Power split type hybrid power tractor control method, system, equipment and medium

Abstract

The invention discloses a power split type hybrid power tractor control method, system, equipment and medium, and relates to the technical field of mechanical equipment.The system comprises a continuously variable transmission, a power device, an auxiliary device and a transmission device, and the power device, the auxiliary device and the transmission device are connected with the continuously variable transmission; the continuously variable transmission comprises a planetary gear set, a first motor and a second motor; the power device comprises an internal combustion engine and a first clutch. The auxiliary device comprises a hydraulic pump, a PTO device and a third clutch. The transmission device comprises a second clutch and a transmission shaft. The planetary gear set and the dual-motor design of the continuously variable transmission are combined with the internal combustion engine and the clutch in the power device, so that the engine can always run in a high-efficiency interval, the fuel economy is remarkably improved, and the energy consumption is reduced.

Description

Background Art

[0002] Traditional tractor power systems mainly use mechanical or hydraulic transmission: Mechanical transmission: Power is transmitted through a gear set, CVT cannot be achieved, and energy consumption increases significantly under low-speed and high-torque conditions.

[0003] Hydraulic transmission: relies on hydraulic pumps and motors, with high system complexity, large energy loss and low overall efficiency.

[0004] Existing hybrid tractor technology optimizes energy consumption by introducing electric drive parts. Generally, there are three technical solutions: series hybrid, parallel hybrid and power split type. However, the following problems still exist: Inflexible mode switching: The power source (internal combustion engine and electric motor) coordination strategy is single, and it is difficult to take into account both low-speed high torque and high-speed and high-efficiency requirements.

[0005] Tight coupling of auxiliary equipment: The hydraulic pump and power take-off shaft (PTO) are rigidly connected to the main transmission system, resulting in unnecessary power loss.

[0006] Limitations of control methods: In hybrid control systems, due to the use of a combined drive of an internal combustion engine and an electric motor, the system control is complex, especially in terms of power distribution, fuel efficiency, emission control, and battery power management. Traditional control methods mostly rely on empirical rules or model-based control algorithms, which may have certain limitations when dealing with complex dynamic and nonlinear characteristics. Neural network-based control methods have shown great potential in improving system performance, adaptability, and robustness. Summary of the invention

[0007] The technical problem to be solved by the present invention is to address the deficiencies of the prior art, and specifically provide a power split hybrid tractor control method, system, device and medium, as follows: 1) In the first aspect, the present invention provides a power split hybrid tractor control system, and the specific technical solution is as follows: It comprises: a continuously variable transmission, a power device, an auxiliary device and a transmission device, wherein the power device, the auxiliary device and the transmission device are connected to the continuously variable transmission; The continuously variable transmission includes a planetary gear set, a first motor and a second motor; The power device includes an internal combustion engine and a first clutch; The auxiliary device includes a hydraulic pump, a PTO device and a third clutch; The transmission device includes a second clutch and a transmission shaft.

[0008] The beneficial effects of a power split hybrid tractor control system provided by the present invention are as follows: Through the coordinated work of the continuously variable transmission, power unit, auxiliary device and transmission device, a variety of beneficial effects are achieved. First, the planetary gear set and dual-motor design of the continuously variable transmission, combined with the internal combustion engine and clutch in the power unit, can keep the engine running in the high-efficiency range, thereby significantly improving fuel economy and reducing energy consumption. At the same time, this design also enhances the power and adaptability of the tractor. The continuously variable transmission has a continuously variable speed ratio, which can adjust the transmission ratio in real time according to the operation requirements to ensure smooth power output, while the power split makes the power distribution of the engine and the motor more flexible to meet the power requirements of different working conditions. In addition, the system realizes the decoupling of PTO from the driving speed. Through the coordinated control of the planetary gear set and the motor, the PTO speed can be adjusted independently of the tractor's driving speed, greatly improving the flexibility of operation. The hydraulic pump and PTO device in the auxiliary device are connected to the continuously variable transmission through the clutch, and the working mode can be flexibly switched according to actual needs, further optimizing the efficiency and response speed of the hydraulic system. The reliability and stability of the system are also improved. The reasonable configuration of the clutch reduces mechanical shock, and the smooth transmission of the continuously variable transmission avoids the problem of power interruption during gear shifting of the traditional stepped transmission. At the same time, the electronic control system monitors and automatically adjusts the continuously variable transmission and hybrid power system in real time, which reduces the difficulty of operation and improves the working efficiency. In addition, the system is highly versatile and flexible, and can adapt to a variety of complex agricultural operation scenarios, such as plains, hills and basins, expanding the application range of tractors.

[0009] 2) In the second aspect, the present invention also provides a power split hybrid tractor control method, and the specific technical solution is as follows: Obtaining a target vehicle operation instruction, and determining a target operation mode corresponding to the target vehicle operation instruction in a vehicle operation instruction and operation mode correspondence table; The target operating modes include: pure electric mode, hybrid mode, pure fuel mode, parallel hybrid mode and start mode; The hybrid mode determines the target torque output and target speed output of the power device through an optimized neural network.

[0010] Based on the above solution, the present invention can also be improved as follows.

[0011] Furthermore, the pure electric mode is specifically: Disconnecting the first clutch and shutting down the internal combustion engine, driving the transmission device through the second motor, and at the same time, determining whether to use the PTO device according to the target vehicle operation instruction; When the result of the determination is that the PTO device is not used, adjusting the speed of the first motor based on the Willis equation; When the judgment result is that the PTO device is used, the PTO device is controlled by the first motor so that the speed of the PTO device reaches a preset speed.

[0012] Furthermore, the hybrid mode is specifically: The first clutch is controlled to close, and the power device is controlled according to the target torque output and the target speed output.

[0013] Furthermore, the pure fuel mode is specifically: The second clutch is controlled to close, the first motor is controlled to stop operating, and the planetary gear set is adjusted to a fixed transmission ratio.

[0014] Further, the parallel hybrid mode is specifically: On the basis of the pure fuel mode, the second motor is converted into the main motor.

[0015] Further, the startup mode is specifically: The first clutch is controlled to close, and torque compensation is performed through the second motor.

[0016] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, wherein the processor is coupled to a memory, wherein the memory stores at least one computer program, and wherein the at least one computer program is loaded and executed by the processor so that the electronic device implements any of the above methods.

[0017] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0018] 5) In a fifth aspect, the present invention also provides a mechanical device comprising any of the above methods.

[0019] It should be noted that the beneficial effects achieved by the technical solutions of the second to fifth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A structural framework diagram of a power split hybrid tractor control system according to an embodiment of the present invention; Figure 2A schematic diagram of a power split hybrid tractor powertrain of a power split hybrid tractor control method according to an embodiment of the present invention; Figure 3 A controller structure connection diagram of a power split hybrid tractor control method according to an embodiment of the present invention; Figure 4 A closed-loop system block diagram for training a neural network controller in a power split hybrid tractor control method according to an embodiment of the present invention; Figure 5 The figure is a structural framework diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] like Figure 1 as well as Figure 2 As shown, a power split hybrid tractor control system 200 according to an embodiment of the present invention comprises: a continuously variable transmission 230, a power device 210, an auxiliary device 220 and a transmission device 240, wherein the power device 210, the auxiliary device 220 and the transmission device 240 are connected to the continuously variable transmission 230; The continuously variable transmission 230 includes a planetary gear set, a first motor and a second motor; The power device 210 includes an internal combustion engine and a first clutch; The auxiliary device 220 includes a hydraulic pump, a PTO device and a third clutch; The transmission device 240 includes a second clutch and a transmission shaft.

[0023] The beneficial effects of a power split hybrid tractor control system provided by the present invention are as follows: Through the coordinated work of the continuously variable transmission, power unit, auxiliary device and transmission device, a variety of beneficial effects are achieved. First, the planetary gear set and dual-motor design of the continuously variable transmission, combined with the internal combustion engine and clutch in the power unit, can keep the engine running in the high-efficiency range, thereby significantly improving fuel economy and reducing energy consumption. At the same time, this design also enhances the power and adaptability of the tractor. The continuously variable transmission has a continuously variable speed ratio, which can adjust the transmission ratio in real time according to the operation requirements to ensure smooth power output, while the power split makes the power distribution of the engine and the motor more flexible to meet the power requirements of different working conditions. In addition, the system realizes the decoupling of PTO from the driving speed. Through the coordinated control of the planetary gear set and the motor, the PTO speed can be adjusted independently of the tractor's driving speed, greatly improving the flexibility of operation. The hydraulic pump and PTO device in the auxiliary device are connected to the continuously variable transmission through the clutch, and the working mode can be flexibly switched according to actual needs, further optimizing the efficiency and response speed of the hydraulic system. The reliability and stability of the system are also improved. The reasonable configuration of the clutch reduces mechanical shock, and the smooth transmission of the continuously variable transmission avoids the problem of power interruption during gear shifting of the traditional stepped transmission. At the same time, the electronic control system monitors and automatically adjusts the continuously variable transmission and hybrid power system in real time, which reduces the difficulty of operation and improves the working efficiency. In addition, the system is highly versatile and flexible, and can adapt to a variety of complex agricultural operation scenarios, such as plains, hills and basins, expanding the application range of tractors.

[0024] Embodiment 1, power transmission mechanism (such as Figure 2 shown): Planetary gear set: sun gear (SUN), planet carrier (CARRIER), ring gear (RING), adopting a coaxial layout.

[0025] Power Source: The internal combustion engine (ICE) is connected to the planetary carrier via clutch CL1; The motor MG1 is connected to the sun gear, and the motor MG2 is connected to the ring gear and coupled to the final drive.

[0026] clutch: CL1: controls the connection between ICE and planet carrier; CL2: locks the sun gear to achieve a fixed gear ratio; CL3: Activates the connection between the PTO and the planet carrier.

[0027] Auxiliary device: The hydraulic pump and PTO device are driven by the planetary carrier and support independent speed adjustment.

[0028] It should be further explained that the first motor (motor MG1) and the second motor (motor MG2) in this solution are arranged symmetrically around the axis of the planetary gear set, such as Figure 2The rotor and stator given in are arranged symmetrically around the axis of the planetary gear set.

[0029] like Figure 2 As shown, the present invention also provides a power split hybrid tractor control method, and the specific technical solution is as follows: S1, obtaining a target vehicle operation instruction, and determining a target operation mode corresponding to the target vehicle operation instruction in a vehicle operation instruction and operation mode correspondence table; The target operating modes include: pure electric mode, hybrid mode, pure fuel mode, parallel hybrid mode and start mode; The hybrid mode determines the target torque output and target speed output of the power device through an optimized neural network.

[0030] Furthermore, the pure electric mode is specifically: Disconnecting the first clutch and shutting down the internal combustion engine, driving the transmission device through the second motor, and at the same time, determining whether to use the PTO device according to the target vehicle operation instruction; When the result of the determination is that the PTO device is not used, adjusting the speed of the first motor based on the Willis equation; When the judgment result is that the PTO device is used, the PTO device is controlled by the first motor so that the speed of the PTO device reaches a preset speed.

[0031] Furthermore, the hybrid mode is specifically: The first clutch is controlled to close, and the power device is controlled according to the target torque output and the target speed output.

[0032] Furthermore, the pure fuel mode is specifically: The second clutch is controlled to close, the first motor is controlled to stop operating, and the planetary gear set is adjusted to a fixed transmission ratio.

[0033] Further, the parallel hybrid mode is specifically: On the basis of the pure fuel mode, the second motor is converted into the main motor.

[0034] Further, the startup mode is specifically: The first clutch is controlled to close, and torque compensation is performed through the second motor.

[0035] Embodiment 2, pure electric mode: CL1 is disconnected, the internal combustion engine (ICE) is turned off, and MG2 uses the energy of the battery pack alone to drive the vehicle, and the vehicle operates in a low to medium speed range.

[0036] Auxiliary equipment drive: When the PTO is not in use, the e-CVT adjusts the auxiliary equipment speed, and the MG / 1 adjusts the speed according to the Willis equation to maintain the driveline target speed, optimize auxiliary equipment efficiency, reduce energy losses, and increase electric mode range.

[0037] PTO use: When PTO is used, the PTO is connected to the drive train, MG / 1 controls the PTO speed to the required value (usually 540rpm or 1000rpm), and the mechanical auxiliary equipment runs at a constant speed.

[0038] Hybrid mode: Running state: The internal combustion engine (ICE) is started and connected to the transmission system by closing CL1, and CL2 remains open. The hybrid function is realized by controlling MG / 1, MG / 2 and the engine, and power flow management is performed with the control target of minimizing the average fuel consumption of the engine and the depth of battery charge and discharge.

[0039] The second control goal is to keep the battery state of charge (SOC) within a safe range throughout the driving cycle, usually set above 0.4.

[0040] Auxiliary Drive Speed: The speed of the auxiliary equipment is determined by the engine speed, subject to the speed limitations of the pump in the hydraulic circuit.

[0041] PTO connection: By closing CL3, the PTO can be connected to the engine drive shaft. When the PTO is running, the engine speed is determined by the constant reference speed of the PTO (540 rpm or 1000 rpm), and the auxiliary pump speed is fixed.

[0042] Pure fuel mode: The system works in a traditional mechanical transmission mode with the hybrid function disabled. It is suitable for scenarios requiring high traction and medium to high speed operation.

[0043] The PTO and auxiliary equipment speeds are rigidly coupled to the engine.

[0044] Running state: The internal combustion engine (ICE) starts and is connected to the transmission system by closing CL1. At the same time, CL2 is closed, MG1 stops running, the planetary gear set becomes a fixed gear ratio, and the internal combustion engine directly drives the wheels. Since CL2 is closed, the sun gear of the planetary gear set is locked, and the gear set works like a normal gear, providing a fixed engine-to-wheel gear ratio.

[0045] The wheel speed is completely determined by the ICE speed, MG2 can be turned off, the ICE provides all the traction, and MG2 rotates freely.

[0046] Auxiliary equipment drive: The speed of the auxiliary equipment (and PTO) is directly driven by the engine speed, and there is no speed decoupling between the wheels and the auxiliary equipment-PTO.

[0047] Parallel hybrid mode: improve vehicle dynamics (such as acceleration), achieve energy recovery (such as regenerative braking), and extend battery life (through power generation and charging) Based on the fuel mode, MG2 can provide additional power or brake energy recovery; MG / 2 can add or subtract power to the main drive system through electromechanical conversion.

[0048] Supports short-term application of high torque (positive or negative) for improved acceleration or regenerative braking.

[0049] Supports long-term application of low generating torque to charge the battery.

[0050] Start mode: Start mode is a short transition mode used to switch from electric mode to hybrid mode. Start mode achieves seamless switching from electric mode to hybrid mode by coordinating the work of MG1 and MG2, while ensuring the smoothness of vehicle driving. Smooth mode switching can be achieved without the need for additional engine starter hardware support.

[0051] By closing CL1, MG1 produces a speed gradient on the transmission system through speed regulation, which is used to start the engine.

[0052] MG2 compensates for the reduced torque caused by starting the engine, ensuring that wheel speed is not affected.

[0053] In another embodiment of the present solution, the solution is described from the perspective of the controller, specifically: like Figure 3 As shown in the figure, the vehicle controller is the core control unit of the system, responsible for coordinating the interaction between the engine, MG1 (motor 1), MG2 (motor 2), CVT (continuously variable transmission) and load. It determines the appropriate power distribution and working mode based on various data input by sensors (such as vehicle speed, SOC, etc.), and optimizes the system's fuel efficiency, power performance and emissions through the application of neural network models.

[0054] The engine controller is responsible for managing the operation of the internal combustion engine and ensuring that it operates in the best working condition. It receives signals from the vehicle controller and controls the torque output of the engine. It communicates with the vehicle controller using the CAN bus.

[0055] The MG1 / MG2 controller manages the speed and torque output of MG1 / MG2. It adjusts the working state of the motor according to the instructions of the vehicle controller, so that MG1 / MG2 can act as a generator or drive the motor. It communicates with the vehicle controller using the CAN bus.

[0056] The load refers to the various external loads that the tractor bears during driving, including the implements carried by the tractor, the inertia of the vehicle, the slope, acceleration, etc. The change of load will affect the operation mode and power distribution of the vehicle control system. The system needs to monitor the load in real time and make adjustments.

[0057] ωr,ωe: ring gear and engine speed. The ring gear speed also represents the tractor speed.

[0058] SOC: Battery state of charge, ranging from 0-100%, usually maintained above 40%.

[0059] like Figure 4 As shown in the figure, a neural network-based control method is used in the hybrid mode, which includes training a neural network controller to optimize the fuel consumption, power distribution and battery state (SOC) of the eCVT hybrid system. The neural network controller can adjust the power distribution between the internal combustion engine and the electric motor in real time by learning from historical driving cycle data to achieve the lowest fuel consumption and the best power performance.

[0060] The training process of the neural network controller is completed through an offline training method, using a neural network-based model to extract the powertrain characteristics of the eCVT hybrid system. The neural network is trained using a multi-stream extended Kalman filter (EKF) algorithm by collecting data under various operating conditions and driving cycles.

[0061] The neural network controller outputs the torque and speed requirements of the electric motor and internal combustion engine based on the input information such as the battery status SOC, fuel consumption rate f and the desired speed of the vehicle. The neural network controller optimizes the vehicle's power output by learning the driving mode to ensure optimal fuel efficiency and vehicle speed.

[0062] Input parameters: SOC(t): The current state of charge of the battery, which affects the control strategy.

[0063] SOC(t-1): The state of charge of the battery at the previous moment.

[0064] f(t-1): The fuel consumption rate at the previous moment, reflecting the working condition of the engine.

[0065] Output parameters: τe(t): Torque output of the engine, ±1 range.

[0066] ωe(t): Engine speed output, ±1 range.

[0067] Constraint Validator: Ensures that the vehicle speed and torque calculated by the neural network controller are within the physical and mechanical constraints, especially the constraints of the planetary gear mechanism. It checks whether these calculated values ​​are feasible and meet the system requirements.

[0068] Output: ωe(t), Te(t): engine speed and torque.

[0069] ωm(t), Tm(t): motor speed and torque.

[0070] ωg(t), Tg(t): speed and torque of the generator.

[0071] The neural network model simulates the dynamic response of the entire system and helps the neural network controller predict and optimize system performance. The model acquires knowledge related to the system dynamics through pre-training.

[0072] Output: SOC(t): Battery state of charge, which affects the charge and discharge depth and life of the battery.

[0073] f(t): fuel consumption rate, reflecting the fuel economy of the engine.

[0074] The converter determines the required speed of the planetary gears and torque , in order to achieve the target vehicle speed set in the historical driving cycle.

[0075] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0076] like Figure 5 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above methods, specifically: The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements a power split hybrid tractor control method provided in the above embodiment. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for realizing device functions, which will not be described in detail here.

[0077] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above methods.

[0078] Optionally, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0079] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above methods.

[0080] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0081] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0082] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0083] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A power split hybrid tractor control system, characterized in that: include: A continuously variable transmission, a power device, an auxiliary device and a transmission device, wherein the power device, the auxiliary device and the transmission device are connected to the continuously variable transmission; The continuously variable transmission includes a planetary gear set, a first motor and a second motor; The power device includes an internal combustion engine and a first clutch; The auxiliary device includes a hydraulic pump, a PTO device and a third clutch; The transmission device includes a second clutch and a transmission shaft.

2. A power split hybrid tractor control method, applied to a power split hybrid tractor control system according to claim 1, characterized in that: The method includes: Obtaining a target vehicle operation instruction, and determining a target operation mode corresponding to the target vehicle operation instruction in a vehicle operation instruction and operation mode correspondence table; The target operating modes include: pure electric mode, hybrid mode, pure fuel mode, parallel hybrid mode and start mode; The hybrid mode determines the target torque output and target speed output of the power device through an optimized neural network.

3. A power split hybrid tractor control method according to claim 2, characterized in that: The pure electric mode is specifically: Disconnecting the first clutch and shutting down the internal combustion engine, driving the transmission device through the second motor, and at the same time, determining whether to use the PTO device according to the target vehicle operation instruction; When the result of the determination is that the PTO device is not used, adjusting the speed of the first motor based on the Willis equation; When the judgment result is that the PTO device is used, the PTO device is controlled by the first motor so that the speed of the PTO device reaches a preset speed.

4. A power split hybrid tractor control method according to claim 2, characterized in that: The hybrid mode is specifically as follows: The first clutch is controlled to close, and the power device is controlled according to the target torque output and the target speed output.

5. A power split hybrid tractor control method according to claim 2, characterized in that: The pure fuel mode is specifically: The second clutch is controlled to close, the first motor is controlled to stop operating, and the planetary gear set is adjusted to a fixed transmission ratio.

6. A power split hybrid tractor control method according to claim 5, characterized in that: The parallel hybrid mode is specifically: On the basis of the pure fuel mode, the second motor is converted into the main motor.

7. A power split hybrid tractor control method according to claim 2, characterized in that: The startup mode is specifically: The first clutch is controlled to close, and torque compensation is performed through the second motor.

8. An electronic device, characterized in that: The electronic device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method according to any one of claims 2 to 7.

9. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor to enable the computer to implement the method according to any one of claims 2 to 7.

10. A mechanical device, characterized in that: It comprises a power split hybrid tractor control system as claimed in claim 1.

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