Wheel hub motor type series-parallel hybrid track tractor mechanism and multi-mode control method thereof

Abstract

The application discloses a wheel-side motor type hybrid track tractor mechanism and a multi-mode control method thereof, which comprises a vehicle VCU, an engine, a transfer case, an output PTO, an ISG motor, a reducer, a planetary differential wheel system, a first driving motor, a second driving motor, a first brake, a second brake, a third brake, a fourth brake, a first clutch, a power battery, an inverter, a first motor controller, a second motor controller and an ISG controller. The vehicle VCU detects the working state signal of the engine, the battery power signal and the driving intention signal of the driver, and controls each component to work in cooperation and in several states according to the detected signals. The application can make the tractor better adapt to complex working conditions on the basis of keeping steering flexible and high maneuverability, and improve the power performance, working condition adaptability and economy of the tractor as a whole.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hybrid track tractor control, in particular to a wheel motor type hybrid track tractor and a multi-mode control method thereof. BACKGROUND

[0002] The process of agricultural mechanization continues to accelerate, and the number of agricultural machinery is large and the popularization rate is significantly improved, which provides an important foundation for the improvement of agricultural production efficiency and the implementation of carbon emission strategy; however, as the core agricultural equipment, the tractor covers a variety of tasks such as plowing, rotary tillage, transportation, etc., and puts forward higher requirements for the vehicle dynamics response, energy economy and environmental adaptability; the traditional agricultural machinery relies on fuel engine driving, and in complex working conditions, there are generally problems such as low fuel efficiency, high emission pollution, poor matching degree of power output and load demand, etc., which urgently need to be solved through power system innovation to realize energy saving and performance upgrading.

[0003] In order to solve the above problems, the introduction of new energy technology provides a key path for the transformation of agricultural power, and the electric drive system becomes an important direction to replace traditional mechanical power due to its low use cost, fast power response and mature industry chain; hybrid power technology further integrates the complementary characteristics of fuel engine and electric drive system, such as: series hybrid power drives the generator by engine to supply power, realizes decoupling of power source and driving wheel, can optimize engine high efficiency interval operation, and saves energy significantly compared with traditional mechanical drive; parallel hybrid power cooperates or works independently through double power source, supports high power output, and meets high intensity operation demand; however, the existing hybrid power configuration still has certain limitations in agricultural application, such as: series configuration has high loss due to multiple energy transmission links, and the power coordination flexibility is insufficient; parallel configuration can realize power superposition, but the adaptability to complex working conditions is weak, and it is difficult to balance the energy efficiency optimization in all scenes.

[0004] Furthermore, for track tractors, wheel motor drive becomes an innovative direction to improve steering flexibility and maneuverability due to its compact structure, direct power transmission and four-wheel independent drive; but the existing technology mostly uses traditional mechanical transmission structure, and direct transplantation to wheel motor drive system will cause steering interference, transmission efficiency loss and other problems, which limits the agricultural operation performance; therefore, the current wheel motor type hybrid track tractor generally adopts series configuration, but its indirect driving mode relying on engine power generation still cannot meet the complex working condition demand of tractors in terms of energy conversion efficiency, power dynamic response and multi-mode switching flexibility.

[0005] In summary, existing technologies have significant shortcomings in power architecture design, energy management strategies, and multi-mode collaborative capabilities, resulting in low energy utilization, inaccurate power output, and insufficient emission control in wheel-side motor hybrid tracked tractors under complex operating conditions. There is an urgent need to break through the limitations of traditional configurations by innovating power architecture and intelligent control strategies to achieve a high-efficiency, low-carbon, and highly adaptable upgrade of agricultural machinery power systems. Summary of the Invention

[0006] The purpose of this invention is to provide a wheel-side motor type hybrid tracked tractor configuration and its multi-mode control method, thereby solving all or one of the above-mentioned problems in the prior art.

[0007] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows:

[0008] On one hand, the present invention provides a configuration of a wheel-side motor type hybrid tracked tractor, comprising:

[0009] Vehicle VCU;

[0010] engine;

[0011] The transfer case is mechanically connected to the engine;

[0012] The output PTO and ISG motors are mechanically connected to the transfer case, respectively;

[0013] The speed reducer is mechanically connected between the transfer case and the output PTO;

[0014] A planetary differential gear train is mechanically connected to the ISG motor; the planetary differential gear train consists of a first planetary differential gear train and a second planetary differential gear train; the first planetary differential gear train and the second planetary differential gear train are mechanically connected to the ISG motor via a first half-shaft and a second half-shaft, respectively; a first wheel-side reducer is mechanically connected to the first planetary differential gear train, and a second wheel-side reducer is mechanically connected to the second planetary differential gear train;

[0015] The first drive motor and the second drive motor are mechanically connected to the first planetary differential gear train and the second planetary differential gear train, respectively. The first planetary differential gear train and the second planetary differential gear train are used to couple the two power sources.

[0016] A first brake is located on the first half-shaft; a second brake is located between the first drive motor and the first planetary differential gear train; a third brake is located on the second half-shaft; and a fourth brake is located between the second drive motor and the second planetary differential gear train.

[0017] The first clutch is mechanically connected between the transfer case and the reducer; the second clutch is mechanically connected between the ISG motor and the planetary differential gear train.

[0018] A power battery is electrically connected to the first drive motor, the second drive motor, and the ISG motor; an inverter is also electrically connected between the power battery and the first drive motor, the second drive motor, and the ISG motor; a first motor controller, a second motor controller, and an ISG controller, respectively, are also connected to the power battery and the first drive motor, the second drive motor, and the ISG motor via signals.

[0019] The vehicle VCU is used to detect the engine's operating status signal, battery power signal, and driver's driving intention signal. The vehicle VCU controls the first clutch, the second clutch, the first brake, the second brake, the third brake, the fourth brake, the first drive motor, the second drive motor, the ISG motor, the engine, and the power battery to operate in several states based on the detected signals.

[0020] On the other hand, the present invention also provides a multi-mode control method for a wheel-side motor type hybrid tracked tractor configuration, comprising the following steps:

[0021] The vehicle's VCU is invoked to detect the engine's operating status signal, drive motor's operating status signal, power battery SOC signal, and driver's driving intention signal.

[0022] The vehicle's VCU is invoked to determine whether the engine is operating in its efficient and fuel-saving range based on the engine operating status signal, whether the drive motor output power is sufficient based on the drive motor operating status signal, and whether the power battery SOC is sufficient based on the power battery SOC signal.

[0023] The vehicle's VCU is invoked to switch the working states of the second clutch, power battery, ISG motor, first drive motor, second drive motor, and engine based on the judgment result. Based on the switching of the working states, the tractor can switch between series charging mode, series discharging mode, pure mechanical mode, parallel charging mode, parallel discharging mode, mechanical parallel mode, and pure electric mode.

[0024] The vehicle's VCU is invoked to control the engagement or disengagement of the first clutch based on the driver's driving intention signal; by controlling the engagement or disengagement of the first clutch, the tractor can switch between rotary tillage mode, plowing mode, or driving mode.

[0025] Furthermore, the step of calling the vehicle's VCU to switch the operating states of the second clutch, power battery, ISG motor, first drive motor, second drive motor, and engine based on the judgment result further includes:

[0026] The vehicle's VCU is invoked to control the disengagement and engagement of the second clutch;

[0027] The vehicle's VCU is invoked to control the charging and discharging of the power battery;

[0028] The vehicle's VCU is invoked to control the power generation and drive of the ISG motor;

[0029] The vehicle's VCU is invoked to control whether the first drive motor, the second drive motor, and the engine are working.

[0030] Furthermore, the series charging mode includes:

[0031] Control the disengagement of the second clutch;

[0032] Control the first brake and the third brake to brake;

[0033] Control the second brake and the fourth brake to not brake;

[0034] The engine is controlled to drive the ISG motor to generate electricity. A portion of the electricity generated by the ISG motor is stored in the power battery, and the other portion of the electricity generated by the ISG motor drives the tractor.

[0035] Furthermore, the series discharge mode includes:

[0036] Control the disengagement of the second clutch;

[0037] Control the first brake and the third brake to brake;

[0038] Control the second brake and the fourth brake to not brake;

[0039] The engine is controlled to drive the ISG motor to generate electricity. All the electricity generated by the ISG motor is used for the tractor to drive, and any insufficient electricity is compensated by the power battery.

[0040] Furthermore, the purely mechanical mode includes:

[0041] Control the second clutch to close;

[0042] Control the first brake and the third brake to not brake;

[0043] Control the second brake and the fourth brake to brake;

[0044] The engine is controlled to drive the tractor.

[0045] Furthermore, the parallel charging mode includes:

[0046] Control the second clutch to close;

[0047] The first brake, the second brake, the third brake, and the fourth brake are all deactivated.

[0048] The engine is controlled to drive the ISG motor to generate electricity. Part of the electricity generated by the ISG motor is used to drive the tractor, and the other part is stored in the power battery.

[0049] Simultaneously, the power battery is controlled to provide electrical energy to the first drive motor and the second drive motor, and the multiple power streams are matched and coupled through the planetary differential gear system to jointly drive the tractor.

[0050] Furthermore, the parallel discharge mode includes:

[0051] Control the second clutch to close;

[0052] The first brake, the second brake, the third brake, and the fourth brake are all deactivated.

[0053] The engine is controlled to drive the ISG motor to generate electricity, and all the electricity generated by the ISG motor is used to drive the tractor to move.

[0054] Simultaneously, the power battery compensates for insufficient power when driving the ISG motor, and provides power to the first drive motor and the second drive motor, so that the first drive motor and the second drive motor synchronously drive the tractor. The planetary differential gear system matches and couples multiple power streams to jointly drive the tractor.

[0055] Furthermore, the mechanical parallel mode includes:

[0056] Control the second clutch to close;

[0057] The first brake, the second brake, the third brake, and the fourth brake are all deactivated.

[0058] The engine is controlled to drive the tractor, and the power battery is controlled to provide power to the first drive motor and the second drive motor, so that the first drive motor and the second drive motor drive the tractor synchronously. The two power sources are matched and coupled through the planetary differential gear system to drive the tractor together.

[0059] Furthermore, the pure electric mode includes:

[0060] Control the disengagement of the second clutch;

[0061] Control the first brake and the third brake to brake;

[0062] Control the second brake and the fourth brake to not brake;

[0063] The power battery controls the first drive motor and the second drive motor to provide electrical energy, so that only the first drive motor and the second drive motor drive the tractor.

[0064] The beneficial effects of the technical solution of this invention are:

[0065] The wheel-side motor hybrid tracked tractor configuration and its multi-mode control method described in this invention can achieve the matching and coupling of drive motor power and mechanical transmission force by adding a mechanical transmission structure to the original wheel-side motor tracked tractor and utilizing the two-degree-of-freedom characteristics of the differential wheel system, thus forming a hybrid power mode. This design allows the tractor to maintain flexible steering and high maneuverability while having more refined mode division, better adapting to complex working conditions, and significantly improving energy-saving effects through multi-mode switching. At the same time, the ISG motor integrates power generation and drive functions, and can stabilize the engine in the high-efficiency range when running in parallel, effectively reducing operating costs and improving the overall power performance, working condition adaptability, and economy of the tractor. Attached Figure Description

[0066] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0067] Figure 1 This is a schematic diagram of the architecture of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention;

[0068] Figure 2 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in mechanical parallel rotary tillage mode;

[0069] Figure 3 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the mechanical parallel plowing mode;

[0070] Figure 4This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in mechanical parallel driving mode;

[0071] Figure 5 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the parallel charging rotary tillage mode;

[0072] Figure 6 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the parallel charging plowing mode;

[0073] Figure 7 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the parallel charging driving mode;

[0074] Figure 8 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the parallel discharge rotary tillage mode;

[0075] Figure 9 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the parallel discharge plowing mode;

[0076] Figure 10 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the parallel discharge driving mode;

[0077] Figure 11 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in pure electric rotary tillage mode;

[0078] Figure 12 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in pure electric plowing mode;

[0079] Figure 13 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in pure electric driving mode;

[0080] Figure 14 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in pure mechanical rotary tillage mode;

[0081] Figure 15 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in pure mechanical plowing mode;

[0082] Figure 16 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in pure mechanical driving mode;

[0083] Figure 17 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the series discharge rotary tillage mode;

[0084] Figure 18 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the series discharge plowing mode;

[0085] Figure 19 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the series discharge driving mode;

[0086] Figure 20 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the series charging rotary tillage mode;

[0087] Figure 21 This is a schematic diagram of the power transmission path of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the series charging plowing mode;

[0088] Figure 22 This is a schematic diagram of the power transmission path of the wheel-side motor type hybrid tracked tractor configuration described in Embodiment 1 of the present invention in the series charging driving mode;

[0089] Figure 23 This is a schematic diagram of the working status of each component in various working modes of the wheel-side motor hybrid tracked tractor configuration described in Embodiment 1 of the present invention;

[0090] Figure 24 This is a schematic diagram of the logic flow of the multi-mode control method described in Embodiment 2 of the present invention;

[0091] The markings in the attached diagram are explained as follows:

[0092] 1. Engine; 2. Transfer case; 3. First clutch; 4. Reducer; 5. Inverter; 6. First motor controller; 7. First drive motor; 8. First wheel-side reducer; 9. First planetary differential gear train; 10. Output PTO; 11. ISG motor; 12. ISG controller; 13. Power battery; 14. Power battery management system; 15. Second drive motor; 16. Second motor controller; 17. Second wheel-side reducer; 18. Second planetary differential gear train; 19. Second clutch; 20. Vehicle VCU; 21. First brake; 22. Second brake; 23. Fourth brake; 24. Third brake. Detailed Implementation

[0093] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0094] In the description of this invention, it should be noted that the embodiments described in this invention are only some embodiments of this invention, not all embodiments; based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0095] The terms "first," "second," etc., used in this specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0096] In the description of this invention, it should be noted that the appendix... Figures 2-22 The colored lines in the diagram represent the power transmission path in the corresponding mode. Example 1

[0097] This embodiment provides a hybrid tracked tractor configuration with a wheel-side motor, such as... Figure 1 As shown, it includes:

[0098] The entire vehicle uses VCU20;

[0099] Engine 1;

[0100] Transfer case 2 is mechanically connected to engine 1;

[0101] The output PTO10 and ISG motor 11 are mechanically connected to the transfer case 2, respectively;

[0102] The reducer 4 is mechanically connected between the transfer case 2 and the output PTO10;

[0103] A planetary differential gear train is mechanically connected to an ISG motor 11. The planetary differential gear train consists of a first planetary differential gear train 9 and a second planetary differential gear train 18. The first planetary differential gear train 9 and the second planetary differential gear train 18 are mechanically connected to the ISG motor 11 via a first half-shaft and a second half-shaft, respectively. A first wheel-side reducer 8 is mechanically connected to the first planetary differential gear train 9, and a second wheel-side reducer 17 is mechanically connected to the second planetary differential gear train 18. A first drive motor 7 and a second drive motor 15 are mechanically connected to the first planetary differential gear train 9 and the second planetary differential gear train 18, respectively. The first planetary differential gear train 9 and the second planetary differential gear train 18 are used to couple the two power sources. A first brake 21 is provided on the first half-shaft, a second brake 22 is provided between the first drive motor 7 and the first planetary differential gear train 9, a third brake 24 is provided on the second half-shaft, and a fourth brake 23 is provided between the second drive motor 15 and the second planetary differential gear train 18.

[0104] The first clutch 3 is mechanically connected between the transfer case 2 and the reducer 4;

[0105] The second clutch 19 is mechanically connected between the ISG motor 11 and the planetary differential gear train;

[0106] The power battery 13 is electrically connected to the first drive motor 7, the second drive motor 15, and the ISG motor 11. An inverter 5 is also electrically connected between the power battery 13 and the first drive motor 7, the second drive motor 15, and the ISG motor 11. A first motor controller 6, a second motor controller 16, and an ISG controller 12, respectively corresponding to the first drive motor 7, the second drive motor 15, and the ISG motor 11, are also connected via signals between the power battery 13 and the first drive motor 7, the second drive motor 15, and the ISG motor 11. A battery management system is also configured and connected to the power battery 13.

[0107] Based on the above configuration, its control strategy specifically includes:

[0108] The vehicle's VCU20 is used to detect the engine 1's operating status signal, battery power signal, and driver's driving intention signal. Based on the detected signals, it automatically controls the first clutch 3, second clutch 19, first brake 21, second brake 22, third brake 24, fourth brake 23, ISG controller 12, first motor controller 6, second motor controller 16, and battery management system, thereby controlling the ISG motor 11, first drive motor 7, second drive motor 15, engine 1, and power battery 13 to operate in different states. The above-mentioned tractor configuration and control strategy have strong structural adaptability, stability, and reliability, and can flexibly respond to various working situations based on the switching of different state modes, achieving efficient, energy-saving, and highly automated and intelligent control.

[0109] It should be noted that the examples given here are merely for the purpose of explaining the present invention and should not be construed as limiting the scope of protection of the present invention. Example 2

[0110] This embodiment is based on the same inventive concept as the wheel-side motor type hybrid tracked tractor configuration described in Embodiment 1, and provides a multi-mode control method, such as... Figures 2-24 As shown, it includes the following steps:

[0111] S1. Steps for determining the work mode:

[0112] S11. Call the vehicle's VCU to receive the driver's signal and determine whether the PTO needs to be operated;

[0113] S12. If no work is required, the first clutch is engaged and the tractor is in rotary tillage mode.

[0114] S13. If work is required, control the first clutch to be disengaged, and the tractor to be in plowing or driving mode.

[0115] S2, Hybrid Power Control Steps:

[0116] S20: Call the vehicle's VCU to receive signals from the power battery management system and determine whether the power battery's SOC is greater than 30%;

[0117] S201. If the SOC of the power battery is higher than 30%, the vehicle's VCU receives the load signal of the drive motor, the tillage resistance signal, and the driving resistance signal through sensors, and performs load judgment:

[0118] S2011. In response to the tractor's load power P being greater than the total output power P1 of the first and second drive motors, the parallel connection mode with the engine is activated to increase the output power. Depending on the specific situation, the parallel connection mode can be selected as mechanical parallel connection mode, parallel discharge mode, or parallel charging mode, as follows:

[0119] (1) Mechanical parallel mode:

[0120] If the engine's load power P' is within its high-efficiency range, the mechanical parallel mode is activated. In this mode, the first, second, third, and fourth brakes are not engaged, and the power battery transfers electrical energy to the first and second drive motors, enabling them to start driving. Simultaneously, the second clutch is engaged, and the power transmission shaft transmits engine power to the planetary differential gear train. Ultimately, the two power sources are coupled together through the planetary differential gear train to drive the tractor.

[0121] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode; the power transmission diagram in the mechanical parallel rotary tillage mode is as follows. Figure 2 As shown;

[0122] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode; in the mechanical parallel plowing mode, the power transmission diagram is as follows. Figure 3 As shown; when in mechanical parallel driving mode, its power transmission diagram is as follows. Figure 4 As shown.

[0123] (2) Parallel discharge mode:

[0124] If the engine's load power P' is not within its high-efficiency range, it is further determined whether the engine's load power P' is greater than its output power P0 within the high-efficiency range. If the engine's load power P' is greater than its output power P0 within the high-efficiency range, it is an overload mode, so a parallel discharge mode is used. In this mode, the first, second, third, and fourth brakes are not braked. The power battery transfers electrical energy to the first and second drive motors, enabling them to start driving. At the same time, the second clutch is closed, and the engine drives the ISG motor to generate electricity. The ISG motor uses its own generated electrical energy to start driving, and any insufficient electrical energy is compensated by the power battery. Based on the two-degree-of-freedom characteristics of the planetary differential gear train, the two power sources are ultimately matched and coupled together through the planetary differential gear train to drive the tractor. When turning, only the drive motor needs to generate braking force to create a speed difference between the two tracks.

[0125] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode; in parallel charging rotary tillage mode, the power transmission diagram is as follows. Figure 5 As shown;

[0126] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode; in parallel charging plowing mode, the power transmission diagram is as follows.Figure 6 As shown; in parallel charging driving mode, its power transmission diagram is as follows. Figure 7 As shown.

[0127] (3) Parallel charging mode:

[0128] If the engine load power P' is less than its output power P0 in the high-efficiency range, it is judged to be in underload mode, and parallel charging mode needs to be used. In this mode, the first brake, second brake, third brake, and fourth brake do not brake. The power battery transfers electrical energy to the first drive motor and the second drive motor, so that the first drive motor and the second drive motor start driving. At the same time, the second clutch is controlled to close, and the engine drives the ISG motor to generate electricity. The ISG motor starts driving using the electrical energy it generates. The excess electrical energy generated by the ISG motor is stored in the power battery. Based on the two-degree-of-freedom characteristics of the planetary differential gear train, the two power sources are finally matched and coupled together through the planetary differential gear train to drive the tractor. When turning, only the drive motor needs to generate braking force to create a speed difference between the two tracks.

[0129] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode; in parallel discharge rotary tillage mode, the power transmission diagram is as follows. Figure 8 As shown;

[0130] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode; in parallel discharge plowing mode, the power transmission diagram is as follows. Figure 9 As shown; in parallel discharge driving mode, its power transmission diagram is as follows. Figure 10 As shown.

[0131] S2012. In response to the fact that the load power P of the tractor is less than the total output power P1 of the first drive motor and the second drive motor, the pure electric mode is used.

[0132] In this mode, the first and third brakes are controlled to brake, while the second and fourth brakes are not braked, thereby limiting one input of the planetary differential gear train. The tractor's movement is determined solely by the drive motor. The power battery transfers electrical energy to the first and second drive motors, which together drive the vehicle.

[0133] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode. The power transmission diagram for pure electric rotary tillage mode is shown below. Figure 11 As shown;

[0134] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode. The power transmission diagram in pure electric plowing mode is shown below. Figure 12As shown; in pure electric driving mode, its power transmission diagram is as follows. Figure 13 As shown.

[0135] S202. If the SOC of the power battery is below 30%, the vehicle's VCU receives the tractor's load signal, tillage resistance signal, and driving resistance signal through sensors, and performs load judgment.

[0136] S2021. When the tractor's load P equals the engine's output power P0 in the high-efficiency range, the pure mechanical mode is used.

[0137] S2022. In response to the tractor's load P not being equal to the engine's output power P0 in the high-efficiency range, determine whether the power battery's SOC is greater than 5%. Based on this determination, select whether to use the pure mechanical mode, series discharge mode, or series charging mode, as detailed below:

[0138] (1) Purely mechanical mode:

[0139] If the SOC of the power battery is below 5%, a pure mechanical mode is used. In this mode, the first and third brakes are not engaged, while the second and fourth brakes are engaged. The second clutch is engaged, and the power output shaft transmits the engine's power to the planetary differential gear train. Because the second and fourth brakes are engaged, one degree of freedom of the planetary differential gear train is restricted. Therefore, the tractor's movement is determined solely by the engine, thus driving the tractor. When steering is required, the first, second, third, and fourth brakes are not engaged, and the first and second drive motors are activated. The planetary differential gear train couples the power from the drive motors and the engine together. By adjusting the power and speed of the drive motors, the tractor can be steered.

[0140] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode; in pure mechanical rotary tillage mode, the power transmission diagram is as follows. Figure 14 As shown;

[0141] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode; in pure mechanical plowing mode, the power transmission diagram is as follows. Figure 15 As shown; in pure mechanical driving mode, its power transmission diagram is as follows. Figure 16 As shown.

[0142] (2) Series discharge mode:

[0143] If the SOC of the power battery is greater than 5%, it is further determined whether the power P of the tractor load is greater than the output power P0 of the engine in the high-efficiency range. If the tractor load power P is greater than the output power P0 of the engine in the high-efficiency range, it is determined to be an overload mode and the series discharge mode is used. In this mode, the first and third brakes brake, the second and fourth brakes do not brake, the engine drives the ISG motor to generate electricity, and finally transmits the electrical energy to the first drive motor and the second drive motor to drive the tractor. The insufficient power is made up by the power battery.

[0144] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode; the power transmission diagram in series discharge rotary tillage mode is as follows. Figure 17 As shown;

[0145] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode; in the series discharge plowing mode, the power transmission diagram is as follows. Figure 18 As shown; in the series discharge driving mode, its power transmission diagram is as follows. Figure 19 As shown.

[0146] (3) Series charging mode:

[0147] If the SOC of the power battery is greater than 5%, and the load power P of the tractor is less than the output power P0 of the engine 1 in the high-efficiency range, it is judged to be in underload mode and the series charging mode is used. In this mode, the first brake and the third brake brake, the second brake and the fourth brake brake do not brake, the engine drives the ISG motor to generate electricity, and finally transmits the electrical energy to the first drive motor and the second drive motor, thereby driving the tractor to move. The excess power generated by the ISG motor is stored in the power battery.

[0148] In this mode, if the first clutch is engaged, the machine is in rotary tillage mode; the power transmission diagram in series-charged rotary tillage mode is as follows. Figure 20 As shown;

[0149] In this mode, if the first clutch is disengaged, the machine is in plowing or driving mode; in the series-charged plowing mode, the power transmission diagram is as follows. Figure 21 As shown; in series charging driving mode, its power transmission diagram is as follows. Figure 22 As shown.

[0150] It should be understood that in the various embodiments of this document, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0151] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0152] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0153] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0154] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0156] Furthermore, the functional units in the various embodiments of this document can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0157] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this paper, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this paper. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A multi-mode control method for a wheel-side motor type hybrid tracked tractor configuration, characterized in that, The wheel-side motor type hybrid tracked tractor configuration includes: a complete vehicle VCU; engine; The transfer case is mechanically connected to the engine; The output PTO and ISG motors are mechanically connected to the transfer case, respectively; The speed reducer is mechanically connected between the transfer case and the output PTO; A planetary differential gear train is mechanically connected to the ISG motor; the planetary differential gear train consists of a first planetary differential gear train and a second planetary differential gear train; the first planetary differential gear train and the second planetary differential gear train are mechanically connected to the ISG motor via a first half-shaft and a second half-shaft, respectively; a first wheel-side reducer is mechanically connected to the first planetary differential gear train, and a second wheel-side reducer is mechanically connected to the second planetary differential gear train; The first drive motor and the second drive motor are mechanically connected to the first planetary differential gear train and the second planetary differential gear train, respectively. The first planetary differential gear train and the second planetary differential gear train are used to couple the two power sources. A first brake is located on the first half-shaft; a second brake is located between the first drive motor and the first planetary differential gear train; a third brake is located on the second half-shaft; and a fourth brake is located between the second drive motor and the second planetary differential gear train. The first clutch is mechanically connected between the transfer case and the reducer; the second clutch is mechanically connected between the ISG motor and the planetary differential gear train. The power battery is electrically connected to the first drive motor, the second drive motor, and the ISG motor. The vehicle VCU is used to: detect the engine's operating status signal, battery power signal, and driver's driving intention signal; and control the first clutch, the second clutch, the first brake, the second brake, the third brake, the fourth brake, the first drive motor, the second drive motor, the ISG motor, the engine, and the power battery to operate in several states according to the detected signals. If the SOC of the power battery is higher than 30%, the vehicle's VCU receives the load signal of the drive motor, the tillage resistance signal, and the driving resistance signal through sensors, and performs load judgment: When the load power of the tractor is greater than the total output power of the first drive motor and the second drive motor: If the engine's power load is within its high-efficiency range, then the mechanical parallel mode is activated; If the power loaded by the engine is not within its high-efficiency range, then it is necessary to continue to determine whether the power loaded by the engine is greater than its output power in the high-efficiency range. If the engine load power is greater than its output power in the high-efficiency range, then the parallel discharge mode is used; If the engine load power is less than its output power in the high-efficiency range, then the parallel charging mode is used.

2. The multi-mode control method for the wheel-side motor type hybrid tracked tractor configuration according to claim 1, characterized in that, The method includes the following steps: The vehicle's VCU is invoked to detect the engine's operating status signal, drive motor's operating status signal, power battery SOC signal, and driver's driving intention signal. The vehicle's VCU is invoked to determine whether the engine is operating in its efficient and fuel-saving range based on the engine operating status signal, whether the drive motor output power is sufficient based on the drive motor operating status signal, and whether the power battery SOC is sufficient based on the power battery SOC signal. The vehicle's VCU is invoked to switch the working states of the second clutch, power battery, ISG motor, first drive motor, second drive motor, and engine based on the judgment result. Based on the switching of the working states, the tractor can switch between series charging mode, series discharging mode, pure mechanical mode, parallel charging mode, parallel discharging mode, mechanical parallel mode, and pure electric mode. The vehicle's VCU is invoked to control the engagement or disengagement of the first clutch based on the driver's driving intention signal; by controlling the engagement or disengagement of the first clutch, the tractor can switch between rotary tillage mode, plowing mode, or driving mode.

3. The multi-mode control method according to claim 2, characterized in that: The step of invoking the vehicle's VCU to switch the operating states of the second clutch, power battery, ISG motor, first drive motor, second drive motor, and engine based on the judgment result further includes: The vehicle's VCU is invoked to control the disengagement and engagement of the second clutch; The vehicle's VCU is invoked to control the charging and discharging of the power battery; The vehicle's VCU is invoked to control the power generation and drive of the ISG motor; The vehicle's VCU is invoked to control whether the first drive motor, the second drive motor, and the engine are working.

4. The multi-mode control method according to claim 2, characterized in that: The series charging mode includes: Control the disengagement of the second clutch; Control the first brake and the third brake to brake; Control the second brake and the fourth brake to not brake; The engine is controlled to drive the ISG motor to generate electricity. A portion of the electricity generated by the ISG motor is stored in the power battery, and the other portion of the electricity generated by the ISG motor drives the tractor.

5. The multi-mode control method according to claim 2, characterized in that: The series discharge mode includes: Control the disengagement of the second clutch; Control the first brake and the third brake to brake; Control the second brake and the fourth brake to not brake; The engine is controlled to drive the ISG motor to generate electricity. All the electricity generated by the ISG motor is used for the tractor to drive, and any insufficient electricity is compensated by the power battery.

6. The multi-mode control method according to claim 2, characterized in that: The purely mechanical mode includes: Control the second clutch to close; Control the first brake and the third brake to not brake; Control the second brake and the fourth brake to brake; The engine is controlled to drive the tractor.

7. The multi-mode control method according to claim 2, characterized in that: The parallel charging mode includes: Control the second clutch to close; The first brake, the second brake, the third brake, and the fourth brake are all deactivated. The engine is controlled to drive the ISG motor to generate electricity. Part of the electricity generated by the ISG motor is used to drive the tractor, and the other part is stored in the power battery. Simultaneously, the power battery is controlled to provide electrical energy to the first drive motor and the second drive motor, and the multiple power streams are matched and coupled through the planetary differential gear system to jointly drive the tractor.

8. The multi-mode control method according to claim 2, characterized in that: The parallel discharge mode includes: Control the second clutch to close; The first brake, the second brake, the third brake, and the fourth brake are all deactivated. The engine is controlled to drive the ISG motor to generate electricity, and all the electricity generated by the ISG motor is used to drive the tractor to move. Simultaneously, the power battery compensates for insufficient power when driving the ISG motor, and provides power to the first drive motor and the second drive motor, so that the first drive motor and the second drive motor synchronously drive the tractor. The planetary differential gear system matches and couples multiple power streams to jointly drive the tractor.

9. The multi-mode control method according to claim 2, characterized in that: The mechanical parallel mode includes: Control the second clutch to close; The first brake, the second brake, the third brake, and the fourth brake are all deactivated. The engine is controlled to drive the tractor, and the power battery is controlled to provide power to the first drive motor and the second drive motor, so that the first drive motor and the second drive motor drive the tractor synchronously. The two power sources are matched and coupled through the planetary differential gear system to drive the tractor together.

10. The multi-mode control method according to claim 2, characterized in that: The pure electric mode includes: Control the disengagement of the second clutch; Control the first brake and the third brake to brake; Control the second brake and the fourth brake to not brake; The power battery is controlled to provide electrical energy to the first drive motor and the second drive motor, so that the tractor can be driven by only the first drive motor and the second drive motor.

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