Control device and tandem type hybrid power harvester

Abstract

The invention discloses a control device and a tandem type hybrid power harvester, and relates to the field of tandem type hybrid power harvesters. The remote control system analyzes the walking instruction; two motors in the dual-motor synchronous driving system are respectively connected with two crawler belts of the tandem type hybrid power harvester; the dual-motor synchronous driving system performs cooperative control on two crawler belts of the tandem type hybrid power harvester according to the analyzed walking instruction; the remote control system further analyzes the start-stop instruction when receiving the start-stop instruction, and controls the start and stop of corresponding operation parts in the tandem type hybrid power harvester according to the analyzed start-stop instruction. By arranging the remote control system and the dual-motor synchronous driving system, power distribution of the tandem type hybrid power harvester in the advancing process can be optimized, and meanwhile remote control over the tandem type hybrid power harvester is achieved.

Description

Technical Field

[0001] This application relates to the field of series hybrid harvesters, and in particular to a control device and a series hybrid harvester. Background Technology

[0002] Against the backdrop of implementing initiatives such as green and energy-saving agricultural machinery, renewable energy substitution, and technological innovation support, the optimized design of electric and intelligent agricultural machinery needs to gradually adapt to development requirements. Harvesters are a typical example of electric and intelligent agricultural machinery. For example... Figure 1 Patent application CN105539115A discloses a hybrid corn harvester, comprising: two traction wheels; a differential in the axle transmission to allow the two drive wheels to have different speeds during steering; a motor for driving the vehicle, connected to the axle transmission; a work motor, connected to a work power distribution transmission, providing power to the huller, elevator, and header; a generator, connected to a diesel engine, used to power the two motors and a rechargeable battery pack; a driving power controller configured to control the drive motor to drive the drive wheels in response to driver control signals, distributing and storing excess electrical energy in the battery when the engine is running, and converting and controlling the electrical energy to drive the motor when the engine is stopped; and a work power controller, which controls the operation of the work motor in response to driver control signals. Existing hybrid corn harvesters, where the engine simultaneously powers both the trowel and the generator, suffer from inconsistent engine power output depending on the trowel's operating conditions. This leads to unstable generator efficiency, and under heavy workloads, the generator's power output decreases, resulting in reduced power for the walking mechanism, as priority is given to powering the trowel. Furthermore, the single motor powering both wheels via a transmission results in insufficient power for both wheels, limiting the machine's suitability for dryland operations. Additionally, the machine still requires manual operation. Summary of the Invention

[0003] The purpose of this application is to provide a control device and a series hybrid harvester that can optimize the power distribution during the movement of the series hybrid harvester and realize remote control of the series hybrid harvester.

[0004] To achieve the above objectives, this application provides the following solution:

[0005] In a first aspect, this application provides a control device applied to a series hybrid power harvester, wherein the walking mechanism of the series hybrid power harvester is a dual-track structure;

[0006] The control device includes: a remote controller and a vehicle control component;

[0007] The remote control is used to issue walking commands, as well as start and stop commands for different working components;

[0008] The vehicle control components specifically include: a remote control system and a dual-motor synchronous drive system;

[0009] The remote control system is used to receive and parse the walking command, and transmit the parsed walking command to the dual-motor synchronous drive system;

[0010] The two motors in the dual-motor synchronous drive system are respectively connected to the two tracks of the series hybrid harvester; the dual-motor synchronous drive system is used to coordinately control the two tracks of the series hybrid harvester according to the parsed walking command.

[0011] The remote control system is also used to parse the start-stop command when it receives the start-stop command, and control the corresponding working component in the series hybrid harvester to start and stop according to the parsed start-stop command.

[0012] Optionally, the remote control system specifically includes: a signal receiver, a microcontroller, a DC-DC adjustable step-down module, and multiple dual-mode control modules;

[0013] The signal receiver is used to receive the walking command and the start / stop commands of different working components, and demodulates the walking command or the start / stop command when it receives the walking command or the start / stop command.

[0014] The microcontroller is used to calculate the PWM duty cycle based on the demodulated walking command;

[0015] The DC-DC adjustable buck module is used to perform voltage conversion processing on the PWM duty cycle to obtain the parsed walking command;

[0016] The dual-mode control module is configured to correspond one-to-one with each of the working components; the dual-mode control module is used to control the start and stop of the corresponding working component.

[0017] The microcontroller is used to activate the dual-mode control module of the corresponding operating component when it receives the demodulated start / stop command.

[0018] Optionally, the dual-mode control module specifically includes: an electromagnetic control valve and a mode selection unit;

[0019] Both the solenoid valve and the mode selection unit are connected in series with the corresponding operating components.

[0020] Optionally, the mode selection unit specifically includes: a manual start / stop branch and a remote control start / stop branch configured in parallel;

[0021] The manual start / stop branch specifically includes: a rotary switch;

[0022] The remote control start / stop branch specifically includes: a relay;

[0023] The relay is connected to the microcontroller.

[0024] Optionally, the remote control system further includes: a battery pack;

[0025] The battery pack supplies power to the signal receiver, the microcontroller, the DC-DC adjustable step-down module, and the relays in the multiple dual-mode control modules.

[0026] Optionally, the battery pack is a 12V lithium battery pack.

[0027] Optionally, the dual-motor synchronous drive system specifically includes: a motor controller, multiple motors, and multiple Hall sensors;

[0028] The motor is connected to the drive wheel of the corresponding track via a worm gear reducer;

[0029] Each Hall sensor is configured in a one-to-one correspondence with the motor;

[0030] The Hall sensor is used to collect the rotor speed of the corresponding motor;

[0031] The motor controller is used to adjust the parameters of multiple motors according to the parsed walking command and the rotor speed of different motors, so as to coordinate the control of the two tracks of the series hybrid harvester.

[0032] Optionally, the dual-motor synchronous drive system further includes: a range extender and a battery pack;

[0033] The battery pack is used to power the motor controller;

[0034] The range extender is used to supply power to the battery pack when the real-time charge of the battery pack is lower than the charge threshold.

[0035] Optionally, the motor is a permanent magnet brushless DC motor; the battery pack is a 48V battery pack.

[0036] Secondly, this application provides a series hybrid power harvester, wherein the series hybrid power harvester applies the aforementioned control device.

[0037] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0038] This application provides a control device and a series hybrid power harvester. The dual-motor design simultaneously powers both tracks on either side of the chassis, resulting in a simple structure, flexible layout, and high power generation efficiency. Compared to a single-motor design, it offers higher power output and stronger field mobility. The chassis is powered solely by the motors, while the range extender charges the battery and provides the motors with transient overload capacity, thus improving the machine's stability and maneuverability. The engine powers only the working components, maintaining high fuel efficiency at all times. The engine speed does not change with the machine's speed, further improving fuel economy, fuel efficiency, and energy conservation and emission reduction. The remote control controls the relays to open and close the working components, enabling remote operation. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the control principle of a hybrid corn harvester in the prior art;

[0041] Figure 2 This is a schematic diagram of a series hybrid power harvester in the prior art;

[0042] Figure 3 This is a schematic diagram of the control device structure in one embodiment of this application;

[0043] Figure 4 This is a schematic diagram of the control principle of a dual-motor synchronous drive system in one embodiment of this application;

[0044] Figure 5 This is a schematic diagram of a dual-motor synchronous drive system in one embodiment of this application;

[0045] Figure 6 This is a schematic diagram of the structural module connection of a dual-motor synchronous drive system in one embodiment of this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] In one exemplary embodiment, a control device is provided for a series hybrid harvester, wherein the walking mechanism of the series hybrid harvester is a dual-track structure.

[0049] like Figure 2 As shown, the series hybrid harvester includes: a tracked chassis system, a threshing and cleaning device, a header, a conveyor trough, a straw shredder, an engine, an electromagnetic clutch, a grain bin, a conveyor trough lifting hydraulic cylinder, a header lifting hydraulic cylinder, a grain unloading hydraulic motor, a hydraulic oil tank, a gear pump, and hydraulic valve blocks, etc. The tracked chassis system includes tracks, a chassis frame, and track wheel systems.

[0050] like Figure 3 The control device includes a remote controller and an on-board control component. The remote controller issues travel commands and start / stop commands for different working components. The on-board control component specifically includes a remote control system and a dual-motor synchronous drive system. The remote control system receives and parses travel commands and transmits the parsed commands to the dual-motor synchronous drive system. The two motors in the dual-motor synchronous drive system are connected to the two tracks of the series hybrid harvester, respectively. The dual-motor synchronous drive system coordinates the control of the two tracks of the series hybrid harvester according to the parsed travel commands. The remote control system also parses start / stop commands upon receipt and controls the start / stop of the corresponding working components in the series hybrid harvester accordingly.

[0051] like Figures 4-6 The dual-motor synchronous drive system specifically includes: a motor controller, a range extender, a battery pack, multiple motors, and multiple Hall effect sensors. The motors are connected to the corresponding drive wheels of the tracks via worm gear reducers. Hall effect sensors are configured one-to-one with the motors, collecting the rotor speed of the corresponding motor. The motor controller adjusts the parameters of multiple motors based on the parsed travel commands and the rotor speeds of different motors, enabling coordinated control of the two tracks of the series hybrid harvester. The battery pack powers the motor controller. The range extender powers the battery pack when its real-time charge level is below a threshold. The motors are permanent magnet brushless DC motors. The battery pack is a 48V battery pack.

[0052] This embodiment designs a method that combines dual-motor synchronous drive with range extender auxiliary power supply. Figure 6This is a series hybrid power harvesting system with a permanent magnet brushless DC motor controller connected to a 48V battery pack. It converts DC power to three-phase AC power via electronic circuitry and adjusts the current direction and magnitude in real time according to the rotor position to drive the permanent magnet rotor. Its core functions include commutation, speed regulation, and protection. The motor controller typically consists of a power module, a sensor module, and a protection circuit. It uses pulse width modulation (PWM) to regulate the motor's speed and torque through a microcontroller's control algorithm. The power module uses a three-terminal semiconductor switch IGBT to form an inverter bridge to control the current flow and direction. The sensor module uses Hall effect sensors to detect the rotor position. The protection circuit integrates overcurrent, stall, and overtemperature protection functions to ensure safe system operation.

[0053] The motor control principle is as follows: the battery pack outputs a 48V DC bus voltage to the controller, the Hall sensor collects the rotor position signal in real time, and the phase sequence is switched based on the preset commutation logic. The current vector is decomposed using space vector modulation (SVM) technology through the IGBT inverter bridge, and voltage-frequency coordinated control is achieved in combination with PWM pulse width modulation, driving the motor windings to generate a rotating magnetic field. The system ultimately achieves closed-loop control of the motor speed by adjusting the PWM duty cycle. When the battery is low, the range extender is activated to supply power to the battery, and in extreme operating environments, it directly supplies power to the drive motor to achieve short-term overload.

[0054] The power transmission path of the chassis drive system (i.e., the dual-motor synchronous drive system) is as follows: the motor power output shaft is connected to the first-stage worm gear reducer via a keyway to complete the initial deceleration and torque increase and the 90° power axial conversion; the output end of the reducer is equipped with a drive sprocket, which transmits the torque to the driven wheel set of the track walking mechanism through roller chain transmission, and finally drives the whole machine to move.

[0055] The remote control system specifically includes: a signal receiver, a battery pack, a microcontroller, a DC-DC adjustable step-down module, and multiple dual-mode control modules. The signal receiver receives travel commands and start / stop commands from different working components, and demodulates these commands upon receipt. The microcontroller calculates the PWM duty cycle based on the demodulated travel commands. The DC-DC adjustable step-down module performs voltage conversion on the PWM duty cycle to obtain the parsed travel commands. Each dual-mode control module is configured to correspond one-to-one with a working component. The dual-mode control module controls the start / stop of the corresponding working component. The microcontroller activates the corresponding dual-mode control module when it receives the demodulated start / stop command. The battery pack powers the signal receiver, microcontroller, DC-DC adjustable step-down module, and relays in the multiple dual-mode control modules. The battery pack is a 12V lithium battery pack.

[0056] This device incorporates a remote control system design, primarily consisting of a remote controller, a signal receiver, and a microcontroller (model STM32F103C8T6). The remote controller and signal receiver utilize the Fux FS-I6X. The Fux I6 remote controller employs the AFHDS2A (Advanced Frequency Hopping Digital System) protocol. Its main principle is as follows: the remote controller pushes a joystick or switch to input an action signal, generating an analog signal which is converted to a digital signal via an ADC. This digital signal is then encapsulated using the AFHDS2A protocol and transmitted via the 2.4GHz frequency band with a frequency hopping sequence. The signal receiver receives and demodulates the signal using dual antennas, inputting the digital signal into the STM32F103C8T6 microcontroller. The microcontroller processes and calculates the PWM duty cycle, and then a DC-DC adjustable step-down module converts the output 3.3V voltage to 5V, which is then input to the motor controller for dual-motor speed and direction control.

[0057] The dual-mode control module specifically includes: a solenoid control valve and a mode selection unit. Both the solenoid valve and the mode selection unit are connected in series with their respective operating components. The mode selection unit specifically includes: a manual start / stop branch and a remote control start / stop branch configured in parallel. The manual start / stop branch specifically includes: a rotary switch. The remote control start / stop branch specifically includes: a relay. The relay is connected to the microcontroller.

[0058] Meanwhile, all other hydraulic components of the machine are controlled by solenoid valves. These solenoid valves are connected to a microcontroller via relays. Based on this principle, the opening and closing of the solenoid valves and relays of each hydraulic component can be remotely controlled, enabling remote control of operations such as range extender activation, machine operation, grain unloading, and reel and header lifting / lowering. The solenoid control valve has two starting modes: manual and remote control. In manual start, the circuit consists of a 12V battery pack, a rotary switch, and the solenoid control valve connected in series. The solenoid control valve is mounted on a three-position four-way directional valve, and the opening and closing of each hydraulic component can be controlled by rotating the rotary switch. In remote control start, the circuit consists of the solenoid control valve, relay, and 12V battery pack connected in series, and the solenoid control valve and relay connected in parallel to the aforementioned remote control system (lithium battery, STM32, signal receiver, DC-DC adjustable step-down module) connected in series. The lithium battery powers the STM32, and the 12V battery pack powers the solenoid control valve. By programming the STM32, each pair of corresponding buttons on the remote control corresponds to the pushing and lowering of a hydraulic cylinder, and the left and right rotation of the hydraulic motor. The remote control inputs an action signal by pressing a button, generating an analog signal which is then converted into a digital signal by an ADC. The signal is encapsulated using the AHDS2A protocol and transmitted via the 2.4GHz frequency band with a frequency hopping sequence. The signal receiver receives and demodulates the signal using dual antennas, then inputs the digital signal into the STM32F103C8T6 microcontroller. The microcontroller processes and calculates the signal to close the corresponding relay switch, completing the circuit and enabling the corresponding hydraulic component to operate.

[0059] In another embodiment, a series hybrid harvester is provided, which applies the control device described above.

[0060] In this embodiment, the size of the series hybrid harvester can be adjusted to adapt to different crops. Ratoon rice is a cultivation method that allows rice to grow a second crop after the first harvest, utilizing dormant seedlings remaining on the stubble under suitable water, nutrients, and sunlight. This method offers advantages such as lower costs, less pesticide use, and elimination of seedling raising and transplanting. Furthermore, the quality and grain fullness of the second crop of ratoon rice are better than conventional double-cropping rice. Ratoon rice significantly increases rice yield and reduces planting costs, playing a crucial supporting role in increasing my country's rice production and addressing its food security issues. The first harvest of ratoon rice requires less compaction and higher stubble retention compared to ordinary rice harvesting. If the rice is repeatedly or heavily compacted in the first harvest, the yield in the ratoon season will be significantly reduced. To adapt to the harvesting of ratooned rice, the width of the header is increased in this embodiment, resulting in a theoretical straight-line compaction rate of less than 28%. The header is 2m wide and the track width is 0.28m, resulting in a series hybrid ratooned rice harvester that solves the problems of intelligent harvesting and energy conservation and emission reduction in agricultural machinery. The theoretical straight-line compaction rate is the ratio of the sum of the ground contact widths of the two tracks to the header width.

[0061] This series hybrid rice harvester powers both tracks on either side of the chassis via dual motors, enabling it to traverse paddy fields. The chassis is powered solely by the motors, while a range extender charges the battery and provides transient overload capacity to the motors, improving the machine's stability and maneuverability. The engine powers only the working components, maintaining high fuel efficiency throughout, as its speed remains constant with the machine's speed, thus enhancing fuel economy, energy conservation, and emission reduction. Designed with a tracked chassis suitable for rice harvesting, this equipment exhibits lower compaction of rice paddies compared to traditional rice harvesters. Remote control of the entire machine is achieved via an STM32 microcontroller, providing technical support for the development of new energy tracked harvesting equipment. Furthermore, this embodiment allows the microcontroller to process and calculate remote control signals, converting them into PWM duty cycles for input to the motor controller for dual-motor speed and steering control. The remote controller can also control relay closures to open and close the working components, achieving remote operation. The remote control method is as follows: Step 1: The remote control pushes the joystick or switch to input an action signal, generating an analog signal which is converted into a digital signal by an ADC. The signal is then encapsulated using the AFD S2A protocol and transmitted via the 2.4GHz frequency band with a frequency hopping sequence. The signal receiver receives and demodulates the signal using dual antennas, inputting the digital signal into the STM32F103C8T6 microcontroller. The microcontroller processes and calculates the PWM duty cycle. Since the STM32 output signal voltage is only 3.3V, while the motor controller's input voltage requirement is 5V, a high-speed optocoupler-isolated DC-DC adjustable step-down module is used to adjust the voltage amplitude using an independent power supply at the output terminal while transmitting the signal. This enhances the voltage value of the output PWM square wave pulse signal to 5V, which is then input to the motor controller. By changing the PWM duty cycle, the speed and direction of the dual motors are controlled. The remote control can also control the relay to close, thus opening and closing the machine's working parts, achieving the purpose of remote control operation.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control device, characterized in that, The control device is applied to a series hybrid power harvester, wherein the walking mechanism of the series hybrid power harvester is a dual-track structure; The control device includes: a remote controller and a vehicle control component; The remote control is used to issue walking commands, as well as start and stop commands for different working components; The vehicle control components specifically include: a remote control system and a dual-motor synchronous drive system; The remote control system is used to receive and parse the walking command, and transmit the parsed walking command to the dual-motor synchronous drive system; The two motors in the dual-motor synchronous drive system are respectively connected to the two tracks of the series hybrid harvester; the dual-motor synchronous drive system is used to coordinately control the two tracks of the series hybrid harvester according to the parsed walking command. The remote control system is also used to parse the start-stop command when it receives the start-stop command, and control the corresponding working component in the series hybrid harvester to start and stop according to the parsed start-stop command.

2. The control device according to claim 1, characterized in that, The remote control system specifically includes: a signal receiver, a microcontroller, a DC-DC adjustable step-down module, and multiple dual-mode control modules; The signal receiver is used to receive the walking command and the start / stop commands of different working components, and demodulates the walking command or the start / stop command when it receives the walking command or the start / stop command. The microcontroller is used to calculate the PWM duty cycle based on the demodulated walking command; The DC-DC adjustable buck module is used to perform voltage conversion processing on the PWM duty cycle to obtain the parsed walking command; The dual-mode control module is configured to correspond one-to-one with each of the working components; the dual-mode control module is used to control the start and stop of the corresponding working component. The microcontroller is used to activate the dual-mode control module of the corresponding operating component when it receives the demodulated start / stop command.

3. The control device according to claim 2, characterized in that, The dual-mode control module specifically includes: an electromagnetic control valve and a mode selection unit; Both the solenoid valve and the mode selection unit are connected in series with the corresponding operating components.

4. The control device according to claim 3, characterized in that, The mode selection unit specifically includes: a manual start / stop branch and a remote control start / stop branch configured in parallel; The manual start / stop branch specifically includes: a rotary switch; The remote control start / stop branch specifically includes: a relay; The relay is connected to the microcontroller.

5. The control device according to claim 4, characterized in that, The remote control system also includes: a battery pack; The battery pack supplies power to the signal receiver, the microcontroller, the DC-DC adjustable step-down module, and the relays in the multiple dual-mode control modules.

6. The control device according to claim 5, characterized in that, The battery pack is a 12V lithium battery pack.

7. The control device according to claim 2, characterized in that, The dual-motor synchronous drive system specifically includes: a motor controller, multiple motors, and multiple Hall sensors; The motor is connected to the drive wheel of the corresponding track via a worm gear reducer; Each Hall sensor is configured in a one-to-one correspondence with the motor; The Hall sensor is used to collect the rotor speed of the corresponding motor; The motor controller is used to adjust the parameters of multiple motors according to the parsed walking command and the rotor speed of different motors, so as to coordinate the control of the two tracks of the series hybrid harvester.

8. The control device according to claim 7, characterized in that, The dual-motor synchronous drive system also includes: a range extender and a battery pack; The battery pack is used to power the motor controller; The range extender is used to supply power to the battery pack when the real-time charge of the battery pack is lower than the charge threshold.

9. The control device according to claim 8, characterized in that, The motor is a permanent magnet brushless DC motor; the battery pack is a 48V battery pack.

10. A series hybrid power harvester, characterized in that, The series hybrid harvester uses the control device as described in any one of claims 1-9.

Images