Hilly and mountainous region hybrid power caterpillar tractor and control method

Abstract

The invention discloses a hybrid crawler tractor for hills and mountains and a control method. The hybrid crawler tractor comprises a power system, a transmission system, an energy storage system, a driving system and a control system, the power system comprises an engine, a generator and a clutch; the transmission system comprises a mechanical coupling device, a gearbox, a power output shaft and the like; the energy storage system comprises a photovoltaic power generation panel and an energy storage device; the driving system comprises a driving system input shaft, left and right traction motors, left and right planet rows, driving wheels and the like; the control system comprises a whole vehicle controller, an energy storage device controller, a motor controller, an engine controller, a vehicle information sensor, a clutch control unit, a brake control unit and the like. According to the crawler tractor, a double-engine and motor mixed connection double-power flow structure is adopted, operation and running under various complex working conditions in hills and mountains are met, rich solar resources in the region are fully utilized, the advantages of a traditional crawler tractor and a new energy tractor are considered, and long-time operation in busy farming seasons is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery for hilly and mountainous areas, and in particular to a hybrid power crawler tractor for hilly and mountainous areas. Background Art

[0003] As electric transmission technology has been widely used in the automotive field and has achieved good application results, electric drive technology for tracked vehicles has become a new research hotspot. For agricultural tracked vehicles, especially mountain tracked tractors, their working objects and environments are different, and they are greatly affected by soil, road surface, slope and working conditions. Pure electric drive is affected by battery life and other issues and is not suitable for long-term operation. The infrastructure in hilly and mountainous areas is still weak, charging piles are not installed enough, charging is limited, and there is a risk of delaying agricultural work.

[0004] In response to the above problems, it is urgent to develop a hybrid hilly and mountainous crawler tractor that uses an internal combustion engine and an electric motor as dual power sources for coupled drive, which combines the advantages of mechanical transmission and electric drive to meet the working requirements of the tractor and improve the tractor's driving performance. This is of great significance to promoting the development of agricultural mechanization in my country's hilly and mountainous areas. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a hybrid crawler tractor suitable for hilly and mountainous areas. According to different operating conditions, different modes (pure electric mode, fuel mode, hybrid mode, extended-range mode) can be switched to meet the complex operating conditions in hilly and mountainous areas; the abundant solar energy resources in hilly and mountainous areas can be used to supplement the power supply of electrical equipment of mountain tractors in hilly and mountainous areas and extend their battery life.

[0006] The purpose of the present invention is achieved through the following technical solutions: A hybrid crawler tractor for hilly and mountainous areas comprises a vehicle body and a power system, a transmission system, an energy storage system, a driving system and a control system arranged on the vehicle body.

[0007] The power system includes an engine, a generator, and a clutch; the first engine is connected in series with the first motor through a clutch, and the second engine is connected in parallel with the first engine through a mechanical coupling device; The transmission system includes a mechanical coupling device, an output shaft of the mechanical coupling device, a gearbox, a gearbox output shaft, a fixed-axis gear, a clutch, and a power output shaft; the mechanical coupling device is connected to the gearbox, and is connected to the power output shaft through the fixed-axis gear and the clutch, and the gearbox output is connected to the drive system input through a bevel gear pair; The energy storage system includes a photovoltaic panel and an energy storage device; the power output of the photovoltaic panel is connected to the input of the energy storage device; The drive system includes a drive system input shaft, a traction motor, a planetary gear, a clutch, a brake, a gear, and a drive wheel; the drive system input shaft is connected to the left and right planetary gear rings, the left traction motor is connected to the left planetary gear sun gear through a clutch and a fixed shaft gear, the right traction motor is connected to the right planetary gear sun gear through a clutch and a fixed shaft gear, the left planetary gear planet carrier is connected to the left drive wheel, and the right planetary gear planet carrier is connected to the right drive wheel; The control system includes a vehicle controller, an energy storage device controller, a motor controller, an engine controller, a traction motor controller, a vehicle information sensor, a clutch control unit, a brake control unit, etc.; the state of charge output by the energy storage device is transmitted to the vehicle controller, and the vehicle component information parameter page monitored by the vehicle information sensor is transmitted to the vehicle controller. The vehicle controller sends commands to the energy storage device controller, the first motor controller, the engine 1 controller, the engine 2 controller, the left traction motor controller, the right traction motor controller, the clutch control unit, the brake control unit and other components. After receiving the command, each of the above controllers controls the response component to execute the command; The first motor 3 is an integrated motor for electric and electric generation, which can charge the energy storage device and can also be used as a driving source. The energy storage device can be charged by an external power source; The mechanical coupling device includes a planetary gear mechanism, a brake, and a single planetary gear ring input gear; the output of the clutch C3 is connected to the sun gear 9 of the planetary gear mechanism 7 through the brake Z1, the output of the planetary gear mechanism 7 is connected to the input of the gearbox, the output shaft 40 of the clutch C2 is connected to the ring gear 10 of the planetary gear mechanism 7 through the single planetary gear ring input gear 41, and the outer ring gear 10 is locked by the brake Z2 and the planet carrier 8.

[0008] The mechanical coupling device 5 includes three operating modes: pure electric mode, fuel mode and hybrid mode.

[0009] Pure electric mode: The crawler tractor is driven by the motor 3 alone, the brake Z2 locks the outer ring gear 10, the clutch C3 is engaged, the motor 3 switches to the electric motor drive mode, and the power of the output shaft 39 of the motor 3 is transmitted to the gearbox 11 through the sun gear 9 and the planetary carrier 8 of the planetary gear mechanism 7; Fuel mode: The crawler tractor is driven by the engine 2 alone, the brake Z1 locks the sun gear 9, the clutch C2 is engaged, the clutch C3 is disengaged, and the power of the engine output shaft 40 is transmitted to the planetary carrier 8 through the outer gear ring 10 of the planetary gear mechanism 7 of the gear 41, and finally transmitted to the gearbox 11 for input; Hybrid mode: brake Z1 and brake Z2 are not locked. At this time, the power of the output shaft 39 of the motor 3 passes through the sun gear 9 of the planetary gear mechanism 7; at the same time, the power of the output shaft 40 of the engine 2 passes through the gear 41 and the outer ring gear 10 of the planetary gear mechanism 7; the power of the output shaft 39 of the motor 3 and the output shaft 40 of the engine 2 are coupled together at the planetary carrier 8 of the planetary gear mechanism 7 to achieve hybrid power, and then the rotation speed is transmitted to the input of the gearbox 11.

[0010] There are two extended-range modes in the crawler tractor's operating mode: an extended-range engine drive mode and an extended-range dual-motor drive mode. When the crawler tractor starts the extended-range mode, the clutch C1 is engaged, the engine 1 only participates in power generation, and the motor 3 is in a generator state.

[0011] Extended-range engine driving mode: The crawler tractor is driven by engine 2 alone, and the power transmission route is consistent with the fuel mode; Extended-range dual-motor drive mode: The crawler tractor is driven by the left and right traction motors, the clutches C2 and C3 are disconnected, and the clutches C5 and C6 are engaged; the engine 1 drives the motor 3 to generate electricity, and the power output of the motor 3 flows into the energy storage device 5, and the power output of the energy storage device 5 flows into the left and right traction motors 20 and 27; the power of the left traction motor 20 is transmitted to the sun gear 18 of the left planetary row 15 through the clutch C5 and the gear 19, the brake Z5 is locked with the ring gear 16 of the left planetary row 15, and the power flows out from the planet carrier 17 of the left planetary row 15 to the left drive wheel 21, and the power of the right traction motor 27 is transmitted to the sun gear 25 of the right planetary row 22 through the clutch C6 and the gear 26, the brake Z6 is locked with the ring gear 23 of the right planetary row 22, and the power flows out from the planet carrier 24 of the right planetary row 22 to the right drive wheel 28.

[0012] Due to the particularity of the steering of tracked vehicles, when turning in the pure electric mode, fuel mode, hybrid mode, and extended-range engine drive mode, the clutches C5 and C6 are engaged, the power of the left traction motor flows through the clutch C5 and the gear 19 to be connected to the sun gear 18 of the left planetary row 15, and the power of the drive system input shaft 41 flows through the ring gear 16 of the left planetary row 15 and is coupled to the planetary carrier 24 of the left planetary row 15; the power of the right traction motor flows through the clutch C6 and the gear 26 to be connected to the sun gear 25 of the left planetary row 22, and the power of the drive system input shaft 41 flows through the ring gear 23 of the right planetary row 22 and is coupled to the planetary carrier 24 of the right planetary row 22, forming a dual power flow transmission for straight travel and steering.

[0013] The crawler tractor also has a high-power mode: this mode is based on the pure electric mode, fuel mode, hybrid mode, and extended-range engine drive mode. Clutches C5 and C6 are engaged, and the power flow direction is consistent with the dual power flow transmission. At this time, the left and right traction motors act as power-increasing motors.

[0014] The pure electric mode, fuel mode, hybrid mode, and extended-range engine drive mode can all choose to engage or disengage clutch C4 to achieve PTO power output or interrupt PTO power output.

[0015] By selectively engaging clutch C2, clutch C3 and clutch C4, different transmission ratios are provided between the drive motor 3 and the engine 2 and the PTO output shaft assembly; Further, by selectively controlling the engagement of clutch C1, clutch C2 and clutch C3, it is used to provide the transmission modes between the motor 3 and the engine 2 and the PTO output shaft assembly: PTO pure electric transmission mode, PTO engine direct drive transmission mode, PTO combined drive transmission mode; Further, by selectively controlling the clutch C2 to be disconnected, the clutches C3 and C4 to be engaged, and the brake Z2 to be locked with the ring gear 10 of the planetary gear row 7, a PTO pure electric transmission mode is provided between the motor 3 and the PTO output shaft assembly, and the output power of the motor 3 is sequentially transmitted to the PTO output shaft assembly through the drive motor output shaft assembly, the clutch C3, the sun gear 9 of the planetary gear row 7, the planetary carrier 8, the gearbox input shaft, the gear 37, the gear 38, and the clutch C4; Furthermore, by selectively controlling the engagement of clutch C1 and clutch C3, a PTO extended-range transmission mode is provided between the drive motor and the PTO output shaft assembly, wherein the engine drives the generator and the auxiliary motor to generate electricity through clutch C1, and the electric energy generated by the generator and the auxiliary motor is input into the power battery for charging; the power battery supplies power to the drive motor, and the output power of the drive motor is output through the PTO output shaft assembly.

[0016] The control method of a hybrid crawler tractor for hilly and mountainous areas comprises: (1) When it is determined that the mountain crawler tractor is in the starting / accelerating state, the left and right traction motors 20 and 27 are driven, and the engines 1, 2 and the first motor 3 are turned off; (2) When the mountain crawler tractor is in normal operating state, further determine the battery current SOC and required torque T req ; (3) When it is determined that the mountain crawler tractor is in a deceleration / braking / stop state, the first motor 3 generates electricity, and the engines 1, 2 and the left and right traction motors 20, 27 are turned off; A. If the required torque T req Less than the rated torque T of the first motor 3 r3 , the current power is greater than the maximum power threshold SOC max , the tractor enters the pure electric mode, the first motor 3 switches to the electric motor state, and the engines 1 and 2 are turned off; B. If the required torque T reqLess than the rated torque T of engine 2 r2 , the current power is greater than the maximum power threshold SOC max , the tractor enters the fuel mode, and turns off the engine 1 and the first motor 3; C. If the required torque T req Less than the rated torque T of engine 2 r2 , the current power is less than the maximum power threshold SOC max , the tractor enters the extended-range engine driving mode, the first motor 3 switches to the generator state, the engine 1 starts and drives the first motor 3 to charge the energy storage device at the same time, and the engine 2 starts to drive the tractor; D. If the required torque T req At the same time, it is greater than the rated torque T of engine 2 r2 and the rated torque T of the first electric machine 3 (in motor mode) r3 , the current power is greater than the minimum power threshold SOC min , the tractor enters the hybrid mode, the engine 1 is turned off, the first motor 3 is switched to the motor state, the engine 2 is started, and the first motor 3 and the engine 2 drive the tractor simultaneously; E. If the required torque T req Less than the rated torque T of the left and right traction motors 20 and 27 r4 , T r5 (The torques of the two traction motors are equal), the current power is less than the maximum power threshold SOC max , the tractor enters the extended-range dual-motor driving mode, turns off the engine 2, starts the engine 1 and the left and right traction motors 20 and 27 to drive the tractor, and the first motor 3 switches to the generator state, and the engine 1 drives the first motor 3 to charge the energy storage device 5; F. If the required torque T req Greater than the rated torque T of engine 2 r2 , the current power is less than the minimum power threshold SOC min , the tractor temporarily stops working, turns off the engine 2, switches the first motor 3 to the generator state, starts the engine 1 and drives the motor 3 to charge the energy storage device at the same time.

[0017] When it is determined that the tractor is in the starting / accelerating state, the clutches C1, C2, and C3 are disconnected, the clutches C5 and C6 are closed, and the brakes Z5 and Z6 are applied; When the tractor is in the deceleration / braking / stop state, clutches C1 and C2 are disconnected, clutch C3 is closed, brake Z1 is released, and brake Z2 is applied.

[0018] In step A, clutches C1 and C2 are disconnected, clutches C3, C5, and C6 are closed, brakes Z1, Z3, Z4, Z5, and Z6 are released, and brake Z2 is braked; in step B, clutches C1 and C3 are disconnected, clutch C2 is closed, brake Z2 is released, and brake Z1 is braked; in step C, clutch C3 is disconnected, clutches C1 and C2 are closed, brake Z2 is released, and brake Z1 is braked; in step D, clutch C1 is disconnected, clutches C2 and C3 are closed, and brakes Z1 and Z2 are released; in step E, clutches C2 and C3 are disconnected, clutches C1, C5, and C6 are closed, brakes Z3 and Z4 are released, and brakes Z5 and Z6 are braked; in step F, clutches C2, C3, C5, and C6 are all disconnected, and clutch C1 is closed.

[0019] The beneficial effects of the present invention are: (1) The dual-flow transmission of the tracked vehicle is organically combined with the transmission of the parallel-parallel hybrid vehicle. In the pure electric driving mode, the tracked tractor has better straight-line driving performance than the typical tracked vehicle with dual motors independently driven; (2) The dual-engine parallel structure can switch freely between the traditional crawler tractor working mode and the new energy crawler tractor working mode, taking into account the advantages of two different types of tractors. If one engine fails, the other engine can still work normally, ensuring long-term operation during the busy farming season; (3) The left and right traction motors act as steering motors when turning. Depending on the steering power requirements of different operating conditions, they can select speed reduction or differential steering, which can achieve on-the-spot steering and stepless steering. The flexible steering is suitable for small plot operations in hilly and mountainous areas. When the driving force is insufficient, they act as drive motors and work together with other drive sources to meet the complex driving conditions (climbing, overcoming obstacles, etc.) in hilly and mountainous areas and improve the efficiency of heavy-load operating conditions (ploughing, rotary tillage, etc.); (4) According to different working conditions in hilly and mountainous areas, multiple working modes can be switched (including pure electric mode, fuel mode, hybrid mode and extended range mode) to meet the complex working requirements in hilly and mountainous areas; the four main working modes can select or disconnect clutch 4 to achieve PTO power output or interruption. When PTO is working, three modes can be selected according to actual working needs: PTO pure electric transmission mode, PTO engine direct drive transmission mode, and PTO combined drive transmission mode, which has strong applicability; (5) By utilizing the abundant solar energy resources in hilly and mountainous areas, power can be supplied to the electrical equipment of mountain tractors in hilly and mountainous areas, thereby extending their battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a structural schematic diagram of a hybrid crawler tractor for hilly and mountainous areas.

[0021] The numbers in the attached drawings are: 1, first engine; 2, second engine; 3, first motor; 4, photovoltaic power generation panel; 5, energy storage device; 6, mechanical coupling device; 7, single planetary row; 8, single planetary row planet carrier; 9, single planetary sun gear; 10, single planetary row ring gear; 11, gearbox; 12, power output; 13, first bevel gear; 14, second bevel gear; 15, left planetary row; 16, left planetary row ring gear; 17, left planetary row planet carrier; 18, left planetary row sun gear; 19, left traction motor output gear; 20, left traction motor; 21, left drive wheel; 22, right planetary row; 23, right planetary row ring gear; 24, right travel wheel 1. Planetary carrier of the planetary row; 25. Right planetary row sun gear; 26. Right traction motor output gear; 27. Right traction motor; 28. Right drive wheel; 29. ​​Energy storage device controller; 30. Generator controller; 31. First engine controller; 32. Second engine controller; 33. Vehicle controller; 34. Right traction motor controller; 35. Left traction motor controller; 36. Gearbox output shaft; 37. Single planetary row planetary carrier output gear; 38. Power output shaft input gear; 39. First input shaft of mechanical coupling device; 40. Second input shaft of mechanical coupling device; 41. Single planetary row gear ring input gear; 42. Drive system input shaft.

[0022] C1, first clutch; C2, second clutch; C3, third clutch; C4, fourth clutch; C5, fifth clutch; C6, sixth clutch; Z1, first brake; Z2, second brake; Z3, third brake; Z4, fourth brake; Z5, fifth brake; Z6, sixth brake; S1, first wireless sensor; S2, second wireless sensor; S3, third wireless sensor; S4, fourth wireless sensor; S5, fifth wireless sensor. Implementation

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0025] like Figure 1 As shown, a hybrid crawler tractor for hilly and mountainous areas includes a vehicle body and a power system, a transmission system, an energy storage system, a drive system and a control system arranged on the vehicle body; The power system includes an engine 1, an engine 2, a motor 3, clutches C1, C2, and C3; the output shaft of the first engine 1 is connected in series with the input shaft of the motor 3 through the clutch C1, the output shaft of the motor 3 is connected to the first input shaft 39 of the mechanical coupling device 6 through the clutch C3, the power output of the motor 3 is connected to the input of the energy storage system, and the power output of the energy storage system is connected to the input of the two traction motors 20 and 27; the second engine 2 is connected to the second input shaft 40 of the mechanical coupling device 6 through the clutch C2; The transmission system includes a mechanical coupling device 6, a mechanical coupling device output shaft, a gearbox 11, a gearbox output shaft 36, a single planetary gearbox output gear 37, a power output shaft input gear 38, a clutch C4, and a power output shaft 12; the mechanical coupling device output shaft is connected to the gearbox 11 input shaft, the mechanical coupling device 6 output shaft is meshed with the power output shaft input gear 38 through the single planetary gearbox output gear 37, and the power is transmitted to the power output shaft 12 through the clutch C4, and the gearbox output shaft 36 is connected to the drive system input through the first bevel gear 13 and the second bevel gear 14; The energy storage system includes a photovoltaic panel 4 and an energy storage device 5; the power output of the photovoltaic panel is connected to the input of the energy storage device 5; The drive system includes a traction drive system input shaft 42, a left traction motor 20, a right traction motor 27, a left planetary gear 15, a right planetary gear 22, a clutch C5, a clutch C6, a brake Z3, a brake Z4, a brake Z5, a brake Z6, a left traction motor output gear 19, a right traction motor output gear 26, a left drive wheel 21, and a right drive wheel 28; the drive system input shaft 42 is connected to the left and right planetary gear rings 16 and 23, the left traction motor 20 is meshed with the left planetary gear sun gear 18 through the clutch C5 and the left traction motor output gear 19, the right traction motor 27 is meshed with the right planetary gear sun gear 25 through the clutch C5 and the right traction motor output gear 26, the left planetary gear carrier 17 is connected to the left drive wheel 21 through the brake Z3, and the right planetary gear carrier 24 is connected to the right drive wheel 28 through the brake Z4; The control system includes a vehicle controller 33, an energy storage device controller 29, a first motor controller 30, a first engine controller 31, a second engine controller 32, a left traction motor controller 35, a right traction motor controller 34, and first, second, third, fourth, and fifth wireless sensors S1, S2, S3, S4, and S5; the state of charge output by the energy storage device 5 is connected to the first input of the vehicle controller 33 by signal connection, and the torque, speed, power, speed and other information fed back in real time by the five wireless sensors S1, S2, S3, S4, and S5 are connected to the second input of the vehicle controller 33 by signal connection; the first The output is connected to the control input of the energy storage device 5 through the energy storage device controller, the second output of the vehicle controller 33 is connected to the control input of the motor 3 through the motor controller 30, the third output of the vehicle controller 33 is connected to the control input of the first engine 1 through the first engine controller 31, the fourth output of the vehicle controller 33 is connected to the control input of the second engine 2 through the second engine controller 32, the fifth output of the vehicle controller 33 is connected to the control input of the left traction motor 20 through the left traction motor controller 35, and the sixth output of the vehicle controller 33 is connected to the control input of the right traction motor 27 through the right traction motor controller 34.

[0026] The mechanical coupling device includes a single-row planetary gear mechanism 7, brakes Z1, Z2, and a single planetary gear ring input gear 41; the output shaft of the clutch C3 is connected to the sun gear 9 of the planetary gear mechanism 7 through the brake Z1, the output of the planetary gear mechanism 7 is connected to the input of the gearbox, the output shaft 40 of the clutch C2 is meshed with the ring gear 10 of the planetary gear mechanism 7 through the single planetary gear ring input gear 41, and the outer ring gear 10 is locked by the brake Z2 and the planet carrier 8.

[0027] The power of the first motor is input through the sun gear 9 of the single-row planetary gear mechanism 7, and the power of the engine 2 is input through the ring gear 10 of the single-row planetary gear mechanism 7. The two powers are coupled at the planet carrier 8 of the single-row planetary gear mechanism 7, flow into the gearbox 11 from the output shaft of the planet carrier, and finally transmitted to the input shaft 42 of the drive system; the brake Z1 brakes the first input shaft (first motor output) 39 of the mechanical coupling device as needed, and the brake Z2 brakes the second input shaft (engine 2 output) 40 of the mechanical coupling device as needed.

[0028] The state of charge output by the energy storage device 5 is connected to the first input of the vehicle controller 33 for signal connection. The energy storage device 5 feeds back the battery state of charge (SOC) to the vehicle controller 33 in real time. Its first output energy storage device controller 29 is connected to the control input of the energy storage device. When it is lower than a certain value, the engine 1 is controlled to start and drive the motor 3 to charge the energy storage device 5, so that the battery state of charge (SOC) is always maintained at a reasonable state of charge level.

[0029] The vehicle controller 33 serves as the main control module, collecting the working data of the driver and various components of the vehicle. According to the tractor working condition requirements, torque, charge state of the energy storage device 5, the speed of the engine 1, engine 2, motor 3, left traction motor 20, right traction motor 27 and other signals, as well as the working characteristics of the components and the reasonably configured working strategy, the vehicle controller 33 sends working signals to the controllers of various components of the tractor. According to the received signals, the controllers of each component control the corresponding components to meet the driving and operation requirements of the tractor. According to the working control instructions of the driver and each component, the vehicle controller 33 can realize various operating modes and transmit correct control signals to each component controller.

[0030] The vehicle controller 33 receives the operation instruction, and its third output is connected to the control input of the engine through the engine 1 controller 31, and the engine 1 speed is fed back to the vehicle controller 33 to continuously correct the engine 1 speed and the throttle position; its second output is connected to the control input of the first motor 3 through the first motor controller 30, and controls the start and stop of the first motor 3, switches the generator / motor mode, and corrects the speed and torque according to the operation instruction; its fourth output is connected to the control input of the engine 2 through the engine 2 controller 32, and controls the start and stop of the engine 2 and the speed adjustment according to the operation instruction; its fifth output is connected to the control input of the left traction motor 20 through the left traction motor controller 35, and controls the start and stop of the left traction motor 20 and corrects the speed and torque according to the operation instruction; its sixth output is connected to the control input of the right traction motor 27 through the right traction motor controller 34, and controls the start and stop of the right traction motor 27 and corrects the speed and torque according to the operation instruction.

[0031] The outputs of the first wireless sensor S1 installed on the gearbox output shaft 36, the wireless sensor S2 installed on the power output shaft 12, the third wireless sensor S3 installed on the drive system input shaft 42, the fourth wireless sensor S4 on the output shaft of the left planetary gear carrier 17, and the fourth wireless sensor S5 on the output shaft of the right planetary gear carrier 22 are connected to the second input of the vehicle controller 33, and the real-time torque, speed and other information are fed back to the vehicle controller 33 for continuous adjustment of the torque and speed.

[0032] The control method of the hybrid tractor power system includes three working modes: starting / acceleration mode, normal operation mode and deceleration / braking / stop mode; starting / acceleration mode refers to the working mode of the tractor in the starting and accelerating state, and deceleration / braking / stop mode refers to the tractor in the deceleration, braking or stop state; the tractor normal operation mode is further subdivided into three operation modes: heavy load operation (for tasks with large traction and high traction power requirements, such as plowing and rotary tillage), medium load operation (for moderate traction and traction power requirements, such as sowing, harvesting, trenching) and light load operation (for smaller traction and traction power requirements, such as field and road transportation operations). These working modes will ensure that the hybrid tractor can operate efficiently and flexibly in different working scenarios.

[0033] The control method of the present invention comprises the following steps: (1) When it is determined that the mountain crawler tractor is in the starting / accelerating state, the left and right traction motors 20 and 27 are driven, and the engines 1, 2 and the motor 3 are turned off; (2) When the mountain crawler tractor is in normal operating state, further determine the battery current SOC and required torque T req ; (3) When it is determined that the mountain crawler tractor is in a deceleration / braking / stop state, the motor 3 generates electricity, and the engines 1, 2 and the left and right traction motors 20, 27 are turned off; A. If the required torque T req Less than the rated torque T of motor 3 r3 , the current power is greater than the maximum power threshold SOC max , the tractor enters the pure electric mode, the motor 3 switches to the electric motor state, and the engines 1 and 2 are turned off; B. If the required torque T req Between the rated torque T of motor 3 r3 and rated torque T of engine 2 r2 The current power is greater than the maximum power threshold SOC max , the tractor enters the fuel mode and turns off the engine 1 and the motor 3; C. If the required torque T reqBetween the rated torque T of motor 3 r3 and rated torque T of engine 2 r2 The current power is less than the maximum power threshold SOC max , the tractor enters the extended-range engine driving mode, engine 1 starts, motor 3 switches to the generator state, driving motor 3 to charge the energy storage device, and engine 2 starts to drive the tractor; D. If the required torque T req Greater than the rated torque T of engine 2 r2 , the current power is greater than the minimum power threshold SOC min , the tractor enters hybrid mode, turns off engine 1, switches motor 3 to electric motor state, starts engine 2, and motor 3 and engine 2 drive the tractor simultaneously; E. If the required torque T req Less than the rated torque T of the left and right traction motors 20 and 27 r4 (The torques of the two traction motors are equal), the current power is less than the maximum power threshold SOC max , the tractor enters the extended-range dual-motor driving mode, turns off the engine 2, starts the engine 1 and the left and right traction motors 20 and 27 to drive the tractor, and switches the motor 3 to the generator state, and the engine 1 drives the motor 3 to charge the energy storage device 5; F. If the required torque T req Greater than the rated torque T of engine 2 r2 , the current power is less than the minimum power threshold SOC min , the tractor temporarily stops working, turns off engine 2, starts engine 1, switches motor 3 to generator state, and drives motor 3 to charge the energy storage device. The following is a specific description in combination with specific equipment and parameters.

[0034] According to the actual operation / running conditions of the tractor, sensors S1, S2, S3, S4, and S5 respectively continuously collect the rear axle input speed r 1 and torque T 1 , power output speed r 2 and torque T 2 , rear axle output speed r 3 and torque T 3 , left drive wheel speed r 4 , torque T 4 , speed v L , right driving wheel speed r 5 , torque T 5 , speed v R The energy storage device battery management system BMS detects the state of charge SOC of the battery of the energy storage device 5. 5 , voltage U 5、Current I 5 , Temperature T e5 , transmitted to the whole machine controller 33; the engine 1 controller detects the torque T of the engine 1 f1 , speed r f1 , Power P f1 ; Engine 2 controller detects the torque T of engine 1 f1 , speed r f1 , power P f1 When the first motor 3 is in the generator state, the first motor controller detects the torque T of the first motor 3 f3 , speed r f3 , power P f3 , charging voltage U f3 , current T f3 When the first motor 3 is in the motor state, the first motor controller detects the torque T of the first motor 3 f4 , speed r f4 , power P f4 The left traction motor controller detects the torque T of the left traction motor 20 f20 , speed r f20 , power P f20 The right traction motor controller detects the torque T of the right traction motor 27 f27 , speed r f27 , Power P f27 ; The clutch control unit detects the closing and disconnection of the clutches C1, C2, C3, C4, C5, and C6; the brake control unit detects the locking and disconnection of the brakes Z1, Z2, Z3, Z4, Z5, and Z6; all data information is connected to the whole machine controller 33; The whole machine controller analyzes all the above data information to determine the current working mode of the crawler tractor; as other implementation methods, other working or detection methods can also be used to obtain the working mode information.

[0035] If the torque T of the power output shaft 12 2 =0, actual tractor speed v a =0, torque T of left and right driving wheels 21, 28 4 , T 5>0, the whole machine controller determines that the crawler tractor is currently in the starting / acceleration mode; the whole machine controller sends instruction information to the engine 1 control, engine 2 controller, energy storage device controller, first motor controller, left traction motor controller, right traction motor controller, clutch control unit, and brake control unit respectively, and controls the corresponding actuators to shut down the engine 1 and engine 2 respectively, and the energy storage device 5 supplies power to the left and right traction motors 20 and 27, starts the left and right traction motors 20 and 27, shuts down the first motor 3, and the electromagnetic clutches C1, C2, C3, and C4 are disconnected, C5 and C6 are closed, and the brakes Z5 and Z6 are braked; at this time, the hybrid The mountain crawler tractor enters the dual-motor drive mode, and the left and right traction motors 20 and 27 drive the tractor to complete the starting and acceleration process; the power of the left traction motor 20 is transmitted to the sun gear 18 of the left planetary row 15 through the clutch C5 and the gear 19, the brake Z5 is locked with the ring gear 16 of the left planetary row 15, and the power flows from the planet carrier 17 of the left planetary row 15 to the left drive wheel 21, and the power of the right traction motor 27 is transmitted to the sun gear 25 of the right planetary row 22 through the clutch C6 and the gear 26, the brake Z6 is locked with the ring gear 23 of the right planetary row 22, and the power flows from the planet carrier 24 of the right planetary row 22 to the right drive wheel 28, thereby driving the tractor to complete the starting / acceleration.

[0036] If the torque T of the power output shaft 12 2 =0, actual tractor speed v a >0, torque T of left and right driving wheels 21, 28 4 , T 5 >0, and the left and right driving wheels 21, 28 have a rotation speed r 4 、r 5 As the speed decreases, the whole machine controller determines that the tractor is currently in the deceleration / braking / stop mode; the whole machine controller sends command information to the engine 1 control, the engine 2 controller, the energy storage device controller, the first motor controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit, respectively controlling the corresponding actuators to shut down the engine 1, shut down the engine 2, stop the energy storage device 5 from supplying power to the left and right traction motors 20 and 27, start the first motor 3, and the first motor 3 is in the generator state, the electromagnetic clutches C1, C2, C4, C5, and C6 are disconnected, the brakes Z1, Z5, and Z6 are released, and Z2 is braked. At this time, the hybrid tractor enters the deceleration / braking energy recovery mode in which only the first motor 3 is charged; the kinetic energy of the crawler tractor is transmitted from the drive system input shaft 42 to the mechanical coupling device 6 through the gearbox 11, and then transmitted to the first motor 3 for charging, and the electrical energy is stored in the energy storage device 5; at the same time, the first motor controller controls the first motor to operate in the high efficiency zone.

[0037] If the whole machine controller determines that the crawler tractor is not in the starting / acceleration mode and the deceleration / braking / stop mode, then the tractor is in the normal operation mode, and then the judgment and control of the normal operation mode are performed; First determine the current required torque T req (T req =T 1 +T 2 , T 1 、T 2 is the torque converted by transmission ratio, ignoring torque loss), speed r req And power P req The torque T provided by the engine 2 and the first motor 3 (motor state) f2-output 、T f3-output , r f2 、r f3 , P f2-output , P f3-output Secondly, determine the current battery power of the energy storage device 5 and the maximum power threshold SOC preset by the system max and minimum threshold SOC min The relationship between; because when a tractor performs various complex and changeable operating modes, it should first meet the traction and torque requirements under different working conditions, which is different from the speed requirements of cars under different working conditions.

[0038] Due to the special requirements of the crawler drive system for steering, this tractor can be turned in two situations: the first is in-situ steering: at this time, the current required torque T of the left drive wheel is determined. Lreq , R Lreq And power P Lreq With the left traction motor provided by T f20-output , speed r f20 And power P f20-output The relationship between the right driving wheel and the torque T is used to determine the current torque requirement of the right driving wheel. Rreq , R Rreq And power P Rreq With the right traction motor provided by T f27-output , speed r f27 And power P f27-output The relationship between the left drive wheel and the left drive wheel; The second non-stationary steering: At this time, the current required torque T of the left drive wheel is determined Lreq (T Lreq =T 1 / 2+T 4 )、R Lreq And power P Lreq The torque T provided by the engine 2, the first motor 3 (motor state) and the left traction motor f2-output 、T f3-output 、T f20-output , r f2 、rf3 、r f20 , P f2-output , P f3-output , P f20-output The relationship between the right driving wheel and the torque T is used to determine the current torque requirement of the right driving wheel. Rreq (T Rreq =T 1 / 2+T 5 )、R Rreq And power P Rreq The torque T provided by the engine 2, the first motor 3 (motor state) and the right traction motor f2-output , T f3-output , T f27-output , r f2 、r f3 、r f27 , P f2-output , P f3-output , P f27-output The relationship between.

[0039] 1. If the required torque T req Less than the rated torque T of the first motor 3 r3 , current power SOC 5 >SOC max , the whole machine controller sends instruction information to the engine 1 control, the engine 2 controller, the energy storage device controller, the first motor controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit respectively, and controls the corresponding actuators to shut down the engine 1, the engine 2, and the first motor 3 is switched to the motor state. The energy storage device 5 supplies power to the first motor 3 and the left and right traction motors 20 and 27, and starts the first motor 3, the left and right traction motors 20 and 27. The electromagnetic clutches C1 and C2 are disconnected, C3, C4, C5 and C6 are closed, and the brake Z2 is braked; at this time, the hybrid mountain crawler tractor enters the pure electric mode, and the tractor is driven by the first motor 3 alone to operate; the power of the output shaft 39 of the motor 3 is transmitted to the gearbox 11 through the sun gear 9 and the planetary carrier 8 of the planetary gear mechanism 7; and then the gearbox output shaft 36 is transmitted to the drive system input shaft 42 through the first bevel gear 13 and the second bevel gear 14; at the same time, the first motor controller controls the first motor 3 to work in the high-efficiency area, the output torque matches the required torque, and then controls the speed of the first motor to meet the operating speed.

[0040] 2. If the required torque T req Less than the rated torque T of engine 2 r2 , current power SOC 5 >SOC max, the whole machine controller sends command information to the engine 1 control, the engine 2 controller, the energy storage device controller, the first motor controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit respectively, and controls the corresponding actuators to shut down the engine 1, shut down the first motor 3, start the engine 2, disconnect the electromagnetic clutches C1 and C3, close C2, C4, C5 and C6, and brake Z1 brakes; at this time, the hybrid mountain crawler tractor enters the fuel mode, and like the traditional crawler tractor drive system, it can be adjusted according to the operation mode and the required torque T req The gear position of the gearbox is matched to handle different working conditions. The tractor is driven and operated by the engine 2 alone. The power of the engine 2 is transmitted to the planetary carrier 8 through the engine output shaft 40 and the gear 41 to the outer ring gear 10 of the planetary gear mechanism 7 and finally to the gearbox 11. The power of the engine 2 is then transmitted to the drive system input shaft 42 through the first bevel gear 13 and the second bevel gear 14 by the gearbox output shaft 36. At the same time, the engine 2 controller controls the engine 2 to work in the high-efficiency zone, the output torque matches the required torque, and the output speed meets the operating speed.

[0041] 3. If the required torque T req Less than the rated torque T of engine 2 r2 , current power SOC 5 <SOC max , the whole machine controller sends instruction information to engine 1 control, engine 2 controller, energy storage device controller, first motor controller, left traction motor controller, right traction motor controller, clutch control unit, and brake control unit respectively, and controls the corresponding actuators to start engine 1 and engine 2, start the first motor 3, switch the first motor 3 to generator mode, disconnect the electromagnetic clutch C3, close C1, C2, C4, C5 and C6, and brake Z1 brakes; at this time, the hybrid mountain crawler tractor enters the extended-range engine drive mode, which is driven by engine 2 alone as in the fuel mode, and at the same time, engine 1 drives the first motor 3 to generate electricity and stores energy in the energy storage device 5; the operation mode matching and power flow are consistent with step 2; the engine 1 controller maintains the engine 1 in the optimal working range for the first motor 3 to generate electricity, and the engine 2 controller controls the engine 2 to work in the high-efficiency area, the output torque matches the required torque, and the output speed meets the operation speed.

[0042] 4. If the required torque T req At the same time, it is greater than the rated torque T of engine 2 r2 and the rated torque T of the first electric machine 3 (in motor mode) r3 , current power SOC 5 >SOC min, the whole machine controller sends instruction information to the engine 1 control, the engine 2 controller, the energy storage device controller, the first motor controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit respectively, and controls the corresponding actuators to shut down the engine 1, start the engine 2, start the first motor 3, and switch the first motor 3 to the motor mode. The electromagnetic clutch C1 is disconnected, and C2, C3, C4, C5 and C6 are closed; at this time, the hybrid mountain crawler tractor enters the hybrid mode, and the first motor 3 and the engine 2 drive the tractor at the same time; at this time, the power of the output shaft 39 of the motor 3 passes through the sun gear 9 of the planetary gear mechanism 7; at the same time, the power of the output shaft 40 of the engine 2 passes through the gear 41 and the outer ring gear 10 of the planetary gear mechanism 7; the power of the output shaft 39 of the motor 3 and the output shaft 40 of the engine 2 are coupled together at the planetary carrier 8 of the planetary gear mechanism 7 to realize hybrid power, and then the speed is transmitted to the input of the gearbox 11, and then the gearbox output shaft 36 is transmitted to the drive system input shaft 42 through the first bevel gear 13 and the second bevel gear 14; the engine 2 controller controls the engine 2 to work in the high efficiency zone, and the output torque of the engine 2 is the rated torque T r2 , the first motor 3 controller controls the torque provided by the first motor 3 to be T req -T r2 ; 5. If the required torque T req Less than the rated torque T of the left and right traction motors 20 and 27 r4 , T r5 (The torque of the two traction motors is equal), current power SOC 5 >SOC maxThe whole machine controller sends instruction information to the engine 1 control, the engine 2 controller, the energy storage device controller, the first motor controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit respectively, and controls the corresponding actuators to start the engine 1 and shut down the engine 2, start the first motor 3, switch the first motor 3 to the generator mode, and the electromagnetic clutches C2, C3, and C4 are disconnected, C1, C5, and C6 are closed, and the brakes Z1, Z5, and Z6 are braked; at this time, the hybrid mountain crawler tractor enters the extended-range dual-motor drive mode, and the tractor is driven by the left and right traction motors 20 and 27, and the first motor 3 is switched to the generator state, and the engine 1 drives the motor 3 to charge the energy storage device 5 The power of the left traction motor 20 is transmitted to the sun gear 18 of the left planetary row 15 through the clutch C5 and the gear 19, the brake Z5 is locked with the ring gear 16 of the left planetary row 15, and the power flows out from the planet carrier 17 of the left planetary row 15 to the left drive wheel 21, and the power of the right traction motor 27 is transmitted to the sun gear 25 of the right planetary row 22 through the clutch C6 and the gear 26, the brake Z6 is locked with the ring gear 23 of the right planetary row 22, and the power flows out from the planet carrier 24 of the right planetary row 22 to the right drive wheel 28; this mode is only suitable for working tools that do not require PTO to provide power; the engine 1 controller controls the engine 1 to maintain in the high-efficiency range for power generation, and the left and right traction motor controllers control the left and right traction motors 20 and 27 to meet the current required torque and speed.

[0043] 6. If the required torque T req Greater than the rated torque T of engine 2 r2 , current power SOC 5 <SOC min , the whole machine controller sends command information to the engine 1 control, the engine 2 controller, the energy storage device controller, the first motor controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit respectively, and controls the corresponding actuators to start the engine 1 and shut down the engine 2, start the first motor 3, and switch the first motor 3 to the generator mode. The electromagnetic clutches C2, C3, C4, C5, and C6 are disconnected, and C1 is closed; at this time, the hybrid mountain crawler tractor enters the mode where the engine 1 provides power and only the first generator 3 is charged; the power of the engine 1 is transmitted to the first motor 3 for power generation, and the electric energy is stored in the energy storage device 5 until the current power SOC 5 >SOC max At the same time, the engine 1 controller controls the engine 1 to work in the high efficiency zone, the first motor controller controls the first motor 3 to work in the high efficiency zone, the generator control unit controls the generator 7 to work in the high efficiency zone, and the engine 1 output torque is the rated torque T r1 .

[0044] The invented hybrid power system for mountain crawler tractors comprises a mechanical coupling device 6, a first input shaft 39 of the mechanical coupling device, a second input shaft 40 of the mechanical coupling device, and the rotation speeds of the drive system input shaft 42, the left traction motor output gear 19, and the right traction motor output gear 26 can be independent of each other, and the transmission torques are proportional to each other; the control system and control method of the present invention can fully meet the high demands of crawler tractors for traction, torque, traction power and traction, torque, and traction power required for steering, while appropriately meeting the speed requirements of mountain crawler tractors; A specific implementation is given above, but the present invention is not limited to the described implementation. The basic idea of ​​the present invention lies in the above scheme. For ordinary technicians in this field, according to the teachings of the present invention, it does not require creative work to design various deformed models, formulas, and parameters. Changes, modifications, substitutions, and variations of the implementation without departing from the principles and spirit of the present invention still fall within the scope of protection of the present invention.

Claims

1. A hilly and mountainous hybrid crawler tractor, characterized in that, it includes a vehicle body and a power system, a transmission system, an energy storage system, a drive system and a control system provided on the vehicle body; The power system includes an engine, a generator, and a clutch; the first engine is connected in series with the first motor through the clutch, and the second engine is connected in parallel with the first engine through a mechanical coupling device; The transmission system includes a mechanical coupling device, an output shaft of the mechanical coupling device, a gearbox, an output shaft of the gearbox, fixed-axis gears, a clutch, and a power output shaft; the mechanical coupling device is connected to the gearbox and is connected to the power output shaft through fixed-axis gears and a clutch, and the output of the gearbox is connected to the input of the drive system through a bevel gear pair; The energy storage system includes a photovoltaic panel and an energy storage device; the power output of the photovoltaic panel is connected to the input of the energy storage device; The drive system includes a drive system input shaft, a traction motor, a planetary gear set, a clutch, a brake, a gear, and a drive wheel; the drive system input shaft is connected to the left and right planetary gear set annulus gears, the left traction motor is connected to the left planetary gear set sun gear through a clutch and fixed-axis gears, the right traction motor is connected to the right planetary gear set sun gear through a clutch and fixed-axis gears, the left planetary gear set planet carrier is connected to the left drive wheel, and the right planetary gear set planet carrier is connected to the right drive wheel; The control system includes a vehicle controller, an energy storage device controller, a motor controller, an engine controller, a traction motor controller, a vehicle information sensor, a clutch control unit, a brake control unit, etc.; the state of charge output by the energy storage device is transmitted to the vehicle controller, and the vehicle component information parameters monitored by the vehicle information sensor are also transmitted to the vehicle controller. The vehicle controller sends commands to components such as the energy storage device controller, the first motor controller, the engine 1 controller, the engine 2 controller, the left traction motor controller, the right traction motor controller, the clutch control unit, and the brake control unit. After receiving the commands, the above-mentioned controllers control the corresponding components to execute the commands; The motor 3 is an electric and generating integrated motor, which can charge the energy storage device and can also be used as a drive source, and the energy storage device can be charged by an external power source; The mechanical coupling device includes a planetary gear mechanism, a brake, and a single planetary gear set annulus input gear; the output of the clutch C3 is connected to the sun gear 9 of the planetary gear mechanism 7 through the brake Z1, the output of the planetary gear mechanism 7 is connected to the input of the gearbox, the output shaft 40 of the clutch C2 is connected to the annulus 10 of the planetary gear mechanism 7 through the single planetary gear set annulus input gear 41, and the outer annulus 10 is locked in cooperation with the planet carrier 8 through the brake Z2.

2. The hilly and mountainous hybrid crawler tractor according to claim 1, characterized in that, the mechanical coupling device 5 includes three operating modes: pure electric mode, fuel mode, and hybrid mode: Pure electric mode: The running of the crawler tractor is driven solely by the motor 3. The brake Z2 locks the external gear ring 10, the clutch C3 is engaged, the motor 3 switches to the electric motor drive mode, and the power of the output shaft 39 of the motor 3 is transmitted through the sun gear 9 and the planet carrier 8 of the planetary gear mechanism 7 and finally enters the input of the transmission 11; Fuel mode: The running of the crawler tractor is driven solely by the engine 2. The brake Z1 locks the sun gear 9, the clutch C2 is engaged, and the clutch C3 is disengaged. The power of the output shaft 40 of the engine is transmitted through the gear 41 and the external gear ring 10 of the planetary gear mechanism 7 to the planet carrier 8 and finally enters the input of the transmission 11; Hybrid mode: Neither the brake Z1 nor the brake Z2 is locked. At this time, the power of the output shaft 39 of the motor 3 is transmitted through the sun gear 9 of the planetary gear mechanism 7; at the same time, the power of the output shaft 40 of the engine 2 is transmitted through the gear 41 and the external gear ring 10 of the planetary gear mechanism 7; the power of the output shaft 39 of the motor 3 and the power of the output shaft 40 of the engine 2 are coupled together at the planet carrier 8 of the planetary gear mechanism 7 to achieve hybrid power, and then the rotational speed is transmitted to the input of the transmission 11.

3. A hilly and mountainous hybrid crawler tractor according to claim 1, characterized in that, There are two range extender modes in the operating modes of the crawler tractor: range extender engine drive mode and range extender dual-motor drive mode. When the crawler tractor starts the range extender mode, the clutch C1 is engaged, and the engine 1 only participates in power generation, and the motor 3 is in the generator state; Range extender engine drive mode: The running of the crawler tractor is driven solely by the engine 2, and the power transmission route is the same as that in the fuel mode; Range extender dual-motor drive mode: The running of the crawler tractor is driven by the left and right traction motors. The clutches C2 and C3 are disengaged, and the clutches C5 and C6 are engaged; The engine 1 drives the motor 3 to generate electricity. The electric power output of the motor 3 flows into the energy storage device 5, and the electric power output of the energy storage device 5 flows into the left and right traction motors 20 and 27; the power of the left traction motor 20 is transmitted through the clutch C5 and the gear 19 to the sun gear 18 of the left planetary gear set 15. The brake Z5 locks the gear ring 16 of the left planetary gear set 15, and the power flows out from the planet carrier 17 of the left planetary gear set 15 to the left drive wheel 21. The power of the right traction motor 27 is transmitted through the clutch C6 and the gear 26 to the sun gear 25 of the right planetary gear set 22. The brake Z6 locks the gear ring 23 of the right planetary gear set 22, and the power flows out from the planet carrier 24 of the right planetary gear set 22 to the right drive wheel 28.

4. A hilly and mountainous hybrid crawler tractor according to claim 1, characterized in that, Due to the particularity of the steering of the crawler vehicle, when steering in the pure electric mode, fuel mode, hybrid mode, and range extender engine drive mode, the clutches C5 and C6 are engaged. The power of the left traction motor flows through the clutch C5 and the gear 19 and is connected to the sun gear 18 of the left planetary gear set 15. The power of the drive system input shaft 41 flows through the gear ring 16 of the left planetary gear set 15 and is coupled at the planet carrier 24 of the left planetary gear set 15; The power of the right traction motor flows through the clutch C6, gear 26 and is connected to the sun gear 25 of the left planetary gear set 22. The power of the drive system input shaft 41 flows through the ring gear 23 of the right planetary gear set 22 and is coupled at the planet carrier 24 of the right planetary gear set 22, forming a straight - line and steering dual - power - flow transmission.

5. A kind of hilly - mountain hybrid crawler tractor according to claim 1, characterized in that, the crawler tractor also has a high - power mode: based on the pure - electric mode, fuel mode, hybrid mode, and range - extender engine drive mode, the clutches C5 and C6 are engaged, and the power flow direction is the same as that of the dual - power - flow transmission. At this time, the left and right traction motors act as power - increasing motors.

6. A kind of hilly - mountain hybrid crawler tractor according to claim 1, characterized in that, in the pure - electric mode, fuel mode, hybrid mode, and range - extender engine drive mode, the clutch C4 can be selectively engaged or disengaged to achieve PTO power output or interruption of PTO power output; by selectively engaging the clutch C2, clutch C3, and clutch C4, different transmission ratios between the drive motor 3, engine 2, and the PTO output shaft assembly are provided; furthermore, by selectively controlling the engagement of the clutches C1, C2, and C3, the transmission methods between the motor 3, engine 2, and the PTO output shaft assembly are provided: PTO pure - electric drive mode, PTO engine direct - drive mode, PTO combined - drive mode; furthermore, by selectively controlling the clutch C2 to disengage and the clutches C3 and C4 to engage, and the brake Z2 to lock with the ring gear 10 of the planetary gear set 7, a PTO pure - electric drive mode between the motor 3 and the PTO output shaft assembly is provided. The power output of the motor 3 is transmitted to the PTO output shaft assembly through the drive - motor output - shaft assembly, clutch C3, sun gear 9 of the planetary gear set 7, planet carrier 8, transmission input shaft, gear 37, gear 38, and clutch C4 in sequence; furthermore, by selectively controlling the clutches C1 and C3 to engage, a PTO range - extender drive mode between the drive motor and the PTO output shaft assembly is provided. The engine drives the power - generation and auxiliary motor to generate electricity through the clutch C1, and the electric energy generated by the power - generation and auxiliary motor is input into the power battery for charging; the power battery supplies power to the drive motor, and the power output of the drive motor is output through the PTO output shaft assembly.

7. A control method of a hilly - mountain hybrid crawler tractor according to claim 1, characterized in that, comprises the following steps (1) When it is judged that the mountain crawler tractor is in the starting / accelerating state, it is driven by the left and right traction motors 20 and 27, and the engines 1, 2 and the first motor 3 are turned off; (2)When it is determined that the mountain crawler tractor is in a normal operating state, further judge the current battery state of charge SOC and the demand torque T req ; (3) When it is judged that the mountain crawler tractor is in the decelerating / braking / shutting - down state, the first motor 3 generates electricity, and the engines 1, 2 and the left and right traction motors 20, 27 are turned off; A, if the required torque T req is less than the rated torque T of the first motor 3 r3 , and the current battery level is greater than the highest threshold SOC of the battery level max , then the tractor enters the pure electric mode, the first motor 3 switches to the motor state, and the engines 1 and 2 are turned off; B, if the required torque T req is less than the rated torque T of the engine 2 r2 , and the current battery level is greater than the maximum battery level threshold SOC max , then the tractor enters the fuel mode and shuts down the engine 1 and the first motor 3; C, if the required torque T req is less than the rated torque T of the engine 2 r2 , and the current battery level is less than the maximum battery level threshold SOC max , then the tractor enters the range - extender engine drive mode, the first motor 3 switches to the generator state, the engine 1 starts and simultaneously drives the first motor 3 to charge the energy storage device, and the engine 2 starts to drive the tractor; D, if the required torque T req is greater than the rated torque T of the engine 2 r2 and the rated torque T of the first motor 3 (in motor mode) r3 , and the current power is greater than the lowest power threshold SOC min , then the tractor enters the hybrid mode, shuts down the engine 1, the first motor 3 switches to the motor state, starts the engine 2, and the first motor 3 and the engine 2 drive the tractor simultaneously; E, if the required torque T req is less than the rated torques T r4 , T r5 of the left and right traction motors 20, 27 (the torques of the two traction motors are equal) and the current power is less than the highest power threshold SOC max , the tractor enters the range-extended dual-motor drive mode, shuts down the engine 2, and at the same time starts the engine 1, the left and right traction motors 20, 27 to drive the tractor. The first motor 3 switches to the generator state, and the engine 1 drives the first motor 3 to charge the energy storage device 5; F, if the required torque T req is greater than the rated torque T r2 of the engine 2, and the current battery level is less than the minimum battery level threshold SOC min then the tractor temporarily stops operating, shuts down the engine 2, the first motor 3 switches to the generator state, the engine 1 starts and simultaneously drives the motor 3 to charge the energy storage device; When it is judged that the tractor is in the starting / accelerating state, the clutches C1, C2, C3 are disengaged, the clutches C5, C6 are closed, and the brakes Z5, Z6 are braked; When the tractor is in the deceleration / braking / shutdown state, the clutches C1 and C2 are disengaged, the clutch C3 is engaged, the brake Z1 is released, and the brake Z2 is applied. In step A, the clutches C1 and C2 are disengaged, the clutches C3, C5, and C6 are engaged, the brakes Z1, Z3, Z4, Z5, and Z6 are released, and the brake Z2 is applied; in step B, the clutches C1 and C3 are disengaged, the clutch C2 is engaged, the brake Z2 is released, and the brake Z1 is applied; in step C, the clutch C3 is disengaged, the clutches C1 and C2 are engaged, the brake Z2 is released, and the brake Z1 is applied; in step D, the clutch C1 is disengaged, the clutches C2 and C3 are engaged, and the brakes Z1 and Z2 are released; in step E, the clutches C2 and C3 are disengaged, the clutches C1, C5, and C6 are engaged, the brakes Z3 and Z4 are released, and the brakes Z5 and Z6 are applied; in step F, the clutches C2, C3, C5, and C6 are all disengaged, and the clutch C1 is engaged.

Images