Power output control method for work machine, and work machine

Abstract

The invention relates to the field of agricultural operation machines, and discloses a power output control method for an operation machine and the operation machine. According to the power output control method for the operation machine, when the transmission module for the operation machine carries out operation mode switching, a driving motor is switched to a torque mode, and the target torque of current operation of the driving motor is adjusted in real time according to the real-time rotating speed of a load, the real-time rotating speed of the driving motor and the transmission ratio of the current operation mode; and automatic adaptive adjustment is realized, so that the rotating speed of the driving motor is rapidly and stably increased to be close to the current real-time rotating speed of the load under the action of the current torque, and the first one-way clutch or the second one-way clutch corresponding to the switched operation mode is rapidly and stably connected to work. And then the driving motor is switched back to the rotating speed mode and operates at the current rotating speed of the load to wait for next switching or operate according to the target rotating speed. Therefore, impact in the mode switching process is effectively avoided, the experience is good, and the service life is prolonged.

Description

Technical Field

[0001] This application belongs to the field of agricultural machinery, specifically relating to a power output control method for agricultural machinery and the agricultural machinery itself. Background Technology

[0002] Traditional agricultural machinery uses engines or hydraulic motors to drive its components, which results in high energy consumption and difficulty in control. Driven by environmental protection requirements, electric-driven agricultural machinery has emerged. Electric-driven agricultural machinery uses electric motors to replace the motors or pulleys of traditional agricultural machinery, enabling direct motor drive of the machinery, which is highly efficient and has good controllability.

[0003] Currently, direct-drive motor-driven machinery on the market primarily uses a motor-gear transmission connection. The gearbox employs a one-way axle structure to convert both forward and reverse rotation of the motor into unidirectional output shaft rotation. In actual operation, when switching between forward and reverse modes, directly changing the motor's direction to switch to the other mode would cause a shock during the mode transition, affecting the user experience and potentially reducing the machine's lifespan. Summary of the Invention

[0004] The purpose of this application is to provide a power output control method and a working machine for use in order to solve the problems of shock, poor operation experience and short service life of existing gearboxes with a one-way wheel and axle structure when switching between the forward and reverse modes of the motor.

[0005] To achieve the above objectives, this application provides a power output control method for operating machinery, which utilizes a transmission module for operating machinery. The transmission module includes a planetary gearbox and a drive motor. The planetary gearbox has a power input shaft connected to the drive motor and a power output shaft for connecting a load. The end of the power input shaft away from the drive motor is connected to a sun gear or a rotatably mounted internal gear ring within the planetary gearbox. The power output shaft is engaged with the sun gear via a first one-way clutch, and with the internal gear ring via a second one-way clutch. The locking directions of the first and second one-way clutches are the same. A first operating mode is defined as the power input shaft transmitting power to the power output shaft via the first one-way clutch, and a second operating mode is defined as the power input shaft transmitting power to the power output shaft via the second one-way clutch. The power output control method for the operating machinery includes: Control the drive motor to operate at the target speed of the load in the current operating mode; According to the operation mode switching command sent from the outside, the transmission module of the operation machinery is controlled to switch the operation mode; Once the operation mode switching is complete, the drive motor is switched to torque mode, and the target torque of the drive motor is adjusted in real time according to the real-time speed of the load, the real-time speed of the drive motor, and the transmission ratio of the current operation mode. If the difference between the speed of the drive motor and the current speed of the load is less than or equal to a preset safety threshold, the drive motor is switched to speed mode and runs at the current speed of the load. Then, based on the externally sent operation mode switching command, control the transmission module of the operating machinery to switch operation modes; or, based on the externally sent target speed request, continue to control the drive motor to run at the target speed of the load in the current operation mode.

[0006] In some implementations, if the difference between the rotational speed of the drive motor and the current rotational speed of the load is greater than a preset safety threshold, the real-time adjustment of the target torque of the drive motor based on the real-time rotational speed of the load, the real-time rotational speed of the drive motor, and the transmission ratio of the current operating mode continues.

[0007] In some embodiments, the power output control method for the operating machinery further includes: Control the transmission module of the operating machinery to enter the operating mode; Waiting for a request for a new job mode; According to the request of the operation mode, control the transmission module of the operation machinery to enter the corresponding operation mode; Set the drive motor to speed mode; Waiting for the target speed request from the load; Based on the target speed request of the load, the control is executed to run the drive motor at the target speed of the load in the current operating mode.

[0008] In some implementations, the transmission ratio of the first operating mode is defined as follows: The transmission ratio of the second operating mode is ; When the operating mode is switched from the first operating mode to the second operating mode, the step of switching the drive motor to torque mode after the operating mode switch is completed, and adjusting the target torque of the drive motor in real time according to the real-time speed of the load and the real-time speed of the drive motor includes: Switch the drive motor to torque mode and obtain the real-time speed n1 of the load and the real-time speed n2 of the drive motor; The drive motor is controlled to operate at a target torque T1, where T1 = k1 × (-n1 × ... -n2), k1 is the control torque coefficient of the drive motor during the switching process from the first working mode to the second working mode.

[0009] In some implementations, the value of k1 ranges from 0 to k1 ≤ ,in, , This is the maximum torque of the drive motor.

[0010] In some implementations, the transmission ratio of the first operating mode is defined as follows: The transmission ratio of the second operating mode is ; When the operating mode is switched from the second operating mode to the first operating mode, the step of switching the drive motor to torque mode after the operating mode switch is completed, and adjusting the target torque of the drive motor in real time according to the real-time speed of the load and the real-time speed of the drive motor includes: Switch the drive motor to torque mode and obtain the real-time speed n1 of the load and the real-time speed n2 of the drive motor; The drive motor is controlled to operate at a target torque T2, where T2 = k2 × (n1 × ... -n2), k2 is the control torque coefficient of the drive motor during the switching process from the second working mode to the first working mode.

[0011] In some implementations, the value of k2 is in the range of 0 < k2 ≤ ,in, , This is the maximum torque of the drive motor.

[0012] In some embodiments, the power input shaft and the power output shaft are arranged coaxially.

[0013] In some implementations, both the first one-way clutch and the second one-way clutch are one-way overrunning clutches.

[0014] The second aspect of this application also provides a work machine, which includes a transmission module for the work machine and applies the power output control method for the work machine provided in the first aspect above.

[0015] Compared with the prior art, the power output control method and the working machine provided in this application have at least the following advantages: The power output control method for operating machinery provided in this application, when the transmission module of the operating machinery switches operating modes, switches the drive motor to torque mode and adjusts the target torque of the drive motor in real time according to the real-time speed of the load, the real-time speed of the drive motor, and the transmission ratio of the current operating mode. This allows the current torque of the drive motor to automatically adapt to the real-time speed of the load (the load speed continuously decreases during the switching process). By adjusting the current torque of the drive motor, it enables the drive motor to more quickly and smoothly increase its speed to close to the current real-time speed of the load under the current torque, thus allowing the corresponding first or second one-way clutch in the switched operating mode to quickly and smoothly engage. Afterwards, the drive motor is switched back to speed mode and runs at the current speed of the load. This smooth switching effectively avoids shocks during mode switching, greatly improves the user experience, and extends the service life of the entire system.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 A partial structural schematic diagram of a work machine provided in an embodiment of this application; Figure 2 A partial structural schematic diagram of another type of operating machinery provided in an embodiment of this application; Figure 3 for Figure 1 A schematic diagram of the first operating mode in the transmission module of the operating machinery shown; Figure 4 for Figure 1 A schematic diagram of the second operating mode in the transmission module of the operating machinery shown; Figure 5 A flowchart illustrating a power output control method for operating machinery provided in this application embodiment; Figure 6 This is an overall flowchart of the control logic of a power output control method for operating machinery provided in an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures 100. Planetary gearbox; 110. Housing; 120. Power input shaft; 130. Power output shaft; 140. Sun gear; 150. Planet carrier; 160. Planet gears; 170. Internal gear ring; 180. One-way clutch; 180a. First one-way clutch; 180b. Second one-way clutch; 200. Drive motor; 300. Motor controller; 400. Vehicle controller; 500. Energy storage devices. Detailed Implementation

[0019] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0020] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0021] Example Please see Figure 1 The power output control method for operating machinery in this embodiment utilizes a transmission module for operating machinery.

[0022] The transmission module for the operating machinery includes a drive motor 200, a motor controller 300, and a planetary gearbox 100. The motor controller 300 is electrically connected to the drive motor 200 and can control the speed, torque, and forward / reverse switching of the drive motor 200. The motor controller 300 is used for communication with the vehicle controller 400 in the operating machinery. The motor controller 300 can receive torque commands sent by the vehicle controller 400 and precisely control the drive motor 200 to output torque of corresponding magnitude and direction; the motor controller 300 can also control the speed, forward / reverse rotation, etc., of the drive motor 200.

[0023] The planetary gearbox 100 has a housing 110, within which a series of planetary gears 160 are housed. The planetary gearbox 100 is equipped with a power input shaft 120 that is connected to the drive motor 200, and a power output shaft 130 for connecting a load, which may be the traveling mechanism of a work machine or a work attachment, etc.

[0024] In this embodiment, the end of the power input shaft 120 away from the drive motor 200 is connected to the sun gear 140 within the planetary gearbox 100, thus the sun gear 140 serves as the power input gear. The power output shaft 130 extends along the axis of the power input shaft 120, and the power output shaft 130 is connected to the sun gear 140 and the internal gear ring 170 via a one-way clutch 180. For clarity, this embodiment defines the one-way clutch 180 between the sun gear 140 and the power output shaft 130 as the first one-way clutch 180a, and the one-way clutch 180 between the internal gear ring 170 and the power output shaft 130 as the second one-way clutch 180b. The first one-way clutch 180a connects the sun gear 140 and the power output shaft 130, while the second one-way clutch 180b connects the internal gear ring 170, which rotates within the planetary gearbox 100, and the power output shaft 130.

[0025] Since the power output shaft 130 extends along the axis of the power input shaft 120, the axes of the power output shaft 130 and the power input shaft 120 are on the same straight line, achieving coaxial arrangement. The locking directions of the first one-way clutch 180a and the second one-way clutch 180b are the same.

[0026] Please see Figure 2 In some embodiments, the end of the power input shaft 120 away from the drive motor 200 can also be connected to the rotating internal gear ring 170 in the planetary gearbox 100, thus the internal gear ring 170 serves as the power input gear.

[0027] Furthermore, the planetary gearbox 100 also includes a planet carrier 150 and at least one planet gear 160 disposed on the planet carrier 150. The planet carrier 150 is fixedly mounted on the housing 110 of the planetary gearbox 100, and the planet gear 160 is rotatably disposed on the planet carrier 150 and meshes with the sun gear 140 and the internal ring gear 170 respectively. Thus, in this embodiment, due to the action of the planet gear 160, the internal ring gear 170 and the sun gear 140 in the planetary gearbox 100 can always maintain the same direction of rotation.

[0028] It is understood that the number of planetary gears 160 can be set to one, two, three, or other quantities depending on the size of the internal gear ring 170 in the planetary gearbox 100 and the operating requirements of the planetary gearbox 100. Therefore, in this embodiment, the number of planetary gears 160 is not specifically limited.

[0029] Please see Figure 1 , Figure 3 and Figure 4 Thus, taking the direct connection between the power input shaft 120 and the sun gear 140 as an example, the power output system for the working machinery provided in this embodiment has two operating modes, specifically: like Figure 3 As shown, the first operating mode is as follows: the power input shaft 120 drives the sun gear 140 to reverse (arrow pointing down) - the power output shaft 130 reverses under the action of the first one-way clutch 180a (arrow pointing down, at this time the internal gear ring 170 is rotating forward and the second one-way clutch 180b is in the unlocked state) - the power output shaft 130 drives the load to reverse (arrow pointing down).

[0030] like Figure 4 As shown, the second operating mode is as follows: the power input shaft 120 drives the sun gear 140 to rotate forward (arrow pointing upward, at which time the first one-way clutch 180a is in the unlocked state) - the planetary gear 160 rotates in reverse (arrow pointing downward) - the internal gear ring 170 rotates in reverse - the power output shaft 130 rotates in reverse under the action of the second one-way clutch 180b (arrow pointing downward) - the power output shaft 130 drives the load to rotate in reverse (arrow pointing downward).

[0031] In this embodiment, by ensuring that the locking directions of the first one-way clutch 180a and the second one-way clutch are consistent, it can be ensured that regardless of whether the drive motor 200 drives the power input shaft 120 to rotate forward or backward, after transmitting power to the power output shaft 130 through the corresponding first one-way clutch 180a or second one-way clutch 180b, the rotation direction output by the power output shaft 130 remains consistent. Thus, the power output system for the working machinery provided in this embodiment can directly control the forward / reverse rotation and the engagement / disengagement of the first and second one-way clutches to achieve the same rotation of the power output shaft 130 and output different speeds (the output speeds in the first and second working modes are different, but the direction of rotation of the power output shaft 130 is consistent). Therefore, there is no need to configure a TCU controller (transmission controller), thereby simplifying the structure of the entire power output system for the working machinery and reducing costs.

[0032] Furthermore, since the power output shaft 130 extends along the axis of the power input shaft 120, the power output shaft 130 and the power input shaft 120 can be installed with coaxiality, thus making it suitable for use in applications requiring axial installation.

[0033] Furthermore, the power input shaft 120 is directly driven connected to the sun gear 140, for example, by welding, flange connection, key, or spline connection. Thus, in the first operating mode described above, the transmission ratio between the power input shaft 120 and the power output shaft 130 is 1.

[0034] In some embodiments, the power input shaft 120 and the sun gear 140 can also be meshed through a gear set, which can also achieve a transmission ratio of 1 between the power input shaft 120 and the power output shaft 130 in the first operating mode described above.

[0035] Optionally, the first one-way clutch 180a is a one-way overrunning clutch; wherein, the inner ring of the first one-way clutch 180a is engaged with the power output shaft 130 to prevent rotation, and the outer ring of the first one-way clutch 180a is engaged with the sun gear 140 to prevent rotation.

[0036] Optionally, the second one-way clutch 180b is a one-way overrunning clutch; wherein, the inner ring of the second one-way clutch 180b is engaged with the power output shaft 130 to prevent rotation, and the outer ring of the second one-way clutch 180b is engaged with the internal gear ring 170 to prevent rotation.

[0037] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 In the power output control method for a working machine provided in this embodiment, the transmission of power from the power input shaft 120 to the power output shaft 130 via the first one-way clutch 180a is defined as the first working mode (e.g., Figure 3 As shown), the power input shaft 120 transmits power to the power output shaft 130 via the second one-way clutch 180b in the second operating mode (e.g., Figure 4 (As shown).

[0038] Please refer to the following: Figure 6 Specifically, the power output control method for operating machinery includes the following steps: S100: Controls the drive motor 200 to operate at the target speed of the load in the current working mode. The target speed of the load can be requested by the operator based on the current working conditions. After receiving the target speed request, the motor controller 300 controls the drive motor 200 to operate at the target speed of the load to ensure that the working machinery meets the current operational requirements.

[0039] S200: Based on the operation mode switching command sent from the outside, control the transmission module of the operating machinery to switch operation modes. The switching of operation modes can provide the operating machinery with the needs of different working conditions, so the operator can freely switch the operation mode (switching between the first operation mode and the second operation mode mentioned above) according to the needs of the current working conditions. At the same time, in order to ensure a smooth and shock-free switching of operation modes, the following step S300 needs to be executed.

[0040] S300: After the operation mode switching is completed, the drive motor 200 is switched to torque mode, and the target torque of the drive motor 200 is adjusted in real time according to the real-time speed of the load, the real-time speed of the drive motor 200, and the transmission ratio of the current operation mode. The real-time speed of the load and the real-time speed of the drive motor 200 can be detected by speed sensors and fed back to the motor controller 300. Furthermore, in the corresponding operation mode (first operation mode or second operation mode), the corresponding transmission ratio is a specific value.

[0041] S400: If the difference between the speed of the drive motor 200 and the current speed of the load is less than or equal to a preset safety threshold, the drive motor 200 is switched to speed mode and runs at the current speed of the load.

[0042] S500: Continue to execute the operation mode switching command sent from the outside, and control the operation machinery to switch the operation mode using the transmission module; or, continue to execute the control of the drive motor 200 to run at the target speed of the load in the current operation mode according to the target speed request sent from the outside.

[0043] It should be noted that in step S500, depending on the working conditions, the operator may switch the working mode at any time. In this case, step S200 will continue to be executed. Alternatively, the current working mode may be maintained, and the drive motor 200 will be controlled to run at the target speed of the load, that is, step S100 will continue to be executed.

[0044] Compared to existing technologies, in this embodiment, when the transmission module of the operating machinery switches operating modes, the drive motor 200 is switched to torque mode. The target torque of the drive motor 200 is adjusted in real time based on the real-time speed of the load, the real-time speed of the drive motor 200, and the transmission ratio of the current operating mode. This allows the current torque of the drive motor 200 to automatically adapt to the real-time speed of the load (the load speed continuously decreases during the switching process). By adjusting the current torque of the drive motor 200, it is possible to more quickly and smoothly increase the speed to near the current real-time speed of the load under the current torque. A preset safety threshold is established, which can be a point value or a range value; theoretically, the smaller the safety threshold, the better. When the preset safety threshold is reached, the corresponding first one-way clutch 180a or second one-way clutch 180b in the switched operating mode can quickly and smoothly engage. Then, the drive motor 200 is switched back to speed mode and runs at the current speed of the load. The smooth transition described above effectively avoids disruptions during mode switching, greatly enhances the user experience, and extends the lifespan of the entire system.

[0045] Furthermore, if the difference between the rotational speed of the drive motor 200 and the current rotational speed of the load exceeds the preset safety threshold, step S300 is continued: the target torque of the drive motor 200 is adjusted in real time based on the real-time rotational speed of the load, the real-time rotational speed of the drive motor 200, and the transmission ratio of the current operating mode. At this time, the drive motor 200 continues to operate in torque mode.

[0046] In this embodiment, the power output control method for the operating machinery further includes: S40: Controls the transmission module of the operating machinery to enter the operating mode.

[0047] S50: Waiting for a request for a new operating mode; at this time, the operating machinery will start and select either the first or second operating mode.

[0048] S60: Based on the request for a specific operating mode, control the transmission module of the operating machinery to enter the corresponding operating mode. It can directly enter either the first or second operating mode, selected by the operator based on the actual working conditions.

[0049] S70: Set the drive motor 200 to speed mode.

[0050] S80: Waiting for the target speed request from the load.

[0051] S90: Based on the target speed request of the load, execute step S100: Control the drive motor 200 to run at the target speed of the load in the current working mode.

[0052] To more clearly describe the technical solution of this application, the following example is a transmission module for a working machine that is connected to the power input shaft 120 and the sun gear 140. The transmission ratio of the first working mode is defined as follows: The transmission ratio of the second operating mode is Furthermore, based on the structural description of the transmission module for the aforementioned working machinery, it can be seen that the transmission ratio of the first working mode is... =1; Define the number of teeth of the sun gear 140 as Z1, the number of teeth of the planet gear 160 as Z2, and the number of teeth of the internal gear ring 170 as Z3, then the transmission ratio of the second working mode is... .

[0053] Please see Figure 5 and Figure 6 When switching from the first operating mode to the second operating mode, in the above step S300: after the operating mode switching is completed, the drive motor 200 is switched to torque mode, and the target torque of the drive motor 200 is adjusted in real time according to the real-time speed of the load and the real-time speed of the drive motor 200, including the following steps: S310: Switch the drive motor 200 to torque mode and obtain the real-time speed n1 of the load and the real-time speed n2 of the drive motor 200.

[0054] S311: Control the drive motor 200 to run at the target torque T1, where T1 = k1 × (-n1 × -n2), k1 is the control torque coefficient of the drive motor 200 during the switching process from the first working mode to the second working mode.

[0055] Here, k1 needs to be calibrated on-site during debugging. In this embodiment, the value range of k1 is 0 < k1 ≤ ,in, , This is the maximum torque of the drive motor 200.

[0056] Please see Figure 5 and Figure 6 Furthermore, when switching from the second operating mode to the first operating mode, in step S300 above: after the operating mode switch is completed, the drive motor 200 is switched to torque mode, and the target torque of the drive motor 200 is adjusted in real time according to the real-time speed of the load and the real-time speed of the drive motor 200, including the following steps: S320: Switch the drive motor 200 to torque mode and obtain the real-time speed n1 of the load and the real-time speed n2 of the drive motor 200.

[0057] S321: Control the drive motor 200 to run at the target torque T2, where T2 = k2 × (n1 × ... -n2), k2 is the control torque coefficient of the drive motor 200 during the switching process from the second working mode to the first working mode.

[0058] Here, k2 needs to be calibrated on-site during debugging. In this embodiment, the value range of k2 is 0 < k2 ≤ ,in, , This is the maximum torque of the drive motor 200.

[0059] For further details, please refer to Figure 1 and Figure 2 This embodiment also provides a working machine, particularly an agricultural working machine. The working machine includes a transmission module and applies the power output control method for the working machine described above. The transmission module for the working machine has been described in detail above and will not be repeated here.

[0060] The operating machinery also includes a vehicle controller 400 and an energy storage device 500, with the vehicle controller 400 communicating with the motor controller 300. The energy storage device 500 supplies power to the motor controller 300, the vehicle controller 400, and the drive motor 200. The energy storage device 500 can be a battery pack.

[0061] Compared with existing technologies, the operating machinery provided in this embodiment has the following advantages: 1. Compared with the existing ATM gearbox operating machinery, the technical solution of this embodiment has the advantages of low cost, simple and reliable mode switching; coaxial arrangement (power input shaft 120 and power output shaft 130 are coaxial) can adapt to the installation requirements of characteristic space and has the advantages of high transmission efficiency.

[0062] 2. By combining the power output control method for operating machinery provided above, the switching process between operating modes (first operating mode and second operating mode) can be achieved without shock, further improving the reliability and application performance of the system.

[0063] It should be noted that, in this application, unless otherwise stated, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0064] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0067] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A power output control method for operating machinery, characterized in that, A transmission module for operating machinery is applied, comprising a planetary gearbox (100) and a drive motor (200). The planetary gearbox (100) is provided with a power input shaft (120) that is driven by the drive motor (200) and a power output shaft (130) for connecting a load. The end of the power input shaft (120) away from the drive motor (200) is driven by a sun gear (140) or a rotatably mounted internal gear ring (170) within the planetary gearbox (100). The power output shaft (130) and the sun gear (140) are connected by a first... A one-way clutch (180a) is engaged in transmission, and the power output shaft (130) and the internal gear ring (170) are engaged in transmission via a second one-way clutch (180b). The locking directions of the first one-way clutch (180a) and the second one-way clutch (180b) are the same. The first operating mode is defined as the power input shaft (120) transmitting power to the power output shaft (130) via the first one-way clutch (180a), and the second operating mode is defined as the power input shaft (120) transmitting power to the power output shaft (130) via the second one-way clutch (180b). The power output control method for the operating machinery includes: Control the drive motor (200) to operate at the target speed of the load in the current operating mode; According to the operation mode switching command sent from the outside, the transmission module of the operation machinery is controlled to switch the operation mode; When the operation mode switching is completed, the drive motor (200) is switched to torque mode, and the target torque of the drive motor (200) is adjusted in real time according to the real-time speed of the load, the real-time speed of the drive motor (200) and the transmission ratio of the current operation mode. If the difference between the rotational speed of the drive motor (200) and the current rotational speed of the load is less than or equal to a preset safety threshold, the drive motor (200) is switched to speed mode and runs at the current rotational speed of the load. Then, based on the operation mode switching command sent from the outside, control the transmission module of the operating machinery to switch the operation mode; or, based on the target speed request sent from the outside, continue to control the drive motor (200) to run at the target speed of the load in the current operation mode.

2. The power output control method for operating machinery according to claim 1, characterized in that, If the difference between the speed of the drive motor (200) and the current speed of the load is greater than the preset safety threshold, the target torque of the drive motor (200) is adjusted in real time according to the real-time speed of the load, the real-time speed of the drive motor (200), and the transmission ratio of the current working mode.

3. The power output control method for operating machinery according to claim 1, characterized in that, The power output control method for the operating machinery also includes: Control the transmission module of the operating machinery to enter the operating mode; Waiting for a request for a new job mode; According to the request of the operation mode, control the transmission module of the operation machinery to enter the corresponding operation mode; The drive motor (200) is set to speed mode; Waiting for the target speed request from the load; Based on the target speed request of the load, the control is executed to run the drive motor (200) at the target speed of the load in the current operating mode.

4. The power output control method for operating machinery according to any one of claims 1-3, characterized in that, The transmission ratio of the first operating mode is defined as follows: The transmission ratio of the second operating mode is ; When the operating mode is switched from the first operating mode to the second operating mode, the step of switching the drive motor (200) to torque mode after the operating mode switch is completed, and adjusting the target torque of the drive motor (200) in real time according to the real-time speed of the load and the real-time speed of the drive motor (200) includes: Switch the drive motor (200) to torque mode and obtain the real-time speed n1 of the load and the real-time speed n2 of the drive motor (200); The drive motor (200) is controlled to operate at a target torque T1, where T1 = k1 × (-n1 × ... -n2), k1 is the control torque coefficient of the drive motor (200) during the switching process from the first working mode to the second working mode.

5. The power output control method for operating machinery according to claim 4, characterized in that, The range of values ​​for k1 is 0 < k1 ≤ ,in, , The maximum torque of the drive motor (200) is given.

6. The power output control method for operating machinery according to any one of claims 1-3, characterized in that, The transmission ratio of the first operating mode is defined as follows: The transmission ratio of the second operating mode is ; When the operating mode is switched from the second operating mode to the first operating mode, the step of switching the drive motor (200) to torque mode after the operating mode switch is completed, and adjusting the target torque of the drive motor (200) in real time according to the real-time speed of the load and the real-time speed of the drive motor (200) includes: Switch the drive motor (200) to torque mode and obtain the real-time speed n1 of the load and the real-time speed n2 of the drive motor (200); The drive motor (200) is controlled to operate at a target torque T2, where T2 = k2 × (n1 × ... -n2), k2 is the control torque coefficient of the drive motor (200) during the switching process from the second working mode to the first working mode.

7. The power output control method for operating machinery according to claim 6, characterized in that, The range of values ​​for k2 is 0 < k2 ≤ ,in, , The maximum torque of the drive motor (200) is given.

8. The power output control method for operating machinery according to claim 1, characterized in that, The power input shaft (120) and the power output shaft (130) are arranged coaxially.

9. The power output control method for operating machinery according to claim 1, characterized in that, Both the first one-way clutch (180a) and the second one-way clutch (180b) are one-way overrunning clutches.

10. A type of operating machinery, characterized in that, The operating machinery includes a transmission module for operating machinery and applies the power output control method for operating machinery according to any one of claims 1-9.

Images