Inching control system and control method of extended-range agricultural machine

Abstract

The invention relates to the technical field of inching of extended-range agricultural machinery, and discloses an inching control system of extended-range agricultural machinery, which comprises two inching switches, a hybrid controller, a gearbox controller, an instrument, an MCU and a driving assembly, the two inching switches are respectively a cab inching switch and a cab withdrawal switch, and a tailstock inching switch and a tailstock withdrawal switch; the two inching switches are connected to the hybrid controller through hard wires, the instrument, the MCU and the gearbox controller are connected with the hybrid controller through CAN wires, and the driving assembly is connected with the gearbox controller and the MCU through hard wires. According to the invention, the two-key inching operation key is used for replacing the original three-key inching operation key, so that the space of a panel is optimized, and the operation difficulty is simplified. Through the design that two keys are pressed at the same time to trigger sudden stop, an operator at the tail of the vehicle can close the function, and the safety of the operator at the tail of the vehicle is protected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of range extending technology, and particularly relates to a range extending agricultural machine motion control system and a control method. BACKGROUND

[0002] The working conditions of agricultural machines are frequently changed, and different carriers need to be hung for operation. When a traditional vehicle hangs a carrier, the driver needs to accurately control the throttle to slightly move the vehicle, which tests the driver's skills. The motion button of a hybrid vehicle is used to control the hanging carrier, but the relatively loose release condition and the lack of protection measures make the operation have safety hazards.

[0003] In the prior art, a range extending agricultural machine controls the motion function through three keys. Generally, an activation switch and a flap type inching forward and inching backward combined switch are used, which are placed in the driver's cab. At the same time, an inching forward and inching backward button is arranged at the rear of the vehicle for operating the hanging carrier. The driver needs to press the activation switch for three seconds, and then the VCU judges the conditions to be met, and then the inching forward or inching backward switch is pressed twice within 3 seconds to release the execution of the inching forward and inching backward button. The existing scheme has the following problems:

[0004] 1. The three-key design is only configured in the driver's cab, and only the inching forward and inching backward buttons are arranged at the rear of the vehicle for operation, so that the activation switch cannot be operated, which leads to the inability to perform an emergency stop operation.

[0005] 2. The operation steps are more, and the prompt content is less, which leads to the fact that the driver often does not know the function to which step when starting the motion function, thereby affecting the function use efficiency.

[0006] 3. There is a lack of gear hanging failure, waiting timeout, key timeout protection mechanism, and a lack of reset protection mechanism before the secondary activation of the function.

[0007] 4. From the safety point of view, the hybrid agricultural machine needs to cut off the driving motor power when the brake pedal is stepped on, and the existing scheme needs to wait for 2 seconds to exit the motion mode. SUMMARY

[0008] The technical problem to be solved by the present application is that the existing hybrid vehicle controls the hanging carrier through the motion button, but the relatively loose release condition and the lack of protection measures make the operation have safety hazards.

[0009] In order to solve the above technical problems, the technical scheme of the present application is to provide a inching control system of a range extended agricultural machine, comprising two groups of inching switches, a hybrid controller, a gearbox controller, an instrument, an MCU and a driving assembly, the two groups of inching switches are respectively a driver's cabin inching forward switch and a driver's cabin inching backward switch, and a vehicle tail inching forward switch and a vehicle tail inching backward switch, the driver's cabin inching forward switch and the driver's cabin inching backward switch are arranged side by side in the driver's cabin of the agricultural machine, and the vehicle tail inching forward switch and the vehicle tail inching backward switch are arranged side by side at the tail of the agricultural machine, the two groups of inching switches are connected to the hybrid controller through hard wires, the instrument, the MCU and the gearbox controller are connected to the hybrid controller through CAN lines respectively, and the driving assembly is connected to the gearbox controller and the MCU through hard wires respectively, and the hybrid controller is further connected with a gear handle, a brake pedal, a vehicle speed sensor and a motor speed sensor through hard wires.

[0010] Optionally, the driving assembly comprises a gear shifting motor, a main drive motor, a gearbox and a driving wheel, the main drive motor, the gearbox and the driving wheel are connected in sequence, the gear shifting motor is connected to the gearbox controller through a hard wire, the gear shifting motor is mechanically connected to the gearbox, the MCU is connected to the main drive motor through a hard wire, and the hybrid controller is further connected with the gear handle, the brake pedal, the vehicle speed sensor and the motor speed sensor through hard wires.

[0011] A control method of an inching control system of a range extended agricultural machine, comprising the following steps:

[0012] S1, judging whether the agricultural machine meets the inching function activation condition

[0013] The inching enabling condition is:

[0014] ① the vehicle speed is less than 0.5 km / h;

[0015] ② the motor speed is less than 10 rpm;

[0016] ③ the gear handle is in N position;

[0017] ④ the inching forward signal and the inching backward signal are not set;

[0018] ⑤ the vehicle is in KeyStart state;

[0019] The inching exit enabling condition is:

[0020] ① the vehicle speed is greater than 5 kph;

[0021] ② the gear handle is not in N position;

[0022] ③ after the brake flag is set for 3 s;

[0023] ④ the vehicle is not in KeyStart state;

[0024] S2, after the inching function is enabled, an initial state, i.e., an inching state stage 0, is entered, when a falling edge of an inching-in or inching-out signal is received, an inching state stage 1 is entered, and an inching signal is waited for to be pressed again;

[0025] S3, if the same inching-in or inching-out signal is pressed again within 3 seconds as the previous time, an inching state stage 2 is entered, if the signal is not received again within 3 seconds, an inching state stage 7 is entered;

[0026] S4, after the inching state stage 2 is entered, the hybrid controller sends a gear engagement request instruction to the gearbox controller, and starts a gear engagement timing of 5 seconds, and the instrument receives the gear engagement request instruction and displays on the interface, prompting the user to wait for operation;

[0027] S5, if the gear position is 1st gear at the end of 5 seconds, an inching state stage 3 is entered, the inching button is unlocked, the main drive motor is set to 0, and the instrument prompts the driver that the inching function is activated;

[0028] S6, in the inching state stage 3, if an inching-in signal is received and the brake is not pressed, an inching state stage 4 is entered, the main drive motor is forward rotated at an initial 50 rpm, and is accumulated at 50 rpm per second, and is accumulated to a maximum of 200 rpm, if the button signal is still on at this time, the vehicle moves at a constant speed of 200 rpm;

[0029] S7, in the inching state stage 3, if an inching-out signal is received and the brake is not pressed, an inching state stage 5 is entered, the main drive motor is reverse rotated at an initial 50 rpm, and is accumulated at 50 rpm per second, and is accumulated to a maximum of 200 rpm, if the button signal is still on at this time, the vehicle moves at a constant speed of 200 rpm;

[0030] S8, if the inching exit enabling condition is triggered in any inching process, the entire inching function is disabled, the inching state stage is reset to 0, and needs to be activated again after the enabling condition is satisfied again.

[0031] Optionally, the inching state stage 0 is an initial state;

[0032] The inching state stage 1 is that the inching button is pressed for the first time, and the second time is waited for to be pressed;

[0033] The inching state stage 2 is that 2 correct inching signals are received, and gear engagement and a 5-second stable time are waited for;

[0034] The inching state stage 3 is an inching activation success stage, and inching-in or inching-out operation can be performed;

[0035] The inching state stage 4 is an inching-in stage, i.e., after the inching-in button is pressed, the vehicle is slowly moved forward, the main drive motor is forward rotated at an initial 50 rpm, and is accumulated at 50 rpm per second, and is accumulated to a maximum of 200 rpm;

[0036] The inching state phase 5 is a inching back phase, after the inching back button is pressed, the main drive motor reverses at an initial speed of 50 rpm and accumulates at 50 rpm per second, and the highest accumulation is 200 rpm;

[0037] The inching state phase 7 is a debugging phase, after the inching back and inching forward signals are reset, the initial state is returned.

[0038] Optionally, if the inching forward or inching back signal is set during the 5-second gear hanging time in S4, or the gear hanging is not completed after 5 seconds, the inching state phase 7 is entered.

[0039] Optionally, in step S5, if the inching forward or inching back signal is not received within 10 minutes after entering the inching state phase 3, the inching state phase 7 is entered, and the activation process is re-waited.

[0040] Optionally, if the inching forward and inching back signals are simultaneously set in the inching function activation state, the activation state is forcibly closed, and the inching state phase 7 is entered.

[0041] Optionally, in step S6 or S7, if the brake pedal is pressed or the signal is no longer set at any time during the inching forward or inching back, the power is cut off, the inching function activation state is returned, and the main drive motor speed is set to 0.

[0042] Optionally, in step S6 or S7, if the inching forward or inching back signal is continuously pressed for more than 60 seconds, the activation state is forcibly closed, and the inching state phase 7 is entered.

[0043] Optionally, in step S6 or S7, if the actual speed of the main drive motor exceeds 300 rpm during the inching forward or inching back, the activation state is forcibly closed, and the inching state phase 7 is entered.

[0044] In summary, the present application has at least one of the following beneficial effects:

[0045] 1. The present application uses two-key inching operation buttons to replace the original three-key, optimizing the panel space and simplifying the operation difficulty.

[0046] 2. The present application triggers the emergency stop by pressing the two keys at the same time, so that the rear operator can close the function and protect the safety of the rear operator.

[0047] 3. The present application designs an inching state phase flag, and the HCU sends a message to the instrument, and the instrument receives the message and transmits information to the operator according to each phase flag, increasing the real-time interaction and reducing the operation threshold.

[0048] 4、The application protects the failure of gear hanging and the waiting timeout, uses the signal falling edge as the judgment basis for the key trigger to prevent sticking, and sets the reset condition that the key signal needs to be 0 before secondary activation, thereby guaranteeing the use safety again.

[0049] 5、The application optimizes the influence of the brake pedal on the inching function, distinguishes between short braking and long braking, only cuts off the power in the short braking state, and does not exit the inching function, thereby solving the problem of frequent closing and activation. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 The application is an inching control system composition structure diagram of a range-extending agricultural machine.

[0051] Figure 2 The application is a control method flow chart of the inching control system of the range-extending agricultural machine.

[0052] In the figure: 1, hybrid controller (HCU); 2, transmission controller (TCU); 3, instrument; 4, cab inching switch; 5, cab inching switch; 6, tail inching switch; 7, tail inching switch; 8, MCU; 9, gear shifting motor; 10, main drive motor; 11, transmission; 12, drive wheel. DETAILED DESCRIPTION

[0053] The application discloses an inching control system of a range-extending agricultural machine, referring to Figure 1 , including two groups of inching switches, a hybrid controller 1, a transmission controller 2, an instrument 3, an MCU 8 and a driving assembly, the two groups of inching switches are respectively a cab inching switch 4 and a cab inching switch 5, a tail inching switch 6 and a tail inching switch 7, the cab inching switch 4 and the cab inching switch 5 are arranged side by side in the cab of the agricultural machine, and the tail inching switch 6 and the tail inching switch 7 are arranged side by side at the tail of the agricultural machine, the two groups of inching switches are connected to the hybrid controller 1 through hard wires, the instrument 3, the MCU 8 and the transmission controller 2 are connected to the hybrid controller 1 through CAN lines, the driving assembly is connected to the transmission controller 2 and the MCU 8 through hard wires, respectively, and the hybrid controller 1 is further connected with a gear handle, a brake pedal, a vehicle speed sensor and a motor speed sensor through hard wires, for judging the activation permission condition of inching.

[0054] In a further embodiment, the driving assembly includes a gear shifting motor 9, a main drive motor 10, a transmission 11 and a drive wheel 12, the main drive motor 10, the transmission 11 and the drive wheel 12 are connected in sequence, the gear shifting motor 9 is connected to the transmission controller 2 through a hard wire, the gear shifting motor 9 is mechanically connected to the transmission 11, the MCU 8 is connected to the main drive motor 10 through a hard wire, and the hybrid controller 1 is further connected with the gear handle, the brake pedal, the vehicle speed sensor and the motor speed sensor through hard wires.

[0055] Specifically, the HCU issues a rotating speed instruction to the MCU through the CAN line, and then the MCU controls the main drive motor 10 to rotate; the HCU is connected to the instrument 3 through the CAN line, and the instrument 3 displays corresponding prompt information on the screen after receiving the corresponding stage, and can simultaneously perform voice broadcast if the instrument 3 has a voice broadcast function; the HCU is connected to the TCU through the CAN line, and after issuing a gear hanging instruction, the TCU controls the gear shifting motor 9 to hang the gear, and feeds back the real-time gear position to the HCU through the CAN line.

[0056] The application installs two self-resetting buttons of inch forward and inch backward at the positions of the cab and the tail of the agricultural machine respectively, which have the same effect, and the driver can operate the inch forward or inch backward of the agricultural machine in the cab or under the vehicle, so that the position is more intuitive when the load is mounted.

[0057] A control method of an inch motion control system of a range-extending agricultural machine, by increasing the interactive information with the instrument 3, increasing the key-related protection logic, and optimizing the original activation process, the safety of the function is increased, and the function itself is more concise, which is convenient for the operator to use, referring to Figure 2 , comprising the following steps:

[0058] S1, judging whether the agricultural machine meets the inch motion function activation condition

[0059] The inch motion enabling condition is:

[0060] 1. Vehicle speed <0.5km / h, i.e. in a stopped state;

[0061] 2. Motor speed is less than 10rpm to prevent the idle motor from rotating;

[0062] 3. The gear lever is in the N position, and the driver can exit the inch motion enabling through the operation;

[0063] 4. The inch forward and inch backward signals are not set, and the driver can exit the inch motion enabling through the operation;

[0064] 5. The vehicle is in KeyStart state;

[0065] The inch motion exit enabling condition is:

[0066] 1. Vehicle speed is greater than 5kph;

[0067] 2. The gear lever is not in the N position;

[0068] 3. When the brake flag is set for 3s;

[0069] 4. The vehicle is not in KeyStart state;

[0070] S2, after the inching function is enabled, an initial state, i.e., an inching state stage 0, is entered, when a falling edge of an inching-in or inching-out signal is received, an inching state stage 1 is entered, and an inching signal is waited for to be pressed again;

[0071] S3, if the same inching-in or inching-out signal is pressed again within 3 seconds, an inching state stage 2 is entered, if the signal is not received again within 3 seconds, an inching state stage 7 is entered;

[0072] S4, after the inching state stage 2 is entered, the hybrid controller 1 sends a gear engagement request instruction to the gearbox controller 2, and starts a gear engagement timing of 5 seconds, the instrument 3 displays the gear engagement request instruction on an interface, and prompts a user to wait for an operation;

[0073] if any of the inching-in or inching-out signals is set during the gear engagement timing of 5 seconds, or the gearbox does not complete the gear engagement after the 5 seconds, the inching state stage 7 is entered;

[0074] S5, if the gear position is 1st gear at the end of the 5 seconds, the inching state stage 3 is entered, the inching button is unlocked, the main drive motor 10 is set to a speed of 0, and the instrument 3 prompts the driver that the inching function is activated;

[0075] if the inching-in or inching-out signal is not received within 10 minutes after the inching state stage 3 is entered, the inching state stage 7 is entered, and the activation process is waited for again;

[0076] S6, in the inching state stage 3, if the inching-in signal is received and the brake is not pressed, the inching state stage 4 is entered, the main drive motor 10 is set to an initial speed of 50 rpm and is positively rotated at a speed of 50 rpm per second, is accumulated to a maximum of 200 rpm, if the button signal is still set at this time, the vehicle moves at a constant speed of 200 rpm until the inching-in process is completed;

[0077] S7, in the inching state stage 3, if the inching-out signal is received and the brake is not pressed, the inching state stage 5 is entered, the main drive motor is set to an initial speed of 50 rpm and is reversely rotated at a speed of 50 rpm per second, is accumulated to a maximum of 200 rpm, if the button signal is still set at this time, the vehicle moves at a constant speed of 200 rpm until the inching-out process is completed;

[0078] Specifically, if the inching-in and inching-out signals are simultaneously set in the inching function activation state, the activation state is forcibly closed, and the inching state stage 7 is entered;

[0079] If the brake pedal is pressed or the signal is no longer set at any time during the inching-in or inching-out, the power is cut off, the inching function activation state is returned to, and the main drive motor is set to a speed of 0;

[0080] If the inching-in or inching-out signal is continuously pressed for more than 60 seconds, the activation state is forcibly closed, and the inching state stage 7 is entered;

[0081] If the actual speed of the main drive motor 10 exceeds 300 revolutions during inching or inching back, the active state is forcibly closed and the inching state stage 7 is entered;

[0082] S8, if the inching exit enables the condition triggers during any inching process, the inching function is disabled, the inching state stage is reset to 0, and the enabling condition needs to be met again to activate.

[0083] The above inching state stages are as follows:

[0084] Inching state stage 0 is the initial state;

[0085] Inching state stage 1 is the first time the inching button is pressed, and the second time it is pressed;

[0086] Inching state stage 2 is to receive 2 correct inching signals, wait for gear shifting and 5 seconds of stable time;

[0087] Inching state stage 3 is the inching activation success stage, which can perform inching back or inching operation;

[0088] Inching state stage 4 is the inching stage, that is, after the inching button is pressed, slowly forward, the main drive motor 10 rotates at an initial speed of 50 rpm, and the speed is accumulated at 50 rpm per second, and the highest accumulation is 200 rpm;

[0089] Inching state stage 5 is the inching back stage, that is, after the inching back button is pressed, slowly backward, the main drive motor reverses at an initial speed of 50 rpm, and the speed is accumulated at 50 rpm per second, and the highest accumulation is 200 rpm;

[0090] Inching state stage 7 is the debugging stage, waiting for the inching back and inching signals to reset, and returning to the initial state.

[0091] Embodiment one

[0092] The control method of the inching control system of the range extender agricultural machine in this embodiment includes the following steps:

[0093] S1, start the vehicle, and the key is on; At this time, the vehicle starts normally, the range extender runs to 800 revolutions, the gear lever is in N position, and the actual gear position is empty;

[0094] S2, press the inching button (vehicle tail inching switch 6 or driver's cab inching switch 4), and the instrument 3 prompts the word "Inching activation process Step 1, if you need to activate inching, press again within 3 seconds";

[0095] S3, press the inching button again after one second, at this time the HCU recognizes the real activation request and sends a gear hanging command to the TCU, the instrument prompts the word "inching activation process Step2, hanging low gear, please do not touch the inching or inching back button within 5 seconds";

[0096] S4, after five seconds, the HCU receives the gear information that the gear is in first gear, and the instrument prompts the word "inching activation process Step3, inching function has been activated";

[0097] S5, then press the inching button, the HCU sends a speed control command to the drive motor, the initial speed value is 50 RPM, and it is accumulated at 50 revolutions per second, and when it reaches 200 RPM, the vehicle is stable and uniform forward, and the instrument prompts the word "inching activation process Step4, inching forward";

[0098] S6, 30 seconds later, release the inching button, at this time the drive motor speed is zero, the vehicle returns to the inching activation state, and the instrument prompts the word "inching activation process Step3, inching function has been activated";

[0099] S7, then press the inching back button, the HCU sends a speed control command to the drive motor, the initial speed value is 50 RPM, and it is accumulated at 50 revolutions per second, and when it reaches 200 RPM, the vehicle is stable and uniform backward, and the instrument prompts the word "inching activation process Step5, inching back";

[0100] S8, press the brake pedal, at this time the main drive motor 10 speed is zero, the vehicle returns to the inching activation state, and the instrument prompts the word "inching activation process Step3, inching function has been activated";

[0101] S9, continue to hold the brake pedal, 2 seconds later, trigger the inching exit, and the instrument prompts the word "inching activation process Step7, inching off, waiting for reset";

[0102] S10, 1 second later, the reset condition ends, the controller enters the inching activation process Step0, the initial state, and the instrument prompt disappears.

[0103] Example two

[0104] The control method of the inching control system of the range extender agricultural vehicle of the embodiment comprises the following steps:

[0105] S1, start the vehicle, key ignition; at this time the vehicle starts normally, the range extender runs to 800 revolutions, the gear lever is in N position, and the actual gear is empty.

[0106] S2, press the inching button (vehicle tail inching switch 6 or cab inching switch 4), the instrument prompts the word "inching activation process Step1, if you want to activate inching, press again within 3 seconds";

[0107] S3, press the inching button again after one second, at this time the HCU recognizes the real activation request and sends a gear hanging instruction to the TCU, and the instrument prompts the word "inching activation process Step2, hanging low gear, please do not touch the inching or inching back button within 5 seconds";

[0108] S4, after five seconds, the HCU receives gear information that is already in first gear, and the instrument prompts the word "inching activation process Step3, inching function has been activated";

[0109] S5, then press the inching button, the HCU sends a speed control instruction to the drive motor, the initial speed value is 50 RPM, and it is accumulated at 50 revolutions per second, and when it reaches 200 RPM, the vehicle is stable and uniform forward, and the instrument prompts the word "inching activation process Step4, inching";

[0110] S6, after 60 seconds, the inching enters the protection closing, triggering the exit of the inching, and the instrument prompts the word "inching activation process Step7, inching closing, waiting for reset";

[0111] S7, at this time it is still in the protection state, and the inching and inching back buttons need to be reset to 0, 10 seconds later, the driver releases the inching button;

[0112] S8, after 1 second, the reset condition ends, the controller enters the inching activation process Step0, the initial state, and the instrument prompt disappears.

[0113] Example three

[0114] The control method of the inching control system of the range-extending agricultural machine of the embodiment comprises the following steps:

[0115] S1, start the vehicle, key ignition, at this time the vehicle starts normally, the range extender runs to 800 revolutions, the gear lever is in N position, and the actual gear is empty;

[0116] S2, press the inching button (vehicle tail inching switch 6 or cab inching switch 4), the instrument prompts the word "inching activation process Step1, if you need to activate inching, press again within 3 seconds";

[0117] S3, press the inching button again after one second, at this time the HCU recognizes the real activation request and sends a gear hanging instruction to the TCU, and the instrument prompts the word "inching activation process Step2, hanging low gear, please do not touch the inching or inching back button within 5 seconds";

[0118] S4, after five seconds, the HCU receives gear information that is not in first gear, and the instrument prompts the word "inching activation process Step7, inching closing, waiting for reset";

[0119] S5, 1 second later, the reset condition ends, the controller enters the inching activation process Step0, the initial state, and the instrument prompt disappears.

[0120] Example Four

[0121] The control method of the inching control system of the range extender agricultural vehicle includes the following steps:

[0122] S1, start the vehicle, press the key, at this time the vehicle starts normally, the range extender runs at 800 rpm, the gear lever is in N position, and the actual gear is empty;

[0123] S2, press the inching button, the instrument prompt "Inching activation process Step1, if you want to activate inching, press the inching button again within 3 seconds";

[0124] S3, press the inching button again after 1 second, at this time the HCU recognizes the real activation request and sends a gear engagement command to the TCU, the instrument prompt "Inching activation process Step2, engaging low gear, please do not touch the inching or inching back button within 5 seconds";

[0125] S4, after 5 seconds, the HCU receives the gear information that the gear is in 1st gear, the instrument prompt "Inching activation process Step3, inching function has been activated";

[0126] S5, then press the inching button, the HCU sends a speed control command to the drive motor, the initial speed value is 50 rpm, and it is accumulated at 50 rpm per second, when it reaches 200 rpm, the vehicle runs at a constant speed, the instrument prompt "Inching activation process Step4, inching";

[0127] S6, press the inching back button at this time, so that the inching and inching back buttons are set at the same time, the inching is closed, the inching is triggered to exit, the instrument prompt "Inching activation process Step7, inching is closed, waiting for reset";

[0128] S7, 1 second later, the reset condition ends, the controller enters the inching activation process Step0, the initial state, and the instrument prompt disappears.

[0129] The application replaces the original three keys with two keys, triggers the emergency stop through pressing the two keys at the same time, so that the operator behind the vehicle can close the function and protect the safety of the operator behind the vehicle; during inching forward or inching backward, if it is identified that the brake pedal is stepped on or the signal is no longer set, the power is immediately cut off, but the main function is not exited, and the inching activation state is returned, the main drive motor is set to 0, until the long brake (more than 2 seconds) is identified, and then the inching mode is exited and the gear is empty; when the inching forward or inching backward button is pressed to activate the function, the falling edge of the signal is used as the judgment basis to prevent sticking, and the reset condition that the key signal needs to be 0 before secondary activation is set, which further ensures the safety.

[0130] It should be noted that the above examples are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A range-extended agricultural machinery inching control system, characterized in that, The application relates to a hybrid driving system for agricultural machinery, which comprises two groups of inching switches, a hybrid controller (1), a gearbox controller (2), an instrument (3), an MCU (8) and a driving assembly, wherein the two groups of inching switches are respectively a cab inching-in switch (4) and a cab inching-out switch (5) and a tail inching-in switch (6) and a tail inching-out switch (7), the cab inching-in switch (4) and the cab inching-out switch (5) are arranged side by side in the cab of the agricultural machinery, and the tail inching-in switch (6) and the tail inching-out switch (7) are arranged side by side at the tail of the agricultural machinery, the two groups of inching switches are connected to the hybrid controller (1) through hard wires, the instrument (3), the MCU (8) and the gearbox controller (2) are connected to the hybrid controller (1) through CAN lines respectively, the driving assembly is connected to the gearbox controller (2) and the MCU (8) through hard wires respectively, and the hybrid controller (1) is further connected with a gear handle, a brake pedal, a vehicle speed sensor and a motor rotating speed sensor through hard wires.

2. The inching control system of claim 1, wherein, The driving assembly comprises a gear shifting motor (9), a main drive motor (10), a gearbox (11) and a driving wheel (12), the main drive motor (10), the gearbox (11) and the driving wheel (12) are sequentially connected, the gear shifting motor (9) is connected to the gearbox controller (2) through a hard wire, the gear shifting motor (9) is mechanically connected to the gearbox (11), the MCU (8) is connected to the main drive motor (10) through a hard wire, and the hybrid controller (1) is further connected with the gear handle, the brake pedal, the vehicle speed sensor and the motor rotating speed sensor through hard wires.

3. The control method of the inching control system of the range extender agricultural machine according to claim 2, characterized in that, The application further discloses a hybrid driving method for agricultural machinery, which comprises the following steps: S1, judging whether the agricultural machinery meets inching function activation conditions; The inching enabling conditions are as follows: (1) vehicle speed < 0.5 km / h; (2) motor rotating speed < 10 rpm; (3) gear handle is in N position; (4) inching-in and inching-out signals are not set; (5) vehicle is in KeyStart state; The inching exit enabling conditions are as follows: (1) vehicle speed > 5 kph; (2) gear handle is not in N position; (3) when the brake flag is set for 3 s; (4) vehicle is not in KeyStart state; S2, after the inching function is enabled, an initial state, i.e. inching state stage 0, is entered, when a falling edge of an inching-in or inching-out signal is received, an inching state stage 1 is entered, and the inching signal is pressed again; S3, if the same inching-in or inching-out signal is pressed again within 3 s, an inching state stage 2 is entered, if the signal is not received again within 3 s, an inching state stage 7 is entered; S4, after the inching state stage 2 is entered, the hybrid controller (1) sends a gear engagement request instruction to the gearbox controller (2), and starts gear engagement timing for 5 s, the instrument (3) receives the gear engagement request instruction and displays on the interface, prompting the user to wait for operation; S5, if the gear is in 1st gear when the 5 s end, an inching state stage 3 is entered, the inching button is unlocked, the main drive motor (10) is set to 0 rotating speed, and the instrument (3) prompts the driver that the inching function is activated. S6, in the inching state phase 3, if the inching signal is received and the brake is not stepped down, the inching state phase 4 is entered, the main drive motor (10) is positively rotated at an initial 50 rpm speed, and is accumulated at 50 revolutions per second, and is accumulated to 200 rpm at the highest, if the button signal is still on at this time, the vehicle moves at a uniform speed of 200 rpm; S7, in the inching state phase 3, if the inching signal is received and the brake is not stepped down, the inching state phase 5 is entered, the main drive motor is reversely rotated at an initial 50 rpm speed, and is accumulated at 50 revolutions per second, and is accumulated to 200 rpm at the highest, if the button signal is still on at this time, the vehicle moves at a uniform speed of 200 rpm; S8, if the inching exit enables condition triggers in any inching process, the entire inching function is enabled, the inching state phase is reset to 0, and needs to wait for the enabling condition to be satisfied again to activate again.

4. The control method of the control system of the range extender for an agricultural machine according to claim 3, characterized by, The inching state phase 0 is the initial state; The inching state phase 1 is that the inching button is pressed for the first time, and the second time is waited to be pressed; The inching state phase 2 is that 2 correct inching signals are received, and the gear is waited to be engaged and 5 seconds of stable time; The inching state phase 3 is the inching activation success phase, and the inching back or inching forward operation can be performed; The inching state phase 4 is the inching forward phase, that is, after the inching forward button is pressed, it is slowly forwarded, the main drive motor (10) is positively rotated at an initial 50 rpm speed, and is accumulated at 50 revolutions per second, and is accumulated to 200 rpm at the highest; The inching state phase 5 is the inching back phase, that is, after the inching back button is pressed, it is slowly backward, the main drive motor is reversely rotated at an initial 50 rpm speed, and is accumulated at 50 revolutions per second, and is accumulated to 200 rpm at the highest; The inching state phase 7 is the debugging phase, after the inching back and inching forward signals are reset, it returns to the initial state.

5. The control method of the control system of the range extender for an agricultural machine according to claim 4, characterized by, If the inching or inching back signal is set in the 5-second gear counting period in S4, or the gearbox is not completed after 5 seconds, the inching state phase 7 is entered.

6. The control method of the range extender agricultural machine motion control system according to claim 5, characterized by, In step S5, if the inching state phase 3 is entered, and if the inching or inching back signal is not received within 10 minutes, the inching state phase 7 is entered, and the activation process is waited again.

7. The control method of the range extender agricultural machine motion control system according to claim 4, characterized by, If the inching forward and inching back signals are simultaneously set in the inching function activation state, the activation state is forcibly closed, and the inching state phase 7 is entered.

8. The control method of the control system of the range extender for an agricultural machine according to claim 4, characterized by, In steps S6 or S7, at any time during the inching forward or inching back, if it is identified that the brake pedal is stepped down or the signal is no longer set, the power is cut off, and the inching function activation state is returned, and the main drive motor speed is set to 0.

9. The control method of the range extender agricultural machine motion control system according to claim 4, characterized by, In steps S6 or S7, if the inching forward or inching back signal is continuously pressed for more than 60 seconds, the activation state is forcibly closed, and the inching state phase 7 is entered.

10. The control method of the range extender agricultural machine motion control system according to claim 4, characterized in that, In steps S6 or S7, if the main drive motor (10) actual speed exceeds 300 revolutions during the inching forward or inching back, the activation state is forcibly closed, and the inching state phase 7 is entered.

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