Power system of hybrid sugarcane harvester and control method thereof

Abstract

The application discloses a hybrid sugarcane harvester power system and a control method thereof, wherein the FISG motor controller, the walking motor integrated controller, the integrated motor controller 1 and the integrated motor controller 2 of the power system are connected with a high-voltage distribution box through a high-voltage circuit; the FISG motor is connected with the FISG motor controller through the high-voltage circuit; the walking motor integrated controller is used for controlling a walking motor to drive a track to realize walking; the integrated motor controller 1 is used for controlling a conveying motor, a leaf stripping motor and a feeding motor to work through the high-voltage circuit; the integrated motor controller 2 is used for controlling a cutter motor, a crushing motor and a cane supporting motor to work through the high-voltage circuit; and the control system is used for controlling the power system to work through low-voltage communication, and the control system comprises a system controller connected with each component of the control system through low-voltage communication; thereby, the problem that power loss occurs at each link in the energy transmission process in the prior art can be effectively overcome.

Description

TECHNICAL FIELD

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

[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 machine, sugarcane harvester has complex operation procedures and numerous execution elements. In the actual operation process of the traditional sugarcane harvester, the load changes frequently, resulting in the continuous change of the pressure and flow of the entire hydraulic system, and serious overflow throttling loss.

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

[0004] As shown in Figure 1 , the power system of the traditional sugarcane harvester is diesel engine output power distribution. The power output of the sugarcane harvester is derived from the engine. The energy transmission process during work is: engine-hydraulic pump-hydraulic actuator (hydraulic motor, hydraulic cylinder)-working mechanism. There is power loss at each link in the energy transmission process, and only a small part of the power is transmitted to the working mechanism, and the system energy transmission efficiency is low. The energy loss mainly includes mechanical loss, pipeline loss, loss caused by mismatch between hydraulic pump and load, and loss caused by mismatch between engine and hydraulic pump, as shown in Figure 2 .

[0005] The information disclosed in this BACKGROUND section is only for the purpose of increasing the understanding of the background of the present application and should not be regarded as an acknowledgment or any form of suggestion that this information forms prior art that is publicly known. SUMMARY

[0006] The purpose of the present application is to provide a power and control system of a hybrid tracked sugarcane harvester, which can reduce and overcome the problem of power loss at each link in the energy transmission process of the prior art, and finally realize that most of the power is transmitted to the working mechanism to complete the energy efficient transmission of the power system.

[0007] Another purpose of the present application is to provide a control method of the power system of the hybrid sugarcane harvester.

[0008] In order to achieve the above-mentioned purpose, the application provides a power system of a hybrid sugarcane harvester, comprising a power system and a control system; the power system is used for providing power, and comprises a high-voltage distribution box, a FISG motor controller, a FISG motor, a walking motor integrated controller, an integrated motor controller 1 and an integrated motor controller 2; the FISG motor controller is connected with the high-voltage distribution box through a high-voltage circuit; the FISG motor is connected with the FISG motor controller through the high-voltage circuit, and the FISG motor is integrated on an engine; the walking motor integrated controller is connected with the high-voltage distribution box through the high-voltage circuit, and is used for controlling a walking motor to drive a track to realize walking; the integrated motor controller 1 is connected with the high-voltage distribution box through the high-voltage circuit, and is used for controlling a conveying motor, a leaf stripping motor and a feeding motor to work through the high-voltage circuit; the integrated motor controller 2 is connected with the high-voltage distribution box through the high-voltage circuit, and is used for controlling a cutter motor, a crushing motor and a cane supporting motor to work through the 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 low-voltage communication.

[0009] In a preferred embodiment, the walking motor comprises a left walking motor and a right walking motor, the left walking motor drives a left driving wheel to drive a left track to realize walking through mechanical connection, and the right walking motor drives a right driving wheel to drive a right track to realize walking through mechanical connection.

[0010] In a preferred embodiment, the conveying motor drives a conveying device to realize sugarcane conveying to a collecting box through mechanical connection, the leaf stripping motor drives a leaf stripping device to realize sugarcane leaf stripping through mechanical connection, and the feeding motor drives a feeding device to realize sugarcane feeding into the inside through mechanical connection.

[0011] In a preferred embodiment, the cutter motor drives a cutting device to realize sugarcane cutting through mechanical connection, the crushing motor drives a crushing device to realize sugarcane crushing and guiding through mechanical connection, and the cane supporting motor drives a cane supporting device to realize cane righting through mechanical connection.

[0012] In a preferred embodiment, the high-voltage circuit comprises a high-voltage bus and a high-voltage three-phase line, the high-voltage distribution box connects 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 connects the left walking motor and the right walking motor through the high-voltage three-phase line, the integrated motor controller 1 connects the conveying motor, the leaf stripping motor and the feeding motor through the high-voltage three-phase line, the integrated motor controller 2 connects the cutter motor, the crushing motor and the cane supporting motor through the high-voltage three-phase line, and the FISG motor controller connects the FISG motor through the high-voltage three-phase line.

[0013] In a preferred embodiment, the power system of the hybrid sugarcane harvester further comprises an engine, an energy storage device, an external charging device, and a driver operating device; the engine drives the FISG motor through 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.

[0014] In a preferred embodiment, the system controller receives instructions from the driver operating device, which are converted into execution demand signals after logical arbitration by the system controller and sent to control components for execution, including the energy storage device controller, the high-voltage distribution box, the engine controller, the FISG motor controller, the integrated motor controller 1, the integrated motor controller 2, and the walking motor integrated controller. The system controller can also feed back system control status to the driver operating device for status display, including high-voltage battery remaining capacity value SOC, vehicle speed, power generation status, engine operating status, cane 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 instructions from the system controller, the energy storage device controller executes the combination and disconnection of high-voltage battery relays, including the main positive relay, the main negative relay, and the pre-charging relay, and feeds back the combination and disconnection status of the high-voltage battery relays, the remaining capacity SOC value, and the fault status to the system controller. After receiving instructions from the system controller, the high-voltage distribution box executes the combination and disconnection of high-voltage accessory relays, including the FISG motor controller relay, the integrated motor controller 1 relay, the integrated motor controller 2 relay, and the walking motor integrated controller relay, and feeds back the combination and disconnection status of the high-voltage accessory relays to the system controller. After receiving instructions from the system controller, the motor controller executes the enablement, control mode, torque instruction, and speed instruction of the FISG motor controller, and feeds back the actual status of the enablement, control mode, torque value, speed value, and fault status of the FISG motor controller to the system controller. After receiving instructions from the system controller, the engine controller executes the start and stop, control mode, torque instruction, and speed instruction of the engine, and feeds back the actual status of the start and stop, control mode, torque value, speed value, and fault status of the engine to the system controller.

[0015] In a preferred embodiment, the integrated motor controller 1 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the cane supporting motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the cane supporting motor controller to the system controller; the integrated motor controller 1 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the crushing motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the crushing motor controller to the system controller; the integrated motor controller 1 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the cutter motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the cutter motor controller to the system controller; the integrated motor controller 2 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the feeding motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the feeding motor controller to the system controller; the integrated motor controller 2 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the leaf stripping motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the leaf stripping motor controller to the system controller; and the integrated motor controller 2 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the conveying motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the conveying motor controller to the system controller.

[0016] In a preferred embodiment, the integrated motor controller receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the left walking motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the left walking motor controller to the system controller; and the integrated motor controller receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the right walking motor controller, and feeds back the actual state of the enablement, control mode, torque value, speed value, and fault state of the right walking motor controller to the system controller.

[0017] To achieve the above-mentioned another object, the application further provides a control method of a power system of a hybrid sugarcane harvester. The control method is used for controlling the power system as described above. The control method comprises the following steps: when the key is powered on at low voltage, the control components of the system are powered on at low voltage, and the control components can normally communicate with each other; the system collects fault state information and non-fault information among the control components based on the communication information among the control components; the system controls the high-voltage system to perform high-voltage power-on operation; if the system triggers a fault level limit, the functions of the control components of the system will be limited to prohibit starting the engine or prohibiting enabling the motor; if the high-voltage normal power-on is completed and the system has no fault, the system judges 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 a first threshold value, the parking power generation function is activated, and the engine is started and the FISG motor is enabled, and then the engine executes a control state instruction, a speed instruction or a torque instruction, and the FISG motor executes a control state instruction, a torque instruction or a speed instruction, and at this time, the high-voltage battery is charged until the SOC value of the battery power is greater than a second threshold value, at which time the engine is stopped, the FISG motor is stopped, and the high-voltage battery enters a stop charging state, wherein 100≥the second threshold value>the first threshold value≥0; if the high-voltage normal power-on is completed and the system has no fault, the system judges 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 threshold value, the system allows to enter the driving and harvesting conditions; if the system meets the driving condition, the system enters a driving activation state, and the left and right walking motors are enabled, and then the left walking motor executes a control state instruction, a speed instruction or a torque instruction, and the right walking motor executes a control state instruction, a torque instruction or a speed instruction, and the system enters a working condition detection, and adjusts the speed and torque of the left and right walking motors based on the no-load driving and the harvesting state driving; if the system does not meet the driving condition, the system enters a parking state; if the system meets the harvesting condition, the system enters a harvesting activation state, and the cane supporting motor, the crushing motor, the cutter motor, the feeding motor, the leaf stripping motor and the conveying motor are enabled, and then the cane supporting motor executes a control state instruction, a speed instruction or a torque instruction, the crushing motor executes a control state instruction, a torque instruction or a speed instruction, the cutter motor executes a control state instruction, a speed instruction or a torque instruction, the feeding motor executes a control state instruction, a torque instruction or a speed instruction, the leaf stripping motor executes a control state instruction, a speed instruction or a torque instruction, and the conveying motor executes a control state instruction, a torque instruction or a speed instruction, and the system enters a harvesting working condition detection, and the harvesting working conditions include a sparse harvesting working condition, a normal harvesting working condition and a dense harvesting working condition, and the speed and torque of the cane supporting motor, the crushing motor, the cutter motor, the feeding motor, the leaf stripping motor and the conveying motor are adjusted based on the harvesting working condition state driving.And as the system detects as parking state, and detects the driver key power down, the system controls the high-voltage battery to power down, after the high-voltage power down, the system enters the hibernate state.

[0018] Compared with the prior art, the hybrid sugarcane harvester power system and the control method thereof have the following beneficial effects: in the scheme, the high-voltage distribution box is used to connect the FISG motor controller, the walking motor integrated controller, the integrated motor controller 1 and the integrated motor controller 2 and other high-voltage accessories through a high-voltage bus, and then the high-voltage accessories are connected to the walking drive motor, the first and second working motors through high-voltage three-phase lines, and finally the drive motor and the working motor are mechanically connected to drive the walking device to realize walking and the working device to realize working; meanwhile, the system controller is connected to and controls each controller, each relay, each high-voltage component, each drive motor and each working motor through a low-voltage communication line to realize walking and working, which can well reduce and overcome the problem that in the prior art, power loss occurs at each link in the energy transmission process, and finally the main power can be transmitted to the working structure to realize efficient energy transmission of the power system. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic diagram of the device arrangement of the power system according to an embodiment of the prior art;

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

[0021] Figure 3 is a schematic diagram of the device arrangement of the power system according to an embodiment of the present application;

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

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

[0024] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present application is not limited by the specific embodiments.

[0025] Unless otherwise clearly indicated, in the entire specification and claims, the term "comprise" or its variants such as "contain" or "include" and the like will be understood to include the stated element or component, but not to exclude the presence of other elements or components.

[0026] As Figure 3As shown, a power system of a hybrid sugarcane harvester according to a preferred embodiment of the present application comprises a power system and a control system; the power system is used for providing power, and comprises a high-voltage distribution box, a FISG motor controller, a FISG motor, a traveling motor integrated controller, an integrated motor controller 1 and an integrated motor controller 2; the FISG motor controller is connected with the high-voltage distribution box through a high-voltage circuit; the FISG motor is connected with the FISG motor controller through the high-voltage circuit, and the FISG motor is integrated on an engine; the traveling motor integrated controller is connected with the high-voltage distribution box through the high-voltage circuit, and is used for controlling a traveling motor to drive a track to realize traveling; the integrated motor controller 1 is connected with the high-voltage distribution box through the high-voltage circuit, and is used for controlling a conveying motor, a leaf stripping motor and a feeding motor to work through the high-voltage circuit; the integrated motor controller 2 is connected with the high-voltage distribution box through the high-voltage circuit, and is used for controlling a cutter motor, a crushing motor and a cane supporting motor to work through the high-voltage circuit; the control system is used for controlling the power system to work through low-voltage communication, and comprises a system controller connected with each component of the control system through low-voltage communication.

[0027] In some embodiments, the traveling motor comprises a left traveling motor and a right traveling motor, the left traveling motor drives a left drive wheel to drive a left track to realize traveling through mechanical connection, and the right traveling motor drives a right drive wheel to drive a right track to realize traveling through mechanical connection.

[0028] In some embodiments, the conveying motor drives a conveying device to realize conveying of sugarcane to a collection box through mechanical connection, the leaf stripping motor drives a leaf stripping device to realize stripping of sugarcane leaves through mechanical connection, and the feeding motor drives a feeding device to realize feeding of sugarcane into the interior through mechanical connection.

[0029] In some embodiments, the cutter motor drives a cutting device to realize cutting of sugarcane through mechanical connection, the crushing motor drives a crushing device to realize crushing and guiding of sugarcane through mechanical connection, and the cane supporting motor drives a cane supporting device to realize righting of sugarcane through mechanical connection.

[0030] In some embodiments, the high-voltage circuit comprises a high-voltage bus and a high-voltage three-phase line, the high-voltage distribution box connects the traveling motor integrated controller, the integrated motor controller 1, the integrated motor controller 2 and the FISG motor controller through the high-voltage bus, the traveling motor integrated controller connects the left traveling motor and the right traveling motor through the high-voltage three-phase line, the integrated motor controller 1 connects the conveying motor, the leaf stripping motor and the feeding motor through the high-voltage three-phase line, the integrated motor controller 2 connects the cutter motor, the crushing motor and the cane supporting motor through the high-voltage three-phase line, and the FISG motor controller connects the FISG motor through the high-voltage three-phase line.

[0031] In some embodiments, the power system of the hybrid sugarcane harvester further comprises an engine, an energy storage device, an external charging device, and a driver operating device; the engine drives the FISG motor through 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 direct current voltage range is between 300-1000V, the output end of the engine is mechanically connected to one end of the FISG motor, the FISG motor is generally integrated on the engine, the engine comprises an engine mechanical body and an engine controller, and the engine fuel type comprises a diesel engine, a gasoline engine, a methanol engine, and a hydrogen engine; the energy storage device comprises a high-voltage battery body and an energy storage device controller.

[0033] As Figure 4As shown, in some embodiments, the system controller receives the instructions of the driver operating device, which are converted into execution demand signals sent to the control components for execution after being judged by the system controller logic arbitration, the control components including the energy storage device controller, the high-voltage distribution box, the engine controller, the FISG motor controller, the integrated motor controller 1, the integrated motor controller 2, and the walking motor integrated controller; the system controller can also feed back the system control state to the driver operating device for state display, the displayed contents including the high-voltage battery residual capacity value SOC, the vehicle speed, the power generation state, the engine running state, the cane supporting device running state, the crushing device running state, the cutting device running state, the feeding device running state, the leaf stripping device running state, the conveying device running state, and the system fault state; after receiving the instructions of the system controller, the energy storage device controller executes the combination and disconnection of the high-voltage battery relays, including the main positive relay, the main negative relay, and the pre-charging relay, and feeds back the combination and disconnection state of the high-voltage battery relays, the residual capacity SOC value, and the fault state to the system controller; after receiving the instructions of the system controller, the high-voltage distribution box executes the combination and disconnection of the high-voltage accessory relays, including the FISG motor controller relay, the integrated motor controller 1 relay, the integrated motor controller 2 relay, and the walking motor integrated controller relay, and feeds back the combination and disconnection state of the high-voltage accessory relays to the system controller; after receiving the instructions of the system controller, the motor controller executes the enablement, control mode, torque instruction, and speed instruction of the FISG motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the FISG motor controller to the system controller; and after receiving the instructions of the system controller, the engine controller executes the start and stop, control mode, torque instruction, and speed instruction of the engine, and feeds back the actual state of the start and stop, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the engine to the system controller.

[0034] Please refer to Figure 4In some embodiments, the integrated motor controller 1 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the cane supporting motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the cane supporting motor controller to the system controller; the integrated motor controller 1 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the crushing motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the crushing motor controller to the system controller; the integrated motor controller 1 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the cutter motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the cutter motor controller to the system controller; the integrated motor controller 2 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the feeding motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the feeding motor controller to the system controller; the integrated motor controller 2 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the leaf stripping motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the leaf stripping motor controller to the system controller; and the integrated motor controller 2 receives instructions from the system controller, and based on the instructions, executes the enablement, control mode, torque instruction, and speed instruction of the conveying motor controller, and feeds back the actual state of the enablement, the actual state of the control mode, the actual torque value, the actual speed value, and the fault state of the conveying motor controller to the system controller.

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

[0036] AsFigure 5To achieve the above-mentioned another object, the application further provides a control method of a power system of a hybrid sugarcane harvester. The control method is used for controlling the power system as described above. The control method comprises the following steps: when the key is powered on at low voltage, the control components of the system are powered on at low voltage, and the control components can normally communicate with each other; the system collects fault state information and non-fault information among the control components based on the communication information among the control components; the system controls the high-voltage system to perform high-voltage power-on operation, and if the system triggers a fault level limit, the functions of the control components of the system will be limited to prohibit starting the engine or prohibiting enabling the motor; if the high-voltage power-on is completed normally and the system has no fault, the system judges 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 a first calibration threshold A% (A≥0, for example, but not limited to A=10), the parking power generation function is activated. The engine is started and the FISG motor is enabled. 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 the speed instruction. At this time, the high-voltage battery is charged until the SOC value of the battery power is greater than a second calibration threshold B% (B%>A%, B≤100). At this time, the engine is stopped, and the FISG motor is stopped. At this time, the high-voltage battery enters a stop charging state. 100≥the second calibration threshold>the first calibration threshold≥0; if the high-voltage power-on is completed normally and the system has no fault, the system judges 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 A% (A≥0, for example, but not limited to A=10), the system allows to enter the driving and harvesting conditions; if the system meets the driving condition, the system enters a driving activation state, corresponding to enabling the left walking motor and the right walking motor. Then, the left walking motor executes the control state instruction, the speed instruction or the torque instruction, and the right walking motor executes the control state instruction, the torque instruction or the speed instruction. The system enters a working condition detection state, adjusts the speed and torque of the left and right walking motors based on the no-load driving and the harvesting state driving. If the system does not meet the driving condition, the system enters a parking state.If the system meets the harvesting working condition, the system enters the harvesting activation state, corresponding to enabling the cane supporting motor, the crushing motor, the cutter motor, the feeding motor, the leaf stripping motor and the conveying motor, and then the cane supporting motor executes the control state instruction, the speed instruction or the torque instruction, the crushing 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 the sparse harvesting working condition, the ordinary harvesting working condition and the dense harvesting working condition, and the speed and torque of the cane supporting motor, the crushing motor, the cutter motor, the feeding motor, the leaf stripping motor and the conveying motor are adjusted based on the harvesting working condition state driving; and if the system detects the parking state and detects that the driver's key is powered off, the system controls the high-voltage battery to be powered off, after the high-voltage power-off is completed, the system enters the hibernation state.

[0037] In summary, the power system of the hybrid sugarcane harvester and the control method thereof have the following advantages: the scheme connects the FISG motor controller, the traveling motor integrated controller, the integrated motor controller 1 and the integrated motor controller 2 and other high-voltage accessories by the high-voltage bus in the high-voltage distribution box, then connects the traveling drive motor, the first and second working motors by the high-voltage three-phase line, and finally connects the traveling device by the mechanical connection of the drive motor and the working motor to realize traveling and working; meanwhile, the system controller is connected with each controller, each relay, each high-voltage component, each drive motor and each working motor by the low-voltage communication line to control the realization of traveling and working, which can well reduce and overcome the problem of power loss in each link in the energy transmission process in the prior art, and finally realize the transmission of main power to the working structure to complete the energy efficient transmission of the power system.

[0038] The foregoing description of specific exemplary embodiments of the application is intended to be illustrative only and is not intended to limit the application to the precise forms described. Many modifications and variations are possible in light of the above teachings without departing from the spirit or essential characteristics of the application. The exemplary embodiments were chosen and described in order to explain the principles of the application and its practical application to thereby enable others skilled in the art to best utilize the application and various embodiments with various modifications as are suited to the particular use contemplated. It is intended that the scope of the application be defined by the claims and their equivalents.

Claims

1. A power system for a hybrid sugarcane harvester, characterized in that, include: A power system for providing power, the power system comprising: High-voltage distribution box; The FISG motor controller is connected to the high-voltage distribution box via a high-voltage circuit. The FISG motor is connected to the FISG motor controller via a high-voltage circuit, and the FISG motor is integrated on the engine. The walking motor integrated controller is connected to the high-voltage distribution box via a high-voltage circuit. The walking motor integrated controller is used to control the walking motor to drive the track to achieve walking. An integrated motor controller 1, connected to the high-voltage distribution box via a high-voltage circuit, is used to control the conveyor motor, leaf-stripping motor, and feed motor for operation via the high-voltage circuit. An integrated motor controller 2 is connected to the high-voltage distribution box via a high-voltage circuit. The integrated motor controller 2 is used to control the cutter motor, the pressing motor, and the sugarcane lifting motor to perform operations via the high-voltage circuit. A control system for controlling the power system to operate via low-voltage communication, the control system including a system controller connected to various components of the control system via the low-voltage communication; The walking motors include a left walking motor and a right walking motor; The control methods for the power system of the hybrid sugarcane harvester include: When the key is powered on at low voltage, the system's control components are powered on at low voltage, and the various control components can communicate normally. Based on the communication information between each control component, the system collects fault status information and fault-free information between each control component. 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 system's control components will be limited to prohibiting the engine from starting or the motor from being enabled. If the high voltage is successfully powered on and the system is fault-free, the system determines whether to activate the parking charging function based on the remaining SOC value of the high voltage battery. When the SOC value is not greater than the first calibration threshold, the parking power generation function is activated, which corresponds to starting the engine and enabling the FISG motor. Then the engine executes control status commands, speed commands, or torque commands, and the FISG motor executes control status commands, torque commands, or speed commands. At this time, the high voltage battery is charged until the battery SOC value is greater than the second calibration threshold. At this time, the engine stops, the FISG motor stops, and the high voltage battery enters the stopped charging state. Here, 100≥second calibration threshold>first calibration threshold≥0; If the high voltage is successfully powered on and the system is fault-free, the system determines whether to activate the parking charging function based on the remaining SOC value of the high voltage battery. When the SOC value is greater than the first calibrated threshold, the system allows the vehicle to enter the driving and harvesting conditions. If the system meets the driving conditions, the system enters the driving activation state, and the left and right driving motors are enabled accordingly. Then, the left driving motor executes the control state command, speed command or torque command, and the right driving motor executes the control state command, torque command or speed command. The system enters the working condition detection state and adjusts the speed and torque of the left and right driving motors based on the no-load driving and harvesting driving states. When the system does not meet the driving conditions, the system enters the parking state. If the system meets the harvesting conditions, it enters the harvesting activation state, enabling the sugarcane-supporting motor, the flattening motor, the blade motor, the feeding motor, the leaf-peeling motor, and the conveying motor. Then, the sugarcane-supporting motor executes control status commands, speed commands, or torque commands; the flattening motor executes control status commands, torque commands, or speed commands; the blade motor executes control status commands, speed commands, or torque commands; the feeding motor executes control status commands, torque commands, or speed commands; and the conveying motor executes control status commands, torque commands, or speed commands. The system then enters the harvesting condition detection state. The harvesting conditions include sparse harvesting, normal harvesting, and intensive harvesting. Based on the harvesting condition status, the crane adjusts the speed and torque of the sugarcane-supporting motor, the flattening motor, the blade motor, the feeding motor, the leaf-peeling motor, and the conveying motor. If the system detects that the vehicle is parked and that the driver's key has been deactivated, the system will control the high-voltage battery to deactivate. Once the high-voltage battery is deactivated, the system will enter a sleep state.

2. The power system of the hybrid sugarcane harvester as described in claim 1, characterized in that, The left travel motor drives the left drive wheel and the left track through a mechanical connection to achieve movement, and the right travel motor drives the right drive wheel and the right track through a mechanical connection to achieve movement.

3. The power system of the hybrid sugarcane harvester as described in claim 1, characterized in that, The conveying motor drives the conveying device to transport sugarcane to the collection box via a mechanical connection; the leaf-peeling motor drives the leaf-peeling device to peel off the sugarcane leaves via a mechanical connection; and the feeding motor drives the feeding device to feed the sugarcane into the box via a mechanical connection.

4. The power system of the hybrid sugarcane harvester as described in claim 1, characterized in that, The cutting motor drives the cutting device to cut the sugarcane via a mechanical connection; the pressing motor drives the pressing device to guide the sugarcane to be pressed down via a mechanical connection; and the straightening motor drives the straightening device to straighten the sugarcane via a mechanical connection.

5. The power system of the hybrid sugarcane harvester as described in any one of claims 2 to 3, characterized in that, The high-voltage circuit includes a high-voltage busbar 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 busbar. 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 motor, and the sugarcane-supporting motor through the high-voltage three-phase line. 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 as described in claim 5, characterized in that, Also includes: An engine that drives the FISG motor via a mechanical connection; An energy storage device is connected to the high-voltage distribution box via a high-voltage busbar; An external charging device is connected to the high-voltage distribution box via a high-voltage busbar; and The driver operating device is connected to the system controller via low-voltage communication.

7. The power system of the hybrid sugarcane harvester as described in claim 6, characterized in that, The system controller receives instructions from the driver's operating device, and after logical arbitration by the system controller, converts them into execution demand signals and sends them to the control components for execution. The control components include 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 walking motor integrated controller. The system controller can also feed back the system control status to the driver's operating device for status display. The displayed content includes the remaining charge value (SOC) of the high-voltage battery, vehicle speed, power generation status, engine operating status, sugarcane lifting 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 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 status of the high-voltage battery relay, the remaining power SOC value, and the fault status to the system controller. After receiving the command from the system controller, the high-voltage distribution box performs the engagement and disengagement of the high-voltage accessory relays based on the command. The high-voltage accessory relays include FISG motor controller relays, integrated motor controller 1 relays, integrated motor controller 2 relays, and walking motor integrated controller relays. The high-voltage distribution box also feeds back the engagement and disengagement status of the high-voltage accessory relays 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. The motor controller also 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. as well as After receiving the instruction from the system controller, the engine controller executes the engine start and stop, control mode, torque instruction, and speed instruction based on the instruction. The engine controller also 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.

8. The power system of the hybrid sugarcane harvester as described in claim 6, characterized in that, After receiving the instruction from the system controller, the integrated motor controller 1 executes the enable, control mode, torque instruction, and speed instruction of the sugarcane motor controller based on the instruction. The sugarcane motor controller also feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the sugarcane motor controller to the system controller. After receiving the instruction from the system controller, the integrated motor controller 1 executes the enable, control mode, torque instruction, and speed instruction of the motor controller based on the instruction, and feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the motor controller to the system controller. After receiving the instruction from the system controller, the integrated motor controller 1 executes the enable, control mode, torque instruction, and speed instruction of the tool motor controller based on the instruction. The tool motor controller also feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status 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 of the motor controller based on the instruction, feeds the motor controller, and feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the fed motor controller to the system controller. After receiving instructions from the system controller, the integrated motor controller 2 executes the enable, control mode, torque command, and speed command of the leaf-stripping motor controller based on the instructions. The leaf-stripping motor controller also feeds back its actual enable status, actual control mode status, actual torque value, actual speed value, and fault status 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 of the transmission motor controller based on the instruction. The transmission motor controller also feeds back the actual enable status, actual control mode status, actual torque value, actual speed value, and fault status of the transmission motor controller to the system controller.

9. The power system of the hybrid sugarcane harvester as described in claim 6, characterized in that, After receiving the instruction from the system controller, the integrated controller of the walking motor executes the enable, control mode, torque instruction, and speed instruction of the left walking motor controller based on the instruction. The left walking motor controller also 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. as well as After receiving the instruction from the system controller, the integrated controller of the walking motor executes the enable, control mode, torque instruction, and speed instruction of the right walking motor controller based on the instruction. The right walking motor controller also 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.

Images