor executes the control state instruction, the torque instruction, or the speed instruction, the leaf stripping motor executes the control state instruction, the speed instruction, or the torque instruction, and the conveying motor executes the control state instruction, the torque instruction, or the speed instruction. The system enters the harvesting working condition detection. The harvesting working condition includes evacuation harvesting working condition, ordinary harvesting working condition, and intensive harvesting working condition. Based on the harvesting working condition state, the speed and torque of the sugarcane supporting motor, the pressing motor, the cutter motor, the feeding motor, the leaf stripping motor, and the conveying motor are adjusted. And if the system detects that it is in the parking state and detects that the driver's key is powered off, the system controls the high-voltage battery to power off. After the high-voltage power off is completed, the system enters the dormant state. ;

[0037] In summary, the power system and control method of the hybrid sugarcane harvester of the present invention have the following advantages: this scheme uses a high-voltage bus to connect high-voltage accessories such as the FISG motor controller, the travel motor integrated controller, the integrated motor controller 1 and the integrated motor controller 2 through a high-voltage distribution box, and then the high-voltage accessories use a high-voltage three-phase line to connect the travel drive motor, the first and the second working motors, and finally the drive motor and the working motor use a mechanical connection to drive the travel device to achieve walking and the working device to operate; at the same time, the system controller is used to connect with each controller, each relay, each high-voltage component, each drive motor and the working motor through a low-voltage communication line and control them to achieve walking and operation, which can well reduce and overcome the problem of power loss in each link in the energy transfer process of the prior art, and finally the main power can be transferred to the working structure to complete the efficient energy transfer of the power system.

[0038] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A power system of a hybrid sugarcane harvester, characterized in that: include: A power system for providing power, the power system comprising: High voltage distribution box; A FISG motor controller connected to the high-voltage distribution box via a high-voltage circuit; A FISG motor connected to the FISG motor controller via a high-voltage circuit, wherein the FISG motor is integrated on the engine; A walking motor integrated controller, which is connected to the high-voltage distribution box through a high-voltage circuit, and the walking motor integrated controller is used to control the walking motor to drive the crawler to achieve walking; An integrated motor controller 1, which is connected to the high-voltage distribution box through a high-voltage circuit, and the integrated motor controller 1 is used to control the conveying motor, the leaf stripping motor and the feeding motor to operate through the high-voltage circuit; and An integrated motor controller 2, which is connected to the high-voltage distribution box through a high-voltage circuit, and the integrated motor controller 2 is used to control the cutter motor, the pressing motor and the sugarcane supporting motor to operate through the high-voltage circuit; A control system is used to control the power system to operate through low-voltage communication. The control system includes a system controller, which is connected to various components of the control system through the low-voltage communication.

2. The power system of the hybrid sugarcane harvester according to claim 1, characterized in that: The travel motor comprises a left travel motor and a right travel motor. The left travel motor drives the left drive wheel to drive the left crawler track to achieve walking through a mechanical connection. The right travel motor drives the right drive wheel to drive the right crawler track to achieve walking through a mechanical connection.

3. The power system of the hybrid sugarcane harvester according to claim 1, characterized in that: The conveying motor drives the conveying device through mechanical connection to convey the sugarcane to the collecting box, the leaf stripping motor drives the leaf stripping device through mechanical connection to strip the sugarcane leaves, and the feeding motor drives the feeding device through mechanical connection to put the sugarcane into the collecting box.

4. The power system of the hybrid sugarcane harvester according to claim 1, characterized in that: The cutter motor drives the cutting device through mechanical connection to achieve sugarcane cutting, the pressing motor drives the pressing device through mechanical connection to achieve sugarcane pressing and guiding, and the sugarcane supporting motor drives the sugarcane supporting device through mechanical connection to achieve sugarcane straightening.

5. The power system of a hybrid sugarcane harvester according to any one of claims 2 to 3, characterized in that: The high-voltage circuit includes a high-voltage bus and a high-voltage three-phase line. The high-voltage distribution box is connected to the travel motor integrated controller, the integrated motor controller 1, the integrated motor controller 2 and the FISG motor controller through the high-voltage bus. The travel motor integrated controller is connected to the left travel motor and the right travel motor through the high-voltage three-phase line. The integrated motor controller 1 is connected to the conveying motor, the leaf stripping motor and the feeding motor through the high-voltage three-phase line. The integrated motor controller 2 is connected to the cutter motor, the crushing click and the sugarcane supporting motor through the high-voltage three-phase line, and the FISG motor controller is connected to the FISG motor through the high-voltage three-phase line.

6. The power system of the hybrid sugarcane harvester according to claim 5, characterized in that: Also includes: An engine that drives the FISG motor through a mechanical connection; An energy storage device connected to the high-voltage distribution box via a high-voltage bus; an external charging device connected to the high-voltage distribution box via a high-voltage bus; and A driver operating device is connected to the system controller via low voltage communication.

7. The power system of the hybrid sugarcane harvester according to claim 6, characterized in that: The system controller receives the instruction of the driver's operating device, and converts it into an execution demand signal after logical arbitration by the system controller and sends it to the control component for execution. The control component includes an energy storage device controller, the high-voltage distribution box, an engine controller, the FISG motor controller, the integrated motor controller 1, the integrated motor controller 2 and the travel motor integrated controller; The system controller can also feed back the system control status to the driver operating device for status display, and the displayed content includes the remaining power value SOC of the high-voltage battery, vehicle speed, power generation status, engine operation status, sugarcane supporting device operation status, pressing device operation status, cutting device operation status, feeding device operation status, leaf stripping device operation status, conveying device operation status and system fault status; After receiving the instruction from the system controller, the energy storage device controller performs the connection and disconnection of the high-voltage battery relay based on the instruction. The high-voltage battery relay includes a main positive relay, a main negative relay and a pre-charge relay. The energy storage device controller also feeds back the connection and disconnection state of the high-voltage battery relay, the remaining power SOC value, and the fault state to the system controller; After receiving the system controller instruction, the high-voltage distribution box executes the connection and disconnection of the high-voltage accessory relay based on the instruction. The high-voltage accessory relay includes the FISG motor controller relay, the integrated motor controller 1 relay, the integrated motor controller 2 relay, and the travel motor integrated controller relay. The high-voltage distribution box also feeds back the connection and separation status of the high-voltage accessory relay to the system controller; After receiving the instruction from the system controller, the motor controller executes the enable, control mode, torque instruction, and speed instruction of the FISG motor controller based on the instruction, and the motor controller feeds back the actual enable state, actual control mode state, actual torque value, actual speed value, and fault state of the FISG motor controller to the system controller; as well as After receiving the system controller instructions, the engine controller executes the engine start and stop, control mode, torque instruction, and speed instruction based on the instructions. The engine controller also feeds back the engine start and stop actual status, control mode actual status, torque actual value, speed actual value, and fault status to the system controller.

8. The power system of the hybrid sugarcane harvester according to claim 6, characterized in that: After the integrated motor controller 1 receives the instruction from the system controller, it executes the enablement, control mode, torque instruction, and speed instruction of the sugarcane motor controller based on the instruction, and the sugarcane motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the sugarcane motor controller to the system controller; After receiving the instruction from the system controller, the integrated motor controller 1 executes the enablement, control mode, torque instruction, and speed instruction of the controller of the overriding motor based on the instruction, overriding the motor controller and feeding back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the overriding motor controller to the system controller; After receiving the instruction from the system controller, the integrated motor controller 1 executes the enablement, control mode, torque instruction, and speed instruction of the tool motor controller based on the instruction, and the tool motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the tool motor controller to the system controller; After receiving the instruction from the system controller, the integrated motor controller 2 executes the enable, control mode, torque instruction, and speed instruction fed into the motor controller based on the instruction, feeds the motor controller, and feeds back the actual enable state, control mode actual state, torque actual value, speed actual value, and fault state fed into the motor controller to the system controller; After receiving the instruction from the system controller, the integrated motor controller 2 executes the enablement, control mode, torque instruction, and speed instruction of the leaf stripping motor controller based on the instruction, and the leaf stripping motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value, and fault state of the leaf stripping motor controller to the system controller; and After the integrated motor controller 2 receives the instructions from the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the conveying motor controller based on the instructions, and the conveying motor controller also feeds back the actual enable status, control mode actual status, torque actual value, speed actual value, and fault status of the conveying motor controller to the system controller.

9. The power system of the hybrid sugarcane harvester according to claim 6, characterized in that: After receiving the instruction from the system controller, the travel motor integrated controller executes the enablement, control mode, torque instruction and speed instruction of the left travel motor controller based on the instruction, and the left travel motor controller feeds back the actual enablement state, control mode actual state, torque actual value, speed actual value and fault state of the left travel motor controller to the system controller; as well as After the travel motor integrated controller receives the instructions from the system controller, it executes the enable, control mode, torque instruction, and speed instruction of the right travel motor controller based on the instructions. The right travel motor controller also feeds back the actual enable status, control mode actual status, torque actual value, speed actual value, and fault status of the right travel motor controller to the system controller.

10. A method for controlling a power system of a hybrid sugarcane harvester, used for controlling the power system according to any one of claims 1 to 9, characterized in that: The control method comprises: When the key is powered on at low voltage, the control components of the system are powered on at low voltage, and the various control components can communicate normally; Based on the communication information between the control components, the system collects the fault status information and no-fault information between the control components. The system controls the high-voltage system to perform high-voltage power-on operation. If the system triggers the fault level limit, the function of the control component of the system will be restricted by prohibiting the engine from starting or prohibiting the motor from enabling; If the high voltage is powered on normally and the system has no faults, the system determines whether to activate the parking charging function based on the SOC value of the remaining power of the high voltage battery. When the SOC value is not greater than the first calibration threshold, the parking power generation function is activated, and the engine is started and the FISG motor is enabled. Then the engine executes the control state command, speed command or torque command, and the FISG motor executes the control state command, torque command or speed command. At this time, the high voltage battery is charged until the battery power SOC value is greater than the second calibration threshold. At this time, the engine is stopped, the FISG motor is stopped, and the high voltage battery enters the stop charging state, wherein 100≥the second calibration threshold>the first calibration threshold≥0; If the high voltage is powered on normally and there is no fault in the system, the system determines whether to activate the parking charging function based on the SOC value of the remaining power of the high voltage battery. When the SOC value is greater than the first calibration threshold, the system allows entering the driving and harvesting conditions; If the system meets the driving conditions, the system enters the driving activation state, and the left travel motor and the right travel motor are enabled accordingly. Then the left travel motor executes the control state command, speed command or torque command, and the right travel motor executes the control state command, torque command or speed command. The system enters the working condition detection, and adjusts the speed and torque of the left and right travel motors based on no-load driving and harvesting driving. When the system does not meet the driving conditions, the system enters the parking state; If the system meets the harvesting working condition, the system enters the harvesting activation state, and correspondingly executes the enabling of the sugarcane supporting motor, the pressing motor, the cutter motor, the feeding motor, the leaf stripping motor, and the conveying motor, and then the sugarcane supporting motor executes the control state instruction, the speed instruction or the torque instruction, the pressing motor executes the control state instruction, the torque instruction or the speed instruction, the cutter motor executes the control state instruction, the speed instruction or the torque instruction, the feeding motor executes the control state instruction, the torque instruction or the speed instruction, the leaf stripping motor executes the control state instruction, the speed instruction or the torque instruction, and the conveying motor executes the control state instruction, the torque instruction or the speed instruction, and the system enters the harvesting working condition detection, and the harvesting working condition includes evacuation harvesting working condition, ordinary harvesting working condition and intensive harvesting working condition, and the speed and torque of the sugarcane supporting motor, the pressing motor, the cutter motor, the feeding motor, the leaf stripping motor, and the conveying motor are adjusted based on the harvesting working condition state; and If the system detects that the vehicle is in parking state and the driver's key is powered off, the system controls the high-voltage battery to power off. After the high-voltage battery is powered off, the system enters a dormant state.

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