A driving system and control method of a mower-crusher and a mower-crusher

Abstract

The application provides a driving system and control method of a mower and a mower. The whole machine adopts a new type of hybrid power technology of diesel and electricity, realizes reasonable distribution of diesel and electricity hybrid power energy, and reduces exhaust emission in the working process. The whole machine adopts a distributed hybrid power driving system. The power distribution system adopts a double power flow power distribution mode (pure electric driving control is adopted for the running of the whole machine, and an electro-hydraulic driving mode is adopted for the mower and flattening assembly, so that the running system and the mower and flattening assembly can be synchronously operated without driving the engine), the driving running system can work in a pure electric driving mode and a hybrid driving double mode. Meanwhile, the whole machine adopts an electronic power steering system, which can realize various steering modes according to the operation intention of the driver, even zero steering radius, and the steering is flexible and convenient. The double mode of "hydraulic brake + electronic brake" makes the vehicle running and working safer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hay presser, in particular to a driving system, a control method and a hay presser. BACKGROUND

[0002] The hay presser is mainly used for harvesting, pressing and collecting strip operation of pasture (alfalfa, oat, etc.). Through cutting, bending, cracking, brushing and beating of the pasture, the stem and its surface structure are damaged, which can promote the loss of internal moisture and make the stem and leaf dry synchronously as much as possible, shorten the field drying time of the forage, and lock the nutritional ingredients of the pasture. It has been widely applied due to high operation efficiency, short drying time, reduced labor cost and increased user benefits.

[0003] At present, the walking system and the hay presser of the existing hay presser in China are all driven by hydrostatic pressure, completely relying on the power source provided by the engine. A large amount of exhaust gas is discharged during the operation process, which cannot meet the urgent needs of green power agricultural machinery in the current new agricultural development mode. The steering system relies on the differential of the walking drive gearbox to realize differential steering, and the steering radius depends on the operating proficiency of the driver. Although the steering radius is small, it still cannot fully meet the operation needs in some narrow areas. SUMMARY

[0004] In order to solve the problems in the prior art, the present application provides a driving system, a control method and a hay presser. The whole machine adopts a new type of diesel-electric hybrid power technology, realizes reasonable distribution of diesel-electric hybrid power, and reduces exhaust emission during operation. The whole machine adopts a distributed hybrid power driving system. The power distribution system adopts a double-power-flow power distribution mode (the walking of the whole machine adopts pure electric drive control, and the hay presser assembly adopts an electro-hydraulic drive mode, which can realize synchronous operation of the walking system and the hay presser assembly without driving the engine). The driving walking system can work in pure electric drive mode and hybrid drive double mode. The whole machine adopts electrical power coupling for power coupling. The power provided by the diesel generator set and the power battery during the operation of the whole machine needs to meet the power requirements of the whole machine driving and operation driving, realizes the balance of the electric rate of the whole machine, reduces the exhaust emission during the operation, and helps the "double carbon strategy" goal of agricultural production. At the same time, the whole machine adopts an electronic power steering system which can realize various steering modes according to the operation intention of the driver, even zero steering radius, flexible and convenient steering. The "hydraulic brake + electronic brake" double mode makes the vehicle driving and operation safer.

[0005] In order to achieve the above purpose, the specific scheme adopted by the present application is as follows:

[0006] On the one hand, the present application provides a driving system of a hay presser, comprising a power system, a hydraulic system, a walking system and a whole vehicle control system, wherein:

[0007] The power system comprises an engine, an ISG motor, a transfer case and a power battery system, wherein the engine drives the ISG motor to generate electricity, the ISG motor is connected with the transfer case, and the transfer case is connected with the hydraulic system;

[0008] The walking system is arranged on the left side and the right side, and each walking system comprises a wheel edge driving motor, a wheel edge speed reducer, a driving wheel and a rear universal wheel; the wheel edge driving motor can drive the wheel edge speed reducer to act, thereby driving the driving wheel to rotate, and the rear universal wheel follows the movement;

[0009] The hydraulic system comprises a plunger double pump, a gear pump and a hydraulic actuator, the plunger double pump is connected with the transfer case, the gear pump is connected with the plunger double pump, and the plunger double pump is connected with the wheel edge driving motor through a brake electromagnetic valve;

[0010] The whole vehicle control system comprises a whole machine controller, a generator controller, a high-voltage control box, a wheel edge driving motor controller and an electronic power steering system, the whole machine controller is electrically connected with the electronic power steering system, the high-voltage control box, the wheel edge driving motor controller and the generator controller, the high-voltage control box is connected with the power battery system, the generator controller and the wheel edge driving motor controller;

[0011] The ISG motor is connected with the high-voltage control box through the generator controller, and the wheel edge driving motor controller is electrically connected with the wheel edge driving motor;

[0012] The power system, the walking system and the whole vehicle control system are matched to realize the walking driving of the whole machine, and the power system and the hydraulic system are matched to provide power for the front mowing and flattening assembly of the mowing and flattening machine.

[0013] Further, the OBC-DC / DC integrated machine is connected with the power battery system and the whole machine controller.

[0014] On the other hand, the application provides a control method of the driving system of the mowing and flattening machine, which comprises a multi-steering control method, a double-power flow power distribution method, a driving walking method and a brake braking method.

[0015] Further, the multi-steering control method comprises three modes:

[0016] Mode one: when the steering angle of the electronic power steering system is less than or equal to 120°, the electronic power steering system communicates with the whole machine controller, the whole machine controller controls the outer wheel to accelerate and the inner wheel to keep the original speed or decelerate, so that the two driving wheels have a speed difference, and slow steering with a steering radius of 2-3 m is realized;

[0017] Mode two, when the steering angle of the electronic power steering system reaches 120-240°, the electronic power steering system communicates with the whole machine controller, the whole machine controller controls the acceleration of the outer wheels, and the inner wheels gradually stop, realizing steering with a steering radius of 1-2m;

[0018] Mode three, when the steering angle of the electronic power steering system is greater than or equal to 240°, the electronic power steering system communicates with the whole machine controller, the whole machine controller controls the acceleration of the outer wheels, and the inner wheels gradually decelerate and reverse, realizing steering with a steering radius less than 1m, and when the steering radius is equal to 0, the machine can be turned in place.

[0019] Further, the dual-power flow power distribution method is divided into two modes:

[0020] Mode one, when the engine is running, the engine and the ISG motor are combined with the electric control clutch, the engine drives the ISG motor and drives the hydraulic system to work; at the same time, the whole vehicle control system controls the walking system to act, and then drives the left and right drive wheels to walk and drive;

[0021] Mode two, when the engine is off, the electric control clutch of the ISG motor is in a separated state, the engine and the ISG motor are separated, the power battery system is electrically connected to the high-voltage control box and provides power to the ISG motor through the generator controller, drives the ISG motor to convert electrical energy into mechanical energy, and provides power to the mowing and flattening assembly through the hydraulic system; on the other hand, the whole vehicle control system controls the walking system to act, and then drives the left and right drive wheels to walk and drive, realizing the synchronous action of the walking drive and the mowing and flattening assembly of the whole machine.

[0022] Further, the driving walking method mainly includes two modes:

[0023] Mode one, pure electric driving mode: at this time, the engine is not started, the electric control clutch of the ISG motor is in a separated state, on the one hand, the power battery system provides energy to the ISG motor through the high-voltage control box, drives the transfer case to drive the hydraulic system to work; on the other hand, the power battery system drives the wheel edge drive motor to provide power to the wheel edge reducer through the high-voltage control box, drives the drive wheel to rotate, and then realizes the walking of the whole machine, when the power battery system is less than or equal to 30%, the whole machine controller sends a start instruction to remind to start the engine for hybrid power driving mode;

[0024] Mode two, hybrid power driving mode: the whole machine controller sends a start instruction, the engine and the ISG motor are combined with the electric control clutch, the engine is started, the ISG motor drives the hydraulic system to act, at the same time, the ISG motor is connected with the power battery system, the high-voltage control box, the wheel edge drive motor, and the wheel edge drive motor controller, drives the wheel edge reducer to rotate, and realizes the walking of the whole machine.

[0025] Further, the hybrid driving mode is divided into two freely switchable modes:

[0026] Mode one, when the power of the power battery system is above 70%, the machine controller distributes power according to the working load of the vehicle; the machine controller controls the power battery system to be in a discharging state, and the ISG motor does not charge the power battery system; at this time, the engine is in light load operation, and the ISG motor provides power for the hydraulic system;

[0027] Mode two, when the power of the power battery system is below 70%, the machine controller distributes power according to the working load of the vehicle and the power of the power battery system, and the machine controller controls the ISG motor to charge the power battery system and provide power for the hydraulic system; at this time, the engine is in heavy load operation, and the machine controller controls power distribution to make the engine work best.

[0028] Further, the brake braking adopts a braking mode combining the driving electronic brake and the parking hydraulic pressure loss protection system braking:

[0029] After the vehicle is started, the plunger double pump works, the brake electromagnetic valve is electrified, and oil is supplied to the left and right wheel edge reducers, respectively, under the action of pressure, the springs of the hydraulic pressure loss protection system brakes in the left and right wheel edge reducers are compressed, the brake friction plates are separated, and the wheels are in an automatic rotating state, so that the vehicle can normally travel;

[0030] When the vehicle needs to be decelerated or stopped during driving, the machine controller controls the rotating speed of the wheel edge motor on the corresponding side through the left and right wheel edge motor controllers, so as to achieve the intention of deceleration and stop through the wheel edge reducer;

[0031] When the vehicle encounters a failure of the electronic brake system during driving, the hydraulic pressure loss protection system will play a role, at this time, the brake electromagnetic valve loses electricity, the oil pressure is reduced, the springs of the hydraulic pressure loss protection system brakes in the left and right wheel edge reducers are elongated, the brake friction plates are compressed, the vehicle is decelerated or stopped, so that the vehicle can be decelerated or stopped, and the safety of the driver and the vehicle is protected; at the same time, in the parking state, the parking brake button is pressed, the brake electromagnetic valve loses electricity, the oil pressure is reduced, the springs of the hydraulic pressure loss protection system brakes in the left and right wheel edge reducers are elongated, the brake friction plates are compressed, and the vehicle is braked.

[0032] In still another aspect, the application provides a grass cutting and flattening machine comprising the above-mentioned grass cutting and flattening machine driving system.

[0033] Beneficial effects:

[0034] (1) Compared with the prior art, the application applies a diesel-electric hybrid driving device to the mower flattening machine, the whole vehicle adopts a distributed hybrid driving system, has two working modes, has the advantages of long engine continuous working time and good power performance, improves the economy of the whole machine, can play the benefits of the electric motor, such as no pollution and low noise, protects the ecological environment, takes the advantages of the two, improves the thermal efficiency of the whole machine, and reduces exhaust emission. Therefore, the system can not only meet the power requirement of increasing the power of the vehicle, but also meet the environmental protection requirements of improving fuel economy, reducing oil consumption and reducing pollution.

[0035] (2) The electronic power steering system in the application communicates with the whole machine controller, and has three control modes (smooth, fast and zero steering), and can realize zero steering radius, and can comprehensively judge according to the operation demand of the driver and the operation speed of the whole machine, to ensure the stability and flexibility of steering.

[0036] (3) The whole machine driving walking in the application adopts electric driving, and the mower flattening assembly adopts hydraulic driving. Even when the engine is off, the mower flattening assembly can still work under the action of the driving motor, and the driving system can also walk, that is, the walking driving and the mower flattening assembly can work normally in any working mode. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is the schematic diagram of the mower flattening machine in the application.

[0038] The figure mark: 1, engine, 2, ISG motor, 3, transfer case, 4, plunger double pump, 5, gear pump, 6, right wheel edge driving motor controller, 7, right wheel edge driving motor, 8, right wheel edge reducer, 9, driving wheel, 10, brake electromagnetic valve, 11, left wheel edge driving motor, 12, left wheel edge reducer, 13, left wheel edge driving motor controller, 14, electronic power steering system, 15, high pressure control box, 16, whole machine controller, 17, generator controller, 18, power battery system, 19, OBC-DC / DC integrated machine, 20, rear universal wheel. DETAILED DESCRIPTION

[0039] The technical solutions of the application will be described below in combination with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0040] It is to be understood that the terms "including", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0041] In conjunction with the accompanying Figure 1 , the present application provides a mower and flattener, which comprises a driving system, a mower and flattener assembly, and hydraulic actuators. The driving system comprises an engine 1, an ISG motor 2, a transfer case 3, a plunger duplex pump 4, a gear pump 5, a right wheel-side driving motor controller 6, a right wheel-side driving motor 7, a right wheel-side speed reducer 8, a driving wheel 9, a brake solenoid valve 10, a left wheel-side driving motor 11, a left wheel-side speed reducer 12, a left wheel-side driving motor controller 13, an electronic power steering system (EPS) 14, a high-voltage control box (PDU) 15, a vehicle controller (VCU) 16, a generator controller 17, a power battery system (BMS) 18, an OBC-DC / DC integrated machine 19, and rear universal wheels 20.

[0042] The power system comprises a power system, a hydraulic system, a traveling system, and a vehicle control system, wherein the power system comprises the engine 1, the ISG motor 2, the transfer case 3, and the power battery system 18, wherein the engine 1 drives the ISG motor 2 to generate electricity, the ISG motor 2 is connected to the transfer case 3, and the transfer case 3 is connected to the hydraulic system;

[0043] The traveling system is provided on the left and right sides, wherein the left traveling system comprises the left wheel-side driving motor 11, the left wheel-side speed reducer 12, the driving wheel 9 on the left side, and the rear universal wheel 20 on the left side; and the right traveling system comprises the right wheel-side driving motor 7, the right wheel-side speed reducer 8, the driving wheel 9 on the right side, and the rear universal wheel 20 on the right side;

[0044] The hydraulic system comprises the plunger duplex pump 4, the gear pump 5, and the hydraulic actuators, wherein the plunger duplex pump 4 is connected to the transfer case, the gear pump 5 is connected to the plunger duplex pump 4, and the plunger duplex pump 4 is connected to the wheel-side driving motor through the brake solenoid valve 10;

[0045] The whole vehicle control system comprises a whole machine controller 16, a generator controller 17, a high voltage control box 15, a left wheel side drive motor controller 13, a right wheel side drive motor controller 6, an electronic power steering system 14, the whole machine controller 16 is respectively electrically connected with the electronic power steering system 14, the high voltage control box 15, the left wheel side drive motor controller 13, the right wheel side drive motor controller 6, the generator controller 17, a power battery system 18 and an engine 1, the high voltage control box 15 is respectively connected with the power battery system 18, the generator controller 17, the left wheel side drive motor controller 13 and the right wheel side drive motor controller 6;

[0046] The ISG motor 2 is connected with the high voltage control box 15 through the generator controller 17, the left wheel side drive motor controller 13 is electrically connected with the left wheel side drive motor 11, and the right wheel side drive motor controller 6 is electrically connected with the right wheel side drive motor 7.

[0047] The power system, the walking system and the whole vehicle control system are matched to realize the walking drive of the whole machine, and the power system and the hydraulic system are matched to provide power for the front mowing and flattening assembly of the mowing and flattening machine.

[0048] The right wheel side drive motor controller 6, the left wheel side drive motor controller 13, the generator controller 17, the power battery system 18, the high voltage control box 15 and the electronic power steering system 14 are connected with the whole machine controller 16 to provide whole machine control.

[0049] I. About multi-steering mode

[0050] There are three control modes for whole vehicle steering. Take left steering as an example: when the vehicle needs to turn left, the driver operates the electronic power steering system 14 to turn left. Mode one: when the steering angle of the electronic power steering system 14 is less than or equal to 120°, the electronic power steering system 14 communicates with the whole machine controller 16 at this time, the whole machine controller 16 controls the right wheel side drive motor controller 6 to make the right wheel side drive motor 7 speed up, thereby driving the right wheel side reducer 8 to speed up, the left wheel side drive motor controller 13 makes the left wheel side drive motor 11 maintain the original speed or slow down, thereby driving the left wheel side reducer 12 to maintain the original speed or slow down, so that the left and right drive wheels 9 have a speed difference, realizing slow steering with a large steering radius (the steering radius is 2-3m); when the steering angle of the electronic power steering system 14 is between 120° and 240°, the electronic power steering system 14 communicates with the whole machine controller 16 at this time, the whole machine controller 16 controls the right wheel side drive motor controller 6 to make the right wheel side drive motor 7 speed up, thereby driving the right wheel side reducer 8 to speed up, the left wheel side drive motor controller 13 makes the left wheel side drive motor 11 gradually stop, thereby controlling the left wheel side reducer 12 to gradually stop, realizing steering with a small steering radius (the steering radius is 12m); when the steering angle of the electronic power steering system 14 is greater than or equal to 240°, the electronic power steering system communicates with the whole machine controller 16 at this time, the whole machine controller 16 controls the right wheel side drive motor controller 6 to make the right wheel side drive motor 7 speed up, thereby driving the right wheel side reducer 8 to speed up, the left wheel side drive motor controller 13 makes the left wheel side drive motor 11 gradually slow down and gradually reverse rotation, thereby driving the left wheel side reducer 12 to slow down and reverse travel, realizing small steering radius steering (the steering radius is greater than 1m), and can realize in-place steering (the steering radius is 0). Conversely.

[0051] II. About the dual power flow power distribution mode

[0052] The mower flattening machine in the application adopts a dual power flow power distribution mode. The engine 1, ISG motor 2, right wheel side drive motor controller 6, right wheel side drive motor 7, right wheel side reducer 8, left wheel side drive motor 11, left wheel side reducer 12, left wheel side drive motor controller 13, high-pressure control box 15, whole machine controller 16, generator controller 17, power battery system 18, etc. are electrically connected to form an electric drive system, realizing the walking drive of the whole machine. At the same time, the engine 1, ISG motor 2, transfer case 3, plunger double pump 4, gear pump 5, brake solenoid valve 10 are mechanically and hydraulically connected to form a mechanical and hydraulic system, providing power for the mower flattening assembly arranged at the front end.

[0053] When the engine 1 is running, the engine 1 drives the ISG motor 2 and through the mechanical connection of the transfer case 3, the plunger double pump 4 and the gear pump 5, drives the whole machine hydraulic actuator to act. At the same time, the ISG motor 2 is electrically connected with the generator controller 17 and the high-voltage control box 15, and the high-voltage control box 15 is electrically connected with the power battery system 18, the whole machine controller 16, the left wheel edge drive motor controller 13 and the left wheel edge drive motor 11, the right wheel edge drive motor controller 6 and the right wheel edge drive motor 7, respectively drives the left wheel edge reducer 12 and the right wheel edge reducer 8 to drive the left and right two drive wheels 9 to walk.

[0054] When the engine 1 is off, the ISG motor 2 is in the disengaged state, and the engine 1 and the ISG motor 2 are separated. The power battery system 18 is electrically connected with the high-voltage control box 15 to provide power for the ISG motor 2 through the generator controller 17, and the ISG motor 2 converts the electric energy into mechanical energy to drive the transfer case 2, the plunger double pump 4, the gear pump 5 and the brake solenoid valve 10 to provide power for the mowing and flattening assembly. On the other hand, the power battery system 18 is electrically connected with the high-voltage control box 15 to control the left wheel edge drive motor controller 13 and the left wheel edge drive motor 11, the right wheel edge drive motor controller 6 and the right wheel edge drive motor 7 through the whole machine controller 16, respectively drives the left wheel edge reducer 12 and the right wheel edge reducer 8 to drive the left and right two drive wheels 9 to walk, that is, the whole machine walking drive and the mowing and flattening assembly synchronous action can be realized.

[0055] Three, about "hydraulic brake + electronic brake" mode

[0056] The whole machine adopts the braking mode of combination of electronic braking of traveling and hydraulic pressure loss protection system braking. After the vehicle starts, the plunger double pump 4 works, the brake solenoid valve 10 is electrified, and oil is supplied to the left wheel side reducer 12 and the right wheel side reducer 8 respectively, under the action of pressure, the spring of the hydraulic pressure loss protection system brake in the left wheel side reducer 12 and the right wheel side reducer 8 is compressed, the brake friction plate is separated, and the vehicle wheel is in an automatic rotating state, so that the vehicle can normally travel. When the vehicle needs to decelerate or stop during traveling, the whole machine controller 16 controls the rotating speed of the left wheel side motor 11 and the right wheel side motor 7 through the left wheel side motor controller 13 and the right wheel side motor controller 6 respectively, so as to achieve the purpose of deceleration and stop through the left wheel side reducer 8 and the right wheel side reducer 12. When a sudden situation occurs during traveling, for example, the engine 1 and the ISG motor 2 are damaged, and the vehicle electronic brake system fails, the hydraulic pressure loss protection system will play a role. At this time, the brake solenoid valve 10 loses power, the oil pressure decreases, the spring of the hydraulic pressure loss protection system brake in the left wheel side reducer 12 and the right wheel side reducer 8 is stretched, the brake friction plate is pressed, the vehicle is decelerated or stopped, so as to ensure that the vehicle can be decelerated or even stopped, and the safety of the driver and the vehicle is protected. At the same time, in the parking state, the parking brake button is pressed, the brake solenoid valve 10 loses power, the oil pressure decreases, the spring of the hydraulic pressure loss protection system brake in the left wheel side reducer 12 and the right wheel side reducer 8 is stretched, the brake friction plate is pressed, and the vehicle is braked.

[0057] Four, regarding the driving walking mode

[0058] The whole machine has two driving modes: pure electric driving mode and hybrid driving mode. The whole machine controller 16 controls the driving mode of the whole machine.

[0059] When the whole machine starts, the whole machine controller 16 will issue a start instruction: whether to start the engine 1. When the power battery system 18 has an electric quantity of more than 70%, the engine 1 can be selected not to be started, the power battery system 18 directly supplies power to the right wheel side driving motor 6 and the left wheel side driving motor 11, and directly drives the driving wheel 9 to walk. When the power battery system 16 has an electric quantity of less than or equal to 30%, the system detects that the engine 1 must be started for hybrid driving of the whole machine, at this time, the electric control clutch of the ISG motor 2 is combined with the engine 1, and the engine 1 is started to work. The two modes are described in detail below.

[0060] The first mode: pure electric drive walking mode, this working condition is mainly used for the use of the scene operation. At this time, the engine 1 is not started, the electric control clutch of the ISG motor 2 is in the separated state, on the one hand, the power battery system 18 provides energy for the ISG motor 2 through the high-voltage control box 15, drives the transfer case 3 to drive the plunger double pump 4 and the gear pump 5 to perform the work of the hydraulic system; on the other hand, the power battery system 18 drives the right wheel side drive motor 7 and the left wheel side drive motor 11 to provide power for the right wheel side reducer 8 and the left wheel side reducer 12 respectively, drives the drive wheel 9 to rotate, and then realizes the walking of the whole machine, when the power of the power battery system 11 is less than ≤30%, the whole machine controller 16 sends a command to start the engine 1.

[0061] The second mode: hybrid power drive mode, the whole machine controller 16 will send a start command, the engine 1 and the electric control clutch of the ISG motor 2 are combined, the engine 1 is started, the output end of the ISG motor 2 is connected with the transfer case 3, the plunger double pump 4 and the gear pump 5, drives the whole machine hydraulic actuator to act. At the same time, the ISG motor 2 is connected with the power battery system 18, the high-voltage control box 15, the right wheel side drive motor 6, the right wheel side drive motor controller 11, the left wheel side drive motor 7 and the left wheel side drive motor 11, drives the right wheel side reducer 8 and the left wheel side reducer 12 to drive the left and right two drive wheels 9 to rotate, realizes the walking of the whole machine.

[0062] Specifically, the hybrid power drive mode is divided into two freely switchable modes.

[0063] Mode one: when the power of the power battery system 18 is more than 70%, the whole machine controller 16 will distribute power according to the working load of the vehicle; the whole machine controller 16 controls the power battery system 18 to be in the discharging state, and the ISG motor 2 does not charge the power battery system 18. At this time, the engine 1 operates under light load, the ISG motor 2 provides power to the hydraulic actuator through the gear box 3, the plunger double pump 4 and the gear pump 5, at this time, the fuel consumption can be reduced, and the power loss can be reduced.

[0064] Mode two: when the power of the power battery system 18 is less than 70%, the whole machine controller 16 will distribute power according to the working load of the vehicle and the power of the power battery system 18, the less the power of the power battery system 18, the more the distributed power. The whole machine controller 16 controls the ISG motor 2 to charge the power battery system 18 on the one hand, and provides power to the hydraulic actuator through the gear box 3, the plunger double pump 4 and the gear pump 5 on the other hand, at this time, the engine 1 works under heavy load, the whole machine controller 16 controls the power distribution, so that the engine 1 works best.

[0065] At the same time, the whole machine can charge the power battery system 18 through the OBC-DC / DC integrated machine 19. When the vehicle is seriously short of electricity (≤10%), or the electricity is not enough after work, the OBC-DC / DC integrated machine 19 can be used to charge the power battery system 18 at the designated position of the garage.

[0066] The main purpose of the present application is to apply a multi-steering mode, double power flow, hybrid power driving system self-propelled mower to the mower. The whole machine adopts an electronic power steering system 14 to realize multi-steering and flexible steering. The vehicle driving operation is safer by using the "hydraulic brake + electronic" braking dual mode. The driving system adopts pure electric driving mode and hybrid power driving dual mode. The whole machine adopts clear electro-hydraulic power distribution mode (the whole machine adopts pure electric driving control, and the mower assembly adopts electro-hydraulic driving mode). The engine 1 has the advantages of long continuous working time and good power performance, which improves the fuel economy of the whole machine. The ISG motor has the advantages of no pollution and low noise, which protects the ecological environment. The advantages of the two are complementary, the thermal efficiency of the whole machine is improved, and the exhaust emission is reduced. Therefore, the system can not only increase the power of the vehicle, but also improve the fuel economy, reduce the oil consumption, and meet the environmental protection requirements of reducing pollution.

[0067] The whole machine is equipped with a charging interface and an OBC-DC / DC integrated machine 19, and the user can charge the mower through the charging pile.

[0068] Further, the whole machine automatic driving system retains the communication interface, which can realize the automatic driving level requirements.

[0069] The part of the present application not described in detail is the prior art.

[0070] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any equivalent transformation or modification according to the essence of the present application should be covered within the protection scope of the present application.

Claims

1. A driving system of a mower and flattening machine, characterized in that, the driving system of the mower and flattening machine comprises a power system, a hydraulic system, a walking system and a whole vehicle control system, wherein: the power system comprises an engine, an ISG motor, a transfer case and a power battery system, wherein the engine drives the ISG motor to generate electricity, the ISG motor is connected with the transfer case, and the transfer case is connected with the hydraulic system; the walking system is arranged on the left and right sides, and each walking system comprises a wheel edge driving motor, a wheel edge speed reducer, a driving wheel and a rear universal wheel; the wheel edge driving motor can drive the wheel edge speed reducer to move, and then drive the driving wheel to rotate, and the rear universal wheel moves with the driving wheel; the hydraulic system comprises a plunger double pump, a gear pump and a hydraulic actuator, the plunger double pump is connected with the transfer case, the gear pump is connected with the plunger double pump, and the plunger double pump is connected with the wheel edge driving motor through a brake electromagnetic valve; the whole vehicle control system comprises a whole machine controller, a generator controller, a high-voltage control box, a wheel edge driving motor controller and an electronic power steering system, the whole machine controller is electrically connected with the electronic power steering system, the high-voltage control box, the wheel edge driving motor controller, the generator controller, the power battery system and the engine; the ISG motor is connected with the high-voltage control box through the generator controller, and the wheel edge driving motor controller is electrically connected with the wheel edge driving motor; wherein the power system, the walking system and the whole vehicle control system cooperate to realize the walking driving of the whole machine, and the power system and the hydraulic system cooperate to provide power for the mower and flattening assembly in the front part of the mower and flattening machine; the control method of the above driving system comprises a multi-steering control method, a double-power flow power distribution method, a driving walking method and a brake braking method; wherein the brake braking adopts a brake mode combining the electronic brake of the vehicle with the hydraulic pressure loss protection system braking of the parking brake; after the vehicle is started, the plunger double pump works, the brake electromagnetic valve is electrified, and the wheel edge speed reducers on the left and right sides are supplied with oil respectively, under the action of the pressure, the springs of the hydraulic pressure loss protection system brakes in the wheel edge speed reducers on the left and right sides are compressed, the brake friction plates are separated, the wheels are in an automatic rotating state, and the vehicle can normally travel; when the vehicle needs to decelerate or stop during traveling, the whole machine controller controls the rotating speed of the wheel edge motor on the corresponding side through the wheel edge driving motor controllers on the left and right sides, and the wheel edge speed reducer is used to achieve the intention of deceleration and stop; when the vehicle electronic brake system fails during traveling, the hydraulic pressure loss protection system plays a role, at this time, the brake electromagnetic valve loses electricity, the oil pressure is reduced, the springs of the hydraulic pressure loss protection system brakes in the wheel edge speed reducers on the left and right sides are elongated, the brake friction plates are compressed, the vehicle is decelerated or stopped, the safety of the driver and the vehicle is ensured, and the vehicle is braked under parking condition.

2. A drive system for a hay and straw press according to claim 1, characterised in that, Also include OBC-DC / DC integrated machine, OBC-DC / DC integrated machine is connected with power battery system and the whole machine controller respectively.

3. A drive system for a hay and straw chopping and rolling machine according to claim 1, characterized in that The multi-steering control method includes three modes: Mode one, when the steering angle of the electronic power steering system is less than or equal to 120 degrees, the electronic power steering system communicates with the whole machine controller, the whole machine controller controls the acceleration of the outer wheels and the original speed or deceleration of the inner wheels, so that the two drive wheels have a speed difference, realizing slow steering with a steering radius of 2-3m; Mode two, when the steering angle of the electronic power steering system reaches between 120-240 degrees, the electronic power steering system communicates with the whole machine controller at this time, the whole machine controller controls the acceleration of the outer wheels, while the inner wheels gradually stop, realizing steering with a steering radius of 1-2m; Mode three, when the steering angle of the electronic power steering system is greater than or equal to 240 degrees, the electronic power steering system communicates with the whole machine controller at this time, the whole machine controller controls the acceleration of the outer wheels, and the inner wheels gradually decelerate and reverse, realizing steering with a steering radius of less than 1m, when the steering radius is equal to 0, it can realize the steering in place.

4. A drive system for a hay and straw chopping and rolling machine according to claim 1, characterized in that The dual-power flow power distribution method includes two modes: Mode one, when the engine is running, the engine and the ISG motor are combined with the electric control clutch, the engine drives the ISG motor and drives the hydraulic system to work; at the same time, the whole vehicle control system controls the walking system to act, and then drives the left and right two drive wheels to walk and drive; Mode two, when the engine is off, the ISG motor's electric control clutch is in a separated state, the engine and the ISG motor are separated, the power battery system is electrically connected to the high-voltage control box and provides power to the ISG motor through the generator controller, drives the ISG motor to convert electrical energy into mechanical energy, and provides power to the mowing and flattening assembly through the hydraulic system; on the other hand, the whole vehicle control system controls the walking system to act, and then drives the left and right two drive wheels to walk and drive, realizing the walking drive and mowing and flattening assembly synchronous action of the whole machine.

5. A drive system for a hay and straw crushing machine according to claim 1, characterized in that The driving walking method mainly includes two modes: Mode one, pure electric driving mode: at this time, the engine is not started, the ISG motor's electric control clutch is in a separated state, on the one hand, the power battery system provides energy to the ISG motor through the high-voltage control box, drives the transfer case to drive the hydraulic system to work; on the other hand, the power battery system drives the wheel edge drive motor to provide power to the wheel edge reducer, drives the drive wheel to rotate, and then realizes the walking of the whole machine, when the power battery system's power is less than or equal to 30%, the whole machine controller sends a start instruction to start the engine in hybrid power driving mode; Mode two, hybrid power driving mode: the whole machine controller sends a start instruction, the engine and the ISG motor's electric control clutch are combined, the engine is started, the ISG motor drives the hydraulic system to act, at the same time, the ISG motor is connected with the power battery system, the high-voltage control box, the wheel edge drive motor, and the wheel edge drive motor controller, the wheel edge reducer drives the drive wheel to rotate, realizing the walking of the whole machine.

6. A drive system for a hay and straw press according to claim 5, wherein, The hybrid power driving mode is divided into two freely switchable modes: Mode one, when the power of the power battery system is above 70%, the whole machine controller performs power distribution according to the working load of the vehicle; the whole machine controller controls the power battery system to be in a discharging state, and the ISG motor does not charge the power battery system; at this time, the engine is in light load operation, and the ISG motor provides power for the hydraulic system; Mode two, when the power of the power battery system is below 70%, the whole machine controller performs power distribution according to the working load of the vehicle and the power of the power battery system, and the whole machine controller controls the ISG motor to charge the power battery system on one hand and to provide power for the hydraulic system on the other hand; at this time, the engine is in heavy load operation, and the whole machine controller controls power distribution so as to make the engine have the best working performance.

7. A hay and straw conditioner comprising: A drive system for a mower and flattener according to any one of claims 1-2.

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