Control system and method for power distribution and power generation control of extended-range agricultural machinery based on intelligent identification of working road surface and hybrid tractor

Abstract

The invention provides a control system and method for power distribution and power generation control of an extended-range agricultural machine based on intelligent identification of a working road surface and a hybrid tractor. The control system comprises the following steps: identifying a field type by collecting image information of a driving road, calculating required power of a vehicle range extender in a corresponding working scene based on the field type, and controlling a range extender assembly; and adjusting the torque of the driving motor and the driving motor based on the field type, the rotating speed of the driving motor and the vehicle speed. Based on field type recognition and historical working data, accurate distribution of driving force and efficient and stable power generation of the range extender can be achieved, the safety and the service life of a power battery are guaranteed, and the farmland operation efficiency of the tractor is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery power control technology, in particular to a control system and method for power distribution and power generation control of a range extended agricultural machinery based on intelligent identification of working road surface, and a hybrid tractor. BACKGROUND

[0002] With the development of the integration of agricultural mechanization and new energy technology, the application of series hybrid tractors in the field of agricultural operation is becoming more and more widespread due to their fuel economy and low emission characteristics. However, there are several core technical problems in the process of current series hybrid tractors in the field of plowing operation:

[0003] Firstly, the problem of driving force distribution. The types of soil in the field are diverse (such as clay, loam, sand, etc.), the bearing capacity and friction coefficient of different soils are significantly different, and the working parameters such as tractor operation type (such as plowing, harrowing, seeding), speed, engine torque and speed, driving motor power, etc. are dynamically changing. The existing technology lacks real-time identification capability of soil type, resulting in mismatch between driving force distribution and actual operation demand, which is prone to driving wheel slip phenomenon, which not only reduces the operation efficiency, but also aggravates the tire wear and energy consumption.

[0004] Secondly, the problem of matching between the power generation of the range extender and the battery capacity, which needs to meet the power demand of the driving system and the charging demand of the power battery. However, the range extender has power climbing and slow unloading speed, and when the driving demand power fluctuates, the power generation of the range extender adjusts with lag, which is always in the transition adjustment condition, and the economy is poor.

[0005] Finally, the safety and life of the power battery are not guaranteed. The power and capacity of the power battery are limited, and the existing technology lacks precise control of the battery state, especially when a small capacity battery is matched with a high power range extender. In the scene of field head near reversing, the electro-hydraulic lifter lifts the plow, the load of the tractor decreases instantaneously, and the power generation of the range extender unloads slowly. The high-power current will directly flow to the power battery, causing overcurrent and overvoltage faults of the battery, which not only affects the continuity of operation, but also causes irreversible damage to the battery, increasing the maintenance cost of the equipment.

[0006] In summary, the current power control technology of series hybrid tractors in the field of agricultural operation cannot simultaneously solve the problems of accurate distribution of driving force, efficient and stable power generation of range extender, and safety protection of power battery, and an innovative technical solution is needed to break through the above bottlenecks SUMMARY

[0007] The purpose of this invention is to provide a control system, method, and hybrid tractor for power distribution and power generation control of range-extended agricultural machinery based on intelligent identification of the working surface. Based on field type identification and historical working data, it can achieve precise distribution of driving force, efficient and stable power generation of the range extender, and ensure the safety and service life of the power battery, thereby improving the efficiency of tractor operation in farmland.

[0008] To achieve the above objectives, the present invention employs the following technical solution:

[0009] This invention provides a control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, comprising:

[0010] The data acquisition module is used to collect road image information and send it to the vehicle system control unit;

[0011] The vehicle system control unit is equipped with a field type analysis module, which takes driving road image information as input and outputs the identification result of field type; and calculates the power required by the vehicle range extender under the corresponding working scenario based on the field type and sends it to the range extender control system; and adjusts the torque of the drive motor based on the field type, drive motor speed and vehicle speed and sends it to the drive motor controller.

[0012] The range extender assembly and the range extender control system, wherein the range extender control system controls the range extender assembly according to the vehicle range extender power demand issued by the vehicle system control unit.

[0013] The drive motor assembly and the drive motor controller, wherein the drive motor controller drives the drive motor according to the drive motor torque issued by the vehicle system control unit;

[0014] It also includes power batteries and electro-hydraulic lifting systems.

[0015] Preferably, the land type analysis function module incorporates a land type identification model, and the land type identification model is constructed as follows:

[0016] Establish a farmland type identification database, which includes road image information for various farmland types;

[0017] A neural network model of the UNet network is constructed. After deep learning is performed on the constructed neural network model using the database, a field type recognition model is obtained and implanted into the vehicle system control unit.

[0018] The types of farmland include: conventional roads, rural roads, icy and snowy roads, muddy fields, soft fields, dry and hard fields, and field edges;

[0019] The types of fields are classified into two work scenarios: field relocation scenarios and field operation scenarios. The field relocation scenarios include regular roads, rural roads, and icy roads. The field operation scenarios include muddy fields, soft fields, hard dry fields, and field edges.

[0020] Preferably, the vehicle system control unit calculates the required power of the vehicle range extender under the corresponding working scenario based on the field type, and the implementation method is as follows:

[0021] After determining that the intelligent energy management mode has been entered, the vehicle system control unit calculates the drive motor torque based on the accelerator pedal opening, desired opening speed, and acceleration based on the current vehicle speed, according to the vehicle dynamics equations. Therefore, the required power of the entire agricultural machinery vehicle can be assessed. ,in To drive the motor speed, As a benchmark for determining the base power of the range extender, the base power of this range extender is evaluated. ;

[0022] After the intelligent energy management mode is executed for a set time, the actual average power of the vehicle within the set time is calculated in real time. Regarding the base power of the range extender After making corrections, the required power of the range extender is obtained. The correction calculation is as follows:

[0023] ,

[0024] ,

[0025] in, For real-time accessory power, To meet the power requirements of the range extender, Real-time motor power, To set a time, These are the weighting coefficients.

[0026] Preferably, the determination of entering the intelligent energy management mode includes:

[0027] If the following conditions are met: field operation scenario, effective detection of plowing depth, effective forward gear, and first response to accelerator pedal opening, then enter the intelligent recognition energy management mode;

[0028] If the conditions for braking, plow lifting, or throttle reduction are triggered, the intelligent energy management mode will be exited.

[0029] Preferably, the vehicle dynamics equations are as follows:

[0030] ,

[0031] ,

[0032] in, Indicates the torque of the drive motor. Indicates the overall transmission ratio of the transmission system. This indicates the overall efficiency of the transmission system. Indicates the rolling radius of the wheel. Indicates the overall vehicle weight. Represents gravitational acceleration. Indicates the slope angle of the road surface. Indicates the rolling resistance coefficient. Indicates air density, Indicates the frontal area of ​​the entire vehicle. Indicates the air drag coefficient. Indicates the vehicle's speed. This represents the rotational mass conversion factor. Indicates vehicle acceleration. Indicates soil specific resistance. Indicates the depth of plowing. Indicates the width of a single plowshare. This indicates the number of plowshares.

[0033] Preferably, the vehicle system control unit adjusts the drive motor torque based on the field type, drive motor speed, and vehicle speed. The specific implementation process is as follows:

[0034] Based on the field type, obtain the preset ground adhesion coefficient. According to the preset ground adhesion coefficient With longitudinal slip ratio Relationship, estimate the optimal slip ratio ;

[0035] Combined with the speed of the drive motor Calculated actual wheel speed Actual vehicle speed calculated from gyroscope measurements Calculate the actual slip ratio The calculation is as follows:

[0036] ,

[0037] in, This refers to the transmission ratio from the drive motor to the wheel end. The rolling radius of the wheel / tire;

[0038] Optimal slip ratio and actual slip ratio Adjusting the drive motor torque output through PID closed-loop calculation. .

[0039] Preferably, the data acquisition module is connected to the vehicle system control unit via Ethernet; the electro-hydraulic lifting system, drive motor controller, range extender control system, and power battery are all connected to the vehicle system control unit via a CAN network.

[0040] This invention also provides a control method for power distribution and power generation control of range-extended agricultural machinery based on intelligent identification of the working surface, implemented based on the aforementioned control system for power distribution and power generation control of range-extended agricultural machinery based on intelligent identification of the working surface. The method includes:

[0041] The driving road image information is collected by the data acquisition module and input to the vehicle system control unit;

[0042] The vehicle system control unit identifies the type of farmland; the types of farmland include: regular roads, rural roads, icy roads, muddy fields, soft fields, hard dry fields, and field edges;

[0043] A tractor dynamic working condition model is established. Based on the field type, the required power of the vehicle range extender under the corresponding working scenario is calculated. The range extender control system controls the range extender assembly according to the required power of the vehicle range extender.

[0044] Based on the field type, drive motor speed, and vehicle speed, the drive motor torque is adjusted, and the drive motor is driven according to the drive motor torque by the drive motor controller.

[0045] Preferably, the calculation process for the power requirement of the vehicle range extender is as follows:

[0046] After determining that the intelligent energy management mode has been entered, the vehicle system control unit calculates the drive motor torque based on the accelerator pedal opening, desired opening speed, and acceleration based on the current vehicle speed, according to the vehicle dynamics equations. Therefore, the required power of the entire agricultural machinery vehicle can be assessed. ,in To drive the motor speed, As a benchmark for determining the base power of the range extender, the base power of this range extender is evaluated. ;

[0047] After the intelligent energy management mode is executed for a set time, the actual average power of the vehicle within the set time is calculated in real time. Regarding the base power of the range extender After making corrections, the required power of the range extender is obtained. The correction calculation is as follows:

[0048] ,

[0049] ,

[0050] in, For real-time accessory power, To meet the power requirements of the range extender, Real-time motor power, To set a time, These are the weighting coefficients.

[0051] Preferably, the process of adjusting the drive motor torque based on the field type, drive motor speed, and vehicle speed is as follows:

[0052] Based on the field type, obtain the preset ground adhesion coefficient. According to the preset ground adhesion coefficient With longitudinal slip ratio Relationship, estimate the optimal slip ratio ;

[0053] Combined with the speed of the drive motor Calculated actual wheel speed Actual vehicle speed calculated from gyroscope measurements Calculate the actual slip ratio The calculation is as follows:

[0054] ,

[0055] in, This refers to the transmission ratio from the drive motor to the wheel end. The rolling radius of the wheel / tire;

[0056] Optimal slip ratio and actual slip ratio Adjusting the drive motor torque output through PID closed-loop calculation. .

[0057] Preferably, the method further includes:

[0058] When the field type is identified as a field, it is determined whether the current power output of the range extender exceeds the current available charging power of the power battery. If it does, the power output of the range extender is reduced to below the safe power output, and the insufficient part is output by the power battery.

[0059] The present invention also provides a hybrid tractor equipped with the above-mentioned control system for range-extended agricultural machinery power distribution and power generation control based on intelligent identification of the working surface.

[0060] The beneficial effects of the technical solution of this invention are as follows:

[0061] This invention provides a control method for power distribution and range extender power generation control of a hybrid tractor. It mainly solves the problems of precise distribution of driving force and efficient and stable power generation of the range extender in farmland scenarios, improving the efficiency of the range extender, actively adjusting the four-wheel drive rate to effectively control slippage in muddy soil, and controlling battery overcharging caused by sudden changes in field load when battery power and power are limited or the battery power is too small to match the range extender assembly, thus extending the battery cycle life. Attached Figure Description

[0062] Figure 1 A schematic diagram of the control system architecture for the power distribution and range extender power generation control of a hybrid tractor provided by the present invention;

[0063] Figure 2 This is a schematic diagram illustrating the division of field types and operational scenarios provided by the present invention;

[0064] Figure 3 A schematic diagram of the workflow of the control system for intelligent identification, energy management, power distribution, and range extender power generation control of a hybrid tractor provided by the present invention;

[0065] Figure 4 The graph showing the relationship between ground adhesion coefficient and slip ratio provided by this invention;

[0066] Figure 5 A schematic diagram illustrating the working principle of the anti-slip mechanism provided by this invention. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0068] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0069] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0070] It should also be noted that, unless otherwise specified, the term "connection" in this article can refer not only to a direct connection, but also to an indirect connection involving an intermediary.

[0071] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0072] It should be emphasized here that the step markers mentioned below are not a limitation on the order of the steps, but should be understood as meaning that the steps can be executed in the order mentioned in the embodiments, or in a different order than in the embodiments, or several steps can be executed simultaneously.

[0073] This invention first provides a control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface. The system architecture is as follows: Figure 1 As shown, the data acquisition module is connected to the vehicle system control unit via Ethernet; the electro-hydraulic lifting system, drive motor controller, range extender control system, and power battery are all connected to the vehicle system control unit via a CAN network.

[0074] The data acquisition module collects road image information via a camera mounted on the top of the cockpit and sends it to the vehicle system control unit;

[0075] The vehicle system control unit deploys a field type analysis module. This module takes driving road image information as input and outputs the identification results of field types, including: regular road surface, rural road surface, icy and snowy road surface, muddy field, soft field, hard dry field, and field edge. It also divides the field types into two major working scenarios: transfer scenario and field operation scenario. The transfer scenario includes regular road surface, rural road surface, and icy and snowy road surface, while the field operation scenario includes muddy field, soft field, hard dry field, and field edge. Based on the field type, it calculates the power demand of the vehicle range extender in the corresponding working scenario and sends it to the range extender control system. Based on the field type, drive motor speed, and vehicle speed, it adjusts the drive motor torque and sends it to the drive motor controller.

[0076] The range extender assembly and the range extender control system control the range extender assembly according to the vehicle range extender power demand issued by the vehicle system control unit.

[0077] The drive motor assembly and the drive motor controller, wherein the drive motor controller drives the drive motor according to the drive motor torque issued by the vehicle system control unit;

[0078] The power battery, as an energy storage unit, outputs current as power output when the range extender's power does not meet the driving power, and absorbs excess power as power reserve when the range extender's power is higher than the driving power.

[0079] The electro-hydraulic lifting system, as the control and execution unit of the agricultural machinery hydraulic system, drives the hydraulic device to control the lifting and tilting of the plow, calculates the plowing depth based on the plow position and height, and can set plow parameters and send them to the vehicle control unit via CAN bus for auxiliary calculation.

[0080] Based on the aforementioned control system, this invention provides a control method for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface. (See also...) Figure 3 Specifically, it includes the following steps:

[0081] S1. Identify farmland types based on image information from the data acquisition module;

[0082] In this step, a field type identification database is first established, which includes more than 300 types of road image information. A neural network model with a UNet network architecture is constructed. After deep learning of the constructed neural network model using the database, a field type identification model is obtained. This model is then embedded into the whole machine control system unit as a field type analysis function module. Images from the data acquisition module are imported into the whole machine control system unit in real time. The field type identification function module identifies the field type, and the identification results include: regular road surface, rural road surface, icy and snowy road surface, muddy field, soft field, dry and hard field, and field edges.

[0083] See Figure 2 The types of fields are categorized into two main work scenarios: field relocation scenarios and field operation scenarios. Field relocation scenarios include regular roads, rural roads, and icy roads, while field operation scenarios include muddy fields, soft fields, hard dry fields, and field edges.

[0084] S2. Establish a tractor dynamics operating condition model, and calculate the power demand of the vehicle range extender under different working scenarios based on field type.

[0085] The vehicle dynamics equations are as follows:

[0086] ,

[0087] ,

[0088] The first part (within parentheses) represents the vehicle's dynamic equations. Indicates the load of plowing operations.

[0089] Indicates the torque of the drive motor. Indicates the overall transmission ratio of the transmission system. This represents the overall efficiency of the transmission system and the design constant. Indicates the rolling radius of the wheel. Indicates the overall vehicle weight, or the overall vehicle design value. Represents gravitational acceleration. This indicates the slope angle of the road surface, measured by a slope sensor. For large farms operating on mostly flat ground, this value is set to 0 by default. Indicates air density, design constant. This represents the frontal area of ​​the vehicle, a design value for the entire vehicle. This represents the air drag coefficient, a design constant. Indicates the vehicle's speed. Indicates vehicle acceleration. This represents the rotational mass conversion factor, with a system constant of 1.1-1.2. Indicates the rolling resistance coefficient. Indicates soil specific resistance. Indicates the depth of plowing. Indicates the width of a single plowshare. The number of plowshares, plowing depth, width of individual plowshares, and number of individual plowshares are sent by the electro-hydraulic lifting system. If the data is invalid, the whole machine control system unit will use the default stored five-plowshare parameters.

[0090] The rolling resistance and soil specific resistance parameters differ for different types of farmland. The farmland type identification system calls the system's preset values ​​based on the road type.

[0091] S3, Intelligent Energy Management Mode Recognition

[0092] S31. Conditions for entering the intelligent energy management mode:

[0093] The electro-hydraulic lifting system controls the plow to start working, the driver adjusts the throttle to work, and the vehicle system control unit meets the following conditions: ① field operation scenario, ② effective detection of plowing depth, ③ effective forward gear, ④ first response to throttle pedal opening, then enters intelligent recognition energy management mode.

[0094] S32, Intelligent Energy Management Mode Recognition:

[0095] The vehicle system control unit calculates the required torque at the motor end based on the accelerator pedal opening, the desired opening speed, and the acceleration based on the current vehicle speed, using dynamic formulas. This allows for the assessment of the power requirements of agricultural machinery as a whole. ,in To drive the motor speed, As a benchmark for determining the base power of the range extender, the base power of this range extender is evaluated. ;

[0096] After the intelligent energy management mode has been running for a specific period of time, it will calculate the actual average power of the vehicle during that specific period in real time. As a model correction parameter, the calculated base power of the range extender is adjusted accordingly. After making corrections, the required power of the range extender is obtained. The correction calculation is as follows:

[0097] ,

[0098] ,

[0099] in, For real-time accessory power, To meet the power requirements of the range extender, Real-time motor power, For time, is the weighting coefficient, with a value ranging from 0 to 1.

[0100] S33. Exit Intelligent Energy Management Mode:

[0101] The intelligent energy management mode will exit when the conditions for braking, plow lifting, or throttle reduction are triggered.

[0102] S4. Based on the field type, calculate the optimal output torque of the drive motor. See [link to implementation details] for more information. Figure 5 This includes the following sub-steps:

[0103] S41. The field type analysis module identifies and outputs seven field types, each with a pre-set ground adhesion coefficient based on empirical values. The current field surface adhesion coefficient is determined based on the field type output by the field type analysis module. .

[0104] like Figure 4 As shown, the adhesion coefficient is based on different farmland types. With longitudinal slip ratio Based on the relationship, the optimal slip ratio was initially estimated. .

[0105] S42, combined with the speed of the drive motor Calculated actual wheel speed Actual vehicle speed calculated from gyroscope measurements Calculate the actual slip ratio The calculation is as follows:

[0106] ,

[0107] in, This refers to the transmission ratio from the drive motor to the wheel end. This is the rolling radius of the wheel / tire.

[0108] S43, Optimal slip ratio and actual slip ratio Adjusting the drive motor torque output through PID closed-loop calculation. Based on this, road surface anti-skid is achieved.

[0109] S5, Energy Management at the Field Operation Site

[0110] When the field type identification module outputs the field type, the control system refers to whether the current power generation of the range extender exceeds the current available charging power of the power battery. If it does, the range extender's power generation is reduced to below the safe power generation, and the insufficient part is output by the power battery. This can avoid overvoltage and overcurrent faults caused by unexpected high current charging of the power battery and improve the life of the power battery.

[0111] It should be noted that this invention relates to the calculation of the base power of the range extender, the field and the adhesion coefficient, which can be achieved by combining electronic maps and predictive control algorithms.

[0112] Based on the above-mentioned inventive concept, the present invention also provides a hybrid tractor equipped with the above-mentioned control system for range-extended agricultural machinery power distribution and power generation control based on intelligent identification of the working road surface.

[0113] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, characterized in that, include: The data acquisition module is used to collect road image information and send it to the vehicle system control unit; The vehicle system control unit is equipped with a field type analysis module, which takes driving road image information as input and outputs the identification result of field type. And based on the type of farmland, calculate the required power of the vehicle range extender in the corresponding working scenario and send it to the range extender control system; And based on the field type, drive motor speed and vehicle speed, adjust the drive motor torque and send the data to the drive motor controller; The range extender assembly and the range extender control system, wherein the range extender control system controls the range extender assembly according to the vehicle range extender power demand issued by the vehicle system control unit. The drive motor assembly and the drive motor controller, wherein the drive motor controller drives the drive motor according to the drive motor torque issued by the vehicle system control unit; It also includes power batteries and electro-hydraulic lifting systems.

2. The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 1, characterized in that, The land type analysis function module incorporates a land type identification model, which is constructed as follows: Establish a farmland type identification database, which includes road image information for various farmland types; A neural network model of the UNet network is constructed. After deep learning is performed on the constructed neural network model using the database, a field type recognition model is obtained and implanted into the vehicle system control unit. The types of farmland include: conventional roads, rural roads, icy and snowy roads, muddy fields, soft fields, hard and dry fields, and field edges; The types of fields are classified into two work scenarios: field relocation scenarios and field operation scenarios. The field relocation scenarios include regular roads, rural roads, and icy roads. The field operation scenarios include muddy fields, soft fields, hard dry fields, and field edges.

3. The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, as described in claim 2, is characterized in that... The vehicle system control unit calculates the required power of the vehicle range extender under the corresponding working scenario based on the field type. The implementation method is as follows: After determining that the intelligent energy management mode has been entered, the vehicle system control unit calculates the drive motor torque based on the accelerator pedal opening, desired opening speed, and acceleration based on the current vehicle speed, according to the vehicle dynamics equations. Therefore, the required power of the entire agricultural machinery vehicle can be assessed. ,in To drive the motor speed, As a benchmark for determining the base power of the range extender, the base power of this range extender is evaluated. ; After the intelligent energy management mode is executed for a set time, the actual average power of the vehicle within the set time is calculated in real time. Regarding the base power of the range extender After making corrections, the required power of the range extender is obtained. The correction calculation is as follows: ， ， in, For real-time accessory power, To meet the power requirements of the range extender, Real-time motor power, To set a time, These are the weighting coefficients.

4. The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, as described in claim 3, is characterized in that... The determination of entering the intelligent identification energy management mode includes: If the following conditions are met: field operation scenario, effective detection of plowing depth, effective forward gear, and first response to accelerator pedal opening, then enter the intelligent recognition energy management mode; If the conditions for braking, plow lifting, or throttle reduction are triggered, the intelligent energy management mode will be exited.

5. The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 3, characterized in that, The vehicle dynamics equations are as follows: ， ， in, Indicates the torque of the drive motor. Indicates the overall transmission ratio of the transmission system. This indicates the overall efficiency of the transmission system. Indicates the rolling radius of the wheel. Indicates the overall vehicle weight. Represents gravitational acceleration. Indicates the slope angle of the road surface. Indicates the rolling resistance coefficient. Indicates air density, Indicates the frontal area of ​​the entire vehicle. Indicates the air drag coefficient. Indicates the vehicle's speed. This represents the rotational mass conversion factor. Indicates vehicle acceleration. Indicates soil specific resistance. Indicates the depth of plowing. Indicates the width of a single plowshare. Indicates the number of plowshares.

6. The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, as described in claim 2, is characterized in that... The vehicle system control unit adjusts the drive motor torque based on the field type, drive motor speed, and vehicle speed. The specific implementation process is as follows: Based on the field type, obtain the preset ground adhesion coefficient. According to the preset ground adhesion coefficient With longitudinal slip ratio Relationship, estimate the optimal slip ratio ; Combined with the speed of the drive motor Calculated actual wheel speed Actual vehicle speed calculated from gyroscope measurements Calculate the actual slip ratio The calculation is as follows: ， in, This refers to the transmission ratio from the drive motor to the wheel end. The rolling radius of the wheel / tire; Optimal slip ratio and actual slip ratio Adjusting the drive motor torque output through PID closed-loop calculation. .

7. The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 1, characterized in that, The data acquisition module is connected to the vehicle system control unit via Ethernet; the electro-hydraulic lifting system, drive motor controller, range extender control system and power battery are all connected to the vehicle system control unit via CAN network.

8. A control method for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, characterized in that, The control system for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface, as described in claim 1, includes the following methods: The driving road image information is collected by the data acquisition module and input to the vehicle system control unit; The vehicle system control unit identifies the type of farmland; the types of farmland include: regular roads, rural roads, icy roads, muddy fields, soft fields, hard dry fields, and field edges; A tractor dynamic working condition model is established. Based on the field type, the required power of the vehicle range extender under the corresponding working scenario is calculated. The range extender control system controls the range extender assembly according to the required power of the vehicle range extender. Based on the field type, drive motor speed, and vehicle speed, the drive motor torque is adjusted, and the drive motor is driven according to the drive motor torque by the drive motor controller.

9. The control method for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 8, characterized in that, The calculation process for the power requirement of the vehicle range extender is as follows: After determining that the intelligent energy management mode has been entered, the vehicle system control unit calculates the drive motor torque based on the accelerator pedal opening, desired opening speed, and acceleration based on the current vehicle speed, according to the vehicle dynamics equations. Therefore, the required power of the entire agricultural machinery vehicle can be assessed. ,in To drive the motor speed, As a benchmark for determining the base power of the range extender, the base power of this range extender is evaluated. ; After the intelligent energy management mode is executed for a set time, the actual average power of the vehicle within the set time is calculated in real time. Regarding the base power of the range extender After making corrections, the required power of the range extender is obtained. The correction calculation is as follows: ， ， in, For real-time accessory power, To meet the power requirements of the range extender, Real-time motor power, To set a time, These are the weighting coefficients.

10. The control method for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 8, characterized in that, The process of adjusting the drive motor torque based on field type, drive motor speed, and vehicle speed is as follows: Based on the field type, obtain the preset ground adhesion coefficient. According to the preset ground adhesion coefficient With longitudinal slip ratio Relationship, estimate the optimal slip ratio ; Combined with the speed of the drive motor Calculated actual wheel speed Actual vehicle speed calculated from gyroscope measurements Calculate the actual slip ratio The calculation is as follows: ， in, This refers to the transmission ratio from the drive motor to the wheel end. The rolling radius of the wheel / tire; Optimal slip ratio and actual slip ratio Adjusting the drive motor torque output through PID closed-loop calculation. .

11. The control method for power distribution and generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 8, characterized in that, The method further includes: When the field type is identified as a field, it is determined whether the current power output of the range extender exceeds the current available charging power of the power battery. If it does, the power output of the range extender is reduced to below the safe power output, and the insufficient part is output by the power battery.

12. A hybrid tractor, characterized in that, Configure the control system for power distribution and power generation control of range-extended agricultural machinery based on intelligent identification of the working surface as described in claim 1.

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