New energy tractor speed control method, device and equipment and new energy tractor

Abstract

The application relates to a new energy tractor vehicle speed control method, device, equipment, system and new energy tractor. The method comprises the following steps: performing closed-loop control on a driving motor of the new energy tractor according to the deviation between a target vehicle speed and an actual vehicle speed and based on a current vehicle speed control parameter; in response to detecting a machine operation signal of a target machine of the new energy tractor, determining a machine action intention according to the machine operation signal; and before the target machine performs an action corresponding to the machine action intention, adjusting the vehicle speed control parameter based on the machine action intention. By using the method, the motor torque can be more quickly and accurately adjusted when the new energy tractor driving resistance changes, the vehicle speed fluctuation range can be significantly inhibited, and a more stable constant speed driving control effect can be achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a new energy tractor speed control method, a new energy tractor speed control device, a new energy tractor speed control equipment, a new energy tractor speed control system, and a new energy tractor. Background Technology

[0002] During long-term operations of tractors driving various agricultural implements, in order to reduce the driver's burden and maintain the quality of work, the driver generally uses cruise control or stable speed setting mode to control the vehicle's operating speed, which requires a high degree of speed stability.

[0003] Currently, when driving at a constant speed, a closed-loop speed control method with fixed control parameters is generally used. That is, the target speed is set according to the driver's intention, and the difference between the target speed and the actual speed is input to the control module. The control module outputs the target torque of the drive motor based on the control algorithm with fixed control parameters. Based on the target torque, the drive motor can be controlled to work so that the actual speed is stabilized near the set target value.

[0004] This method works well when the driving resistance is stable. However, in actual field operations, drivers frequently raise or lower the implements, such as lifting the plow when turning at the edge of the field and lowering it after turning. This operation causes a sharp and significant change in the vehicle's driving resistance. If a control strategy with fixed control parameters is still used at this time, the system will not be able to match the changes in resistance in time, inevitably causing significant fluctuations in vehicle speed. For example, the vehicle speed will suddenly increase when the resistance decreases sharply, and the vehicle speed will suddenly decrease when the resistance increases sharply, which will seriously affect the smoothness of operation and the driving experience. Summary of the Invention

[0005] Based on this, it is necessary to provide a new energy tractor speed control method, a new energy tractor speed control device, a new energy tractor speed control equipment, a new energy tractor speed control system, and a new energy tractor to address the above-mentioned technical problems.

[0006] Firstly, this application provides a speed control method for a new energy tractor, applied in the constant-speed driving mode of the new energy tractor, comprising: Based on the deviation between the target vehicle speed and the actual vehicle speed, and based on the current vehicle speed control parameters, the drive motor of the new energy tractor is subjected to closed-loop control. In response to detecting a implement operation signal for the target implement of the new energy tractor, the implement operation intention is determined based on the implement operation signal; Before the target machine performs the action corresponding to the machine's action intention, the vehicle speed control parameters are adjusted based on the machine's action intention.

[0007] In one embodiment, the vehicle speed control parameters include proportional-integral control parameters.

[0008] In one embodiment, determining the machine's operational intent based on the machine operation signal includes: Acquire button signals from the implement operation panel of the new energy tractor; the types of button signals include one or more of the following: stop signal, lift signal, lower signal, and rapid lower signal; The intention of the machine to perform the action is determined based on the key signal.

[0009] In one embodiment, adjusting the vehicle speed control parameters based on the machine's intended action includes: The target proportional control parameter and the target integral control parameter are obtained by querying the motion parameter mapping table according to the machine's motion intention; the motion parameter mapping table stores the mapping relationship between machine motion and proportional-integral control parameters; Switch the current proportional control parameter to the target proportional control parameter; Switch the current integral control parameters to the target integral control parameters.

[0010] In one embodiment, during the period when the target machine performs the action corresponding to the machine's intended action, the method further includes repeatedly performing the following steps: Monitor the deviation between the actual vehicle speed and the target vehicle speed; Based on the range of the detected deviation, obtain the graded proportional control parameters and graded integral control parameters corresponding to the machine's action intention; Based on the deviation, the graded proportional control parameters, and the graded integral control parameters, the drive motor is subjected to closed-loop control. This cyclical step continues until the target machine completes its action in response to the machine's intended action, or a new machine operation signal is detected.

[0011] In one embodiment, based on the interval where the monitored deviation is located, the graded proportional control parameters and graded integral control parameters corresponding to the machine's action intention are obtained, including: The deviation is compared with multiple preset deviation thresholds to determine its range; Based on the machine's action intention and the interval query grading parameter mapping table, the corresponding grading proportional control parameters and grading integral control parameters are obtained; The graded parameter mapping table stores the proportional-integral control parameters corresponding to the action intentions of each machine in different intervals; wherein, when the interval is 0, the corresponding proportional-integral control parameter is consistent with the proportional-integral control parameter corresponding to the same action intention of the machine in the action parameter mapping table.

[0012] Secondly, this application also provides a speed control device for a new energy tractor, applied in the constant speed driving mode of the new energy tractor, the device comprising: The vehicle speed closed-loop control module is used to perform closed-loop control on the drive motor of the new energy tractor based on the deviation between the target vehicle speed and the actual vehicle speed, and based on the current vehicle speed control parameters. The implement action intent recognition module is used to determine the implement action intent based on the detected implement operation signal for the new energy tractor. The parameter adjustment module is used to adjust the vehicle speed control parameters based on the machine's action intention before the target machine performs the action corresponding to the machine's action intention.

[0013] Thirdly, embodiments of this application provide a new energy tractor speed control device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of a new energy tractor speed control method.

[0014] Fourthly, this application provides a new energy tractor speed control system, including a implement operation panel, a drive motor for driving the new energy tractor, a drive motor controller communicatively connected to the drive motor, and a new energy tractor speed control device. The implement operation panel is used to generate the implement operation signal, and the new energy tractor speed control device is communicatively connected to the implement operation panel and the drive motor controller.

[0015] Fifthly, embodiments of this application provide a new energy tractor, including a new energy tractor speed control device, a new energy tractor speed control equipment, or a new energy tractor speed control system.

[0016] One of the above technical solutions has the following advantages or beneficial effects: by detecting the machine operation signal in real time, the driver's intention to operate the machine can be identified in advance, and the vehicle speed control parameters can be adjusted in advance before the machine performs the corresponding action, which would cause a sudden change in driving resistance. Thus, when the resistance changes, the motor torque can be adjusted more quickly and accurately, significantly suppressing the vehicle speed fluctuation amplitude and achieving a more stable constant speed driving control effect. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a method for controlling the speed of a new energy tractor in one embodiment; Figure 2 This is a schematic diagram of the interface of the machine operation panel in one embodiment; Figure 3This is a schematic diagram of vehicle speed fluctuations before and after speed control in one embodiment. Figure 4 This is a structural block diagram of a new energy tractor speed control device in one embodiment; Figure 5 This is a structural block diagram of a new energy tractor speed control device in one embodiment; Figure 6 This is a structural block diagram of a new energy tractor speed control system in one embodiment; Figure 7 This is a structural block diagram of the power system of a new energy tractor in one embodiment. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] Figure 1 This is a flowchart illustrating a speed control method for a new energy tractor in one embodiment. In one embodiment, such as... Figure 1 As shown, a method for controlling the speed of a new energy tractor is provided. The method is illustrated using a new energy tractor speed control device mounted on a new energy tractor as an example. The new energy tractor speed control device can be integrated into the vehicle controller or used as a separate control unit; no limitation is set here. It should be noted that this method is particularly suitable for new energy tractors whose power source is an electric motor (such as pure electric, range-extended, or hybrid). Because the motor torque response is fast, it can better coordinate with the feedforward parameter adjustment of this method, thus making the industrial application background of this solution more prominent. Specifically, this method is applied to the constant-speed driving mode of a new energy tractor and includes the following steps: S102 performs closed-loop control of the drive motor of the new energy tractor based on the deviation between the target speed and the actual speed, and based on the current speed control parameters.

[0021] The target speed is the desired constant speed value input by the driver through the cruise control switch or speed setting device; the actual speed can be obtained in real time through speed sensors installed on the wheels, drive shaft speed sensors, or speed messages obtained from the vehicle bus.

[0022] The vehicle speed control parameters in this step refer to the adjustable parameters used in the vehicle speed closed-loop control algorithm, such as the proportional coefficient K that may be included in the proportional-integral control algorithm (PI control algorithm). p and integral coefficient K i Of course, it can also be an adjustable parameter in other control algorithms, such as the derivative coefficient K in the proportional-integral-derivative (PID) control algorithm. d Or, it could be a corresponding parameter in algorithms such as fuzzy control or adaptive control; no restrictions are set here.

[0023] One specific implementation of this step is as follows: the speed control device of the new energy tractor periodically calculates the deviation between the target speed and the actual speed, and inputs the deviation into the control algorithm with a PI controller containing the current speed control parameters as its core. The algorithm outputs a target torque command for the drive motor. This command is sent to the drive motor controller through the communication interface, and the drive motor controller drives the motor to output the corresponding torque, thereby adjusting the driving speed of the new energy tractor. Thus, S102 establishes and maintains a continuously operating closed-loop speed feedback control loop.

[0024] During normal cruise at a constant speed when no equipment operation occurs (i.e., S104 is not triggered), the control loop operates using a set of basic or default vehicle speed control parameters. At this time, if road conditions are stable and there are no sudden changes in driving resistance, the system can effectively maintain the vehicle speed stable near the target value. However, when an equipment operation signal is detected as in S104, the system will, while maintaining the continuous operation of this control loop, proactively adjust its internal vehicle speed control parameters (as described in subsequent step S106) to actively respond to impending sudden changes in driving resistance, thereby achieving a smooth transition.

[0025] S104, in response to detecting a machine operation signal for a target implement of a new energy tractor, determines the machine operation intention based on the machine operation signal.

[0026] Among them, target implements refer to work implements that are towed or driven by new energy tractors, such as plows, harrows, and seeders.

[0027] The machine operation signals can be understood as signals issued by the operator through the machine's control panel (see the interface diagram for details). Figure 2 Actively triggered electrical signals, such as level transition signals generated by pressing a button or CAN messages.

[0028] The intent of a machine action is an abstract information that represents what action the driver expects the machine to perform, such as stopping or holding, lifting, lowering, or lowering quickly.

[0029] One specific implementation of this step to determine the implement's action intent is as follows: The speed control equipment of the new energy tractor continuously monitors specific interface or bus messages from the implement's operation panel. Once a valid signal is detected, it can be parsed according to a preset signal intent mapping relationship; for example, when a unique identifier or message ID corresponding to the lift button is detected, the current implement action intent is determined to be lifting, etc. This step aims to introduce the driver's operational intent towards the implement as a kind of feedforward information that can be obtained in advance into the control system.

[0030] S106, Before the target machine performs the action corresponding to the machine's action intention, adjust the vehicle speed control parameters based on the machine's action intention.

[0031] The period before the action is executed can be understood as the short time interval between when the machine operation signal is issued (such as when a button is triggered) and when the hydraulic system or electric actuator actually begins to drive the machine to produce displacement (such as when the plow begins to lift off the ground).

[0032] In this step, one specific implementation of adjusting the vehicle speed control parameters is as follows: The new energy tractor speed control equipment queries a pre-calibrated action parameter mapping table stored in memory based on the implement's action intent determined in S104. This table directly associates different implement action intents with a set of optimized vehicle speed control parameters, such as a specific K value for the lifting action. p and K i Value. After retrieving the target parameters, the control device will overwrite or switch the currently used vehicle speed control parameters to the target parameters in the next control cycle or at a specified time point.

[0033] Through S106, the control system pre-adjusts the vehicle speed control parameters of the controller to a mode more suitable for coping with the upcoming change in resistance before the actual movement of the implement causes a sudden change in driving resistance, effectively achieving proactive adjustment.

[0034] The new energy tractor speed control method provided in the above embodiments constructs a basic closed-loop feedback control of vehicle speed in S102, introduces a feedforward recognition mechanism based on implement operation signals in S104, and finally realizes the forward-looking switching of control parameters in S106. This method uses implement operation signals as key feedforward variables, enabling the control system to prepare in advance before a substantial change in driving resistance occurs, thereby overcoming the inherent defects of traditional fixed-parameter closed-loop control, such as lag, large overshoot, and slow recovery, when facing such sudden changes. Experiments show that after applying this method, the maximum fluctuation amplitude of vehicle speed can be significantly suppressed during operations such as implement lifting or lowering. (See reference...) Figure 3 The curves before and after optimization are shown. This method effectively improves the speed stability and driving comfort of new energy tractors during complex operations.

[0035] In one embodiment, the vehicle speed control parameters include proportional-integral (PI) control parameters. PI control parameters include proportional control parameters (also known as proportional coefficients) and integral control parameters (also known as integral coefficients). The proportional coefficient determines the strength of the control output's response to the current error, affecting the system's response speed, while the integral coefficient is used to eliminate steady-state errors, affecting the system's error elimination capability and stability.

[0036] In one embodiment, S104 specifically includes: acquiring button signals from the implement operation panel of the new energy tractor; the types of button signals include one or more of stop signals, lifting signals, lowering signals, and rapid lowering signals; and determining the implement's action intention based on the button signals.

[0037] like Figure 2 As shown, the implement control panel typically has physical or virtual buttons corresponding to different implement actions. The stop signal in the diagram usually indicates no action command or maintaining the current state; the lift signal indicates lifting the implement off the work surface (e.g., the ground), which generally reduces vehicle resistance; the lower signal indicates placing the implement on the work surface, which usually increases resistance; rapid lowering is a lowering mode that may cause a more drastic increase in resistance. The speed control equipment for new energy tractors directly reads the status of these buttons through the I / O interface or communication bus, thus directly and unambiguously determining the driver's immediate operational intent.

[0038] In one embodiment, S106 specifically includes: querying the motion parameter mapping table according to the machine's motion intention to obtain the target proportional control parameter and the target integral control parameter; the motion parameter mapping table stores the mapping relationship between machine motion and proportional-integral control parameters; switching the current proportional control parameter to the target proportional control parameter; and switching the current integral control parameter to the target integral control parameter.

[0039] The motion parameter mapping table in this embodiment is a data table obtained and pre-stored through prior field calibration tests. For each common implement action (such as lifting, lowering, etc.), under typical operating conditions, a set of PI parameters that minimize the speed fluctuation caused by the action is obtained through experimentation and the mapping relationship is established and stored. The table below is a schematic representation of the motion parameter mapping table.

[0040]

[0041] During implementation, the target proportional control parameters and target integral control parameters are obtained by looking up tables, avoiding complex online calculations while ensuring the real-time performance and determinism of the control. It is understood that parameter switching should preferably be completed before the start of the next control cycle to ensure that the controller is already operating with the new parameters when resistance changes occur.

[0042] In one embodiment, during the period when the target implement is performing the action corresponding to its intended action, the new energy tractor speed control method further includes cyclically executing the following steps: monitoring the deviation between the actual speed and the target speed; obtaining graded proportional control parameters and graded integral control parameters corresponding to the intended action based on the range of the monitored deviation; and performing closed-loop control on the drive motor based on the deviation, the graded proportional control parameters, and the graded integral control parameters; wherein this cyclical step continues until the target implement completes its action in response to its intended action, or a new implementation operation signal is detected.

[0043] The above-described cyclic steps constitute a two-stage adaptive fine adjustment during the execution of the machinery's actions. The principle is that even if the target proportional control parameters and target integral control parameters are switched in advance, the actual resistance variation may differ from the calibrated working conditions due to differences in soil hardness, machinery penetration depth, etc., which may still result in a certain speed deviation.

[0044] This loop can monitor the deviation in real time and determine whether it falls into different preset ranges based on the magnitude of the deviation. Then, it calls up the PI parameters (i.e., graded proportional control parameters and graded integral control parameters) of different gears specifically calibrated for the machine's action intention, thereby achieving a refined control effect of emphasizing adjustment for large deviations and fine-tuning for small deviations, further suppressing speed fluctuations.

[0045] It should be noted that this cycle can continue until the machine's action is completed or a new operating command is issued, thus achieving full coverage of a single resistance change event. The completion of the machine's action can be detected by receiving an action completion signal, which can be collected and transmitted by a preset sensing device; the new operating command can be a new machine operation signal or other higher priority processing signals.

[0046] In one embodiment, the step of obtaining the graded proportional control parameters and graded integral control parameters corresponding to the machine's action intention based on the monitored deviation interval may specifically include: comparing the deviation with multiple preset deviation thresholds to determine its interval; querying a graded parameter mapping table based on the machine's action intention and the interval to obtain the corresponding graded proportional control parameters and graded integral control parameters; the graded parameter mapping table stores the proportional-integral control parameters corresponding to each machine's action intention under different intervals; wherein, when the interval is 0, the corresponding proportional-integral control parameter is consistent with the proportional-integral control parameter corresponding to the same machine's action intention in the action parameter mapping table. It should be explained that an interval of 0 indicates that the deviation between the actual vehicle speed and the target vehicle speed is 0, that is, the two are basically consistent.

[0047] Among them, the preset deviation threshold, that is, the different pre-configured deviation thresholds, can divide the positive and negative deviation range into multiple continuous or discontinuous intervals, such as -ΔV3, -ΔV2, -ΔV1, 0, +ΔV1, +ΔV2, +ΔV3, etc.

[0048] The hierarchical parameter mapping table in this embodiment can be understood as a two-dimensional lookup table, where one-dimensional index represents the machine's intended action, and the other-dimensional index represents the deviation range. In a specific embodiment, the hierarchical parameter mapping table can be schematically represented as follows: Grade ratio control parameter settings:

[0049] Graded integral control parameter settings:

[0050] Similar to the motion parameter mapping table, the hierarchical parameter mapping table can also be obtained through prior calibration. Its purpose is to provide the optimal combination of PI parameters for different magnitudes of speed deviation that may occur under specific machine actions. When the deviation is 0, the corresponding parameters remain consistent with the basic parameters in the motion parameter mapping table, thus ensuring the consistency of the control strategy. Through the synergy of these two mapping tables—the feedforward preset parameters and the feedback hierarchical parameters—a complete speed stability control parameter system adapted to the machine's operating conditions can be constructed.

[0051] The deficiencies of the above solutions and the proposed solutions are the result of the inventor's practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure below should be considered as the inventor's contribution to this disclosure.

[0052] In conclusion, the new energy tractor speed control method proposed in this application has at least the following beneficial effects: 1. The vehicle speed control method proposed in this application collects the operation signals from the machine's control panel, identifies the driver's intention to operate the machine, and presets new motor torque control PI parameters. When the machine's movement causes changes in the vehicle's driving resistance, it can adjust the motor torque more quickly than existing technologies, thereby reducing the fluctuation range of vehicle speed.

[0053] 2. By actively identifying the driver's intention to operate the implement by collecting operation signals from the implement's control panel, the control system can proactively apply the optimal PI control parameters before the implement actually moves or before a sudden change in vehicle resistance occurs. This proactive control mechanism ensures that the adjustment of the drive motor torque occurs almost synchronously with, or even ahead of, changes in resistance, thereby significantly reducing the sources of interference that cause speed fluctuations. It also significantly reduces the magnitude of sudden speed increases or decreases caused by lifting or lowering the implement, enabling the new energy tractor to maintain a more stable speed during complex operations.

[0054] It should be understood that, for the foregoing method embodiments, although the steps in the flowcharts are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the method embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0055] Based on the same inventive concept, this application also provides a new energy tractor speed control device for implementing the aforementioned new energy tractor speed control method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the new energy tractor speed control device provided below can be found in the limitations of the new energy tractor speed control method described above, and will not be repeated here.

[0056] In one embodiment, such as Figure 4 As shown, a new energy tractor speed control device 400 is provided, including: a speed closed-loop control module 401, a implement action intent recognition module 402, and a parameter adjustment module 403, wherein: The vehicle speed closed-loop control module 401 is used to perform closed-loop control on the drive motor of the new energy tractor based on the deviation between the target vehicle speed and the actual vehicle speed and based on the current vehicle speed control parameters. The implement action intent recognition module 402 is used to determine the implement action intent based on the detected implement operation signal for the new energy tractor. The parameter adjustment module 403 is used to adjust the vehicle speed control parameters based on the machine's action intention before the target machine performs the action corresponding to the machine's action intention.

[0057] In one embodiment, the vehicle speed control parameters include proportional-integral control parameters.

[0058] In one embodiment, the implement action intent recognition module 402 is specifically used to: acquire the key signals of the implement operation panel of the new energy tractor; the key signal type includes one or more of the following: stop signal, lifting signal, lowering signal and rapid lowering signal; and determine the implement action intent based on the key signal.

[0059] In one embodiment, the parameter adjustment module 403 is specifically used to: query the motion parameter mapping table according to the machine's motion intention to obtain the target proportional control parameter and the target integral control parameter; the motion parameter mapping table stores the mapping relationship between machine motion and proportional-integral control parameters; switch the current proportional control parameter to the target proportional control parameter; and switch the current integral control parameter to the target integral control parameter.

[0060] In one embodiment, during the period when the target implement is performing the action corresponding to its intended action, the new energy tractor speed control device 400 further includes a hierarchical control module capable of cyclically executing the following steps: monitoring the deviation between the actual speed and the target speed; obtaining hierarchical proportional control parameters and hierarchical integral control parameters corresponding to the intended action based on the range of the monitored deviation; and performing closed-loop control on the drive motor based on the deviation, the hierarchical proportional control parameters, and the hierarchical integral control parameters; wherein this cyclical step continues until the target implement completes its action in response to its intended action, or a new implementation operation signal is detected.

[0061] In one embodiment, the step of obtaining the graded proportional control parameters and graded integral control parameters corresponding to the machine's action intention based on the monitored deviation interval may specifically include: comparing the deviation with multiple preset deviation thresholds to determine its interval; querying the graded parameter mapping table according to the machine's action intention and the interval to obtain the corresponding graded proportional control parameters and graded integral control parameters; the graded parameter mapping table stores the proportional and integral control parameters corresponding to each machine's action intention under different intervals; wherein, when the interval is 0, the corresponding proportional and integral control parameter is consistent with the proportional and integral control parameter corresponding to the same machine's action intention in the action parameter mapping table.

[0062] Each module in the aforementioned new energy tractor speed control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the new energy tractor speed control device in hardware form or stored in the memory of the new energy tractor speed control device in software form, so that the processor can call and execute the corresponding operations of each module.

[0063] Furthermore, in the above-described implementation of the new energy tractor speed control device, the logical division of each program module is merely illustrative. In actual applications, the above functions can be assigned to different program modules as needed, for example, for the sake of corresponding hardware configuration requirements or the convenience of software implementation. That is, the internal structure of the new energy tractor speed control device can be divided into different program modules to complete all or part of the functions described above.

[0064] In one embodiment, a speed control device for a new energy tractor is provided, and the internal structure diagram of the speed control device for the new energy tractor is as follows: Figure 5 As shown, the new energy tractor speed control device includes a processor, memory, input / output interface, and communication interface. The processor, memory, and input / output interface are connected via a system bus, while the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies.

[0065] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the speed control device of the new energy tractor to which the present application is applied. The specific speed control device of the new energy tractor may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0066] In one embodiment, such as Figure 6As shown, a new energy tractor speed control system is provided, including a implement operation panel, a drive motor for driving the new energy tractor, a drive motor controller that is communicatively connected to the drive motor, and the aforementioned new energy tractor speed control device. The implement operation panel is used to generate implement operation signals, and the new energy tractor speed control device is communicatively connected to both the implement operation panel and the drive motor controller.

[0067] In one embodiment, such as Figure 7 As shown, a new energy tractor is provided, which may include the aforementioned new energy tractor speed control device 400, or the aforementioned new energy tractor speed control equipment, or the aforementioned new energy tractor speed control system. The new energy tractor may include, for example... Figure 7 The range-extended hybrid power system or other forms of power system shown in this application can effectively maintain the stability of the working vehicle speed and improve the quality of work and driving comfort when performing operations such as plowing and harrowing that involve frequent machine operation.

[0068] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0069] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0070] The terms “comprising” and “having”, and any variations thereof, in the embodiments herein are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or (module) units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0071] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0072] The terms "first" and "second" used herein are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" can be interchanged in a specific order or sequence where permissible. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate so that the embodiments described herein can be implemented in an order other than those illustrated or described herein.

[0073] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling the speed of a new energy tractor, characterized in that, The constant-speed driving mode applied to the new energy tractor includes: Based on the deviation between the target vehicle speed and the actual vehicle speed, and based on the current vehicle speed control parameters, the drive motor of the new energy tractor is subjected to closed-loop control; the vehicle speed control parameters include proportional-integral control parameters. In response to detecting a implement operation signal for the target implement of the new energy tractor, the implement operation intention is determined based on the implement operation signal; Before the target implement performs the action corresponding to the implement's action intention, the vehicle speed control parameters are adjusted based on the implement's action intention. The adjustment of the vehicle speed control parameters based on the machine's intended action includes: The target proportional control parameter and the target integral control parameter are obtained by querying the motion parameter mapping table according to the machine's motion intention; the motion parameter mapping table stores the mapping relationship between machine motion and proportional-integral control parameters; Switch the current proportional control parameter to the target proportional control parameter; Switch the current integral control parameters to the target integral control parameters; During the period when the target machine performs the action corresponding to the machine's intended action, the method further includes repeatedly executing the following steps: Monitor the deviation between the actual vehicle speed and the target vehicle speed; Based on the range of the detected deviation, obtain the graded proportional control parameters and graded integral control parameters corresponding to the machine's action intention; Based on the deviation, the graded proportional control parameters, and the graded integral control parameters, the drive motor is subjected to closed-loop control. The loop continues until the target machine completes its action in response to the machine's intended action, or a new machine operation signal is detected.

2. The method according to claim 1, characterized in that, Determining the machine's action intent based on the machine's operation signal includes: Acquire button signals from the implement operation panel of the new energy tractor; the types of button signals include one or more of the following: stop signal, lift signal, lower signal, and rapid lower signal; The intention of the machine to perform the action is determined based on the key signal.

3. The method according to claim 1 or 2, characterized in that, The step of obtaining the graded proportional control parameters and graded integral control parameters corresponding to the machine's action intention based on the interval of the monitored deviation includes: The deviation is compared with multiple preset deviation thresholds to determine its range; Based on the machine's action intention and the interval query grading parameter mapping table, the corresponding grading proportional control parameters and grading integral control parameters are obtained; The graded parameter mapping table stores the proportional-integral control parameters corresponding to the action intentions of each machine in different intervals; wherein, when the interval is 0, the corresponding proportional-integral control parameter is consistent with the proportional-integral control parameter corresponding to the same action intention of the machine in the action parameter mapping table.

4. A speed control device for a new energy tractor, characterized in that, The device, applied to the constant-speed driving mode of the new energy tractor, includes: The vehicle speed closed-loop control module is used to perform closed-loop control on the drive motor of the new energy tractor based on the deviation between the target vehicle speed and the actual vehicle speed, and based on the current vehicle speed control parameters; the vehicle speed control parameters include proportional-integral control parameters. The implement action intent recognition module is used to determine the implement action intent based on the detected implement operation signal for the new energy tractor. The parameter adjustment module is used to, before the target implement executes the action corresponding to the implement's action intention, query an action parameter mapping table according to the implement's action intention to obtain target proportional control parameters and target integral control parameters; the action parameter mapping table stores the mapping relationship between implement actions and proportional-integral control parameters; switch the current proportional control parameter to the target proportional control parameter; switch the current integral control parameter to the target integral control parameter; and also to, during the period when the target implement executes the action corresponding to the implement's action intention, cyclically execute the following steps: monitor the deviation between the actual vehicle speed and the target vehicle speed; obtain the graded proportional control parameters and graded integral control parameters corresponding to the implement's action intention according to the interval of the monitored deviation; and perform closed-loop control on the drive motor based on the deviation, the graded proportional control parameters, and the graded integral control parameters; wherein, the cyclic steps continue until the target implement completes the action corresponding to the implement's action intention, or a new implement operation signal is detected.

5. The apparatus according to claim 4, characterized in that, The implement action intent recognition module is specifically used to: acquire button signals from the implement operation panel of the new energy tractor; the types of button signals include one or more of the following: stop signal, lift signal, lower signal, and rapid lower signal; and determine the implement action intent based on the button signals.

6. The apparatus according to claim 4 or 5, characterized in that, The parameter adjustment module is specifically used for: comparing the deviation with multiple preset deviation thresholds to determine its range; querying the graded parameter mapping table according to the machine's action intention and range to obtain the corresponding graded proportional control parameters and graded integral control parameters; the graded parameter mapping table stores the proportional and integral control parameters corresponding to the machine's action intention under different ranges; wherein, when the range is 0, the corresponding proportional and integral control parameter is consistent with the proportional and integral control parameter corresponding to the same machine's action intention in the action parameter mapping table.

7. A speed control device for a new energy tractor, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

8. A speed control system for a new energy tractor, characterized in that, The device includes a implement operation panel, a drive motor for driving the new energy tractor, a drive motor controller communicatively connected to the drive motor, and a new energy tractor speed control device as described in claim 7. The implement operation panel is used to generate the implement operation signal, and the new energy tractor speed control device is communicatively connected to both the implement operation panel and the drive motor controller.

9. A new energy tractor, characterized in that, This includes the new energy tractor speed control device as described in claim 4, the new energy tractor speed control equipment as described in claim 7, or the new energy tractor speed control system as described in claim 8.

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