Universal chassis of tractor and unmanned tractor

Abstract

The invention provides a universal chassis of a tractor and an unmanned tractor, and relates to the field of agricultural machinery. The universal chassis is suitable for the hybrid power tractor, an integral frame is adopted, the frame is divided into a front part, a middle part and a rear part, the front part is used for installing a power module, and the power module comprises an engine, a generator, a transmission and a motor; the middle part comprises a battery, a cooling system and a fuel tank, the cooling system is arranged in the middle of the middle part of the frame, and the battery compartment and the fuel tank are arranged on the left and right sides; a working device output module is arranged on the rear portion of the frame and comprises a PTO mechanical output shaft, a hydraulic pump for hydraulic source output and a distribution box for high-power electric power output. According to the universal chassis, the modules are very convenient to maintain and replace through modular layout, the battery pack, the motor controller and the like are separated from the oil tank through the complete machine heat dissipation system, the layout is reasonable, standard and safe, and the heat dissipation performance is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a tractor universal chassis and an unmanned tractor. BACKGROUND

[0002] Traditional tractors mostly adopt central driving mode, and power is transmitted to wheels through a transmission shaft, which has problems of low transmission efficiency, large steering radius and poor adaptability. When working in complex terrains such as mountains and slopes, the power output and stability of traditional tractors are difficult to meet the demand. In addition, traditional tractors rely on internal combustion engine driving, which has problems of large noise and serious pollution.

[0003] With the development of new energy technology, hybrid tractors and electric tractors have gradually become a research hotspot. However, in the prior art, the layout of hybrid tractors and electric tractors is relatively messy, and it is very inconvenient to maintain or replace the system or device, that is, the layout of the tractor in the prior art is not convenient for maintenance. SUMMARY

[0004] The first object of the present application is to provide a tractor universal chassis to solve the technical problem of inconvenient maintenance of each module of the tractor in the prior art.

[0005] The tractor universal chassis provided by the present application adopts a whole frame, which is modularly divided into a front part, a middle part and a rear part. The front part is used for installing a power module, and the power module includes an engine, a generator, a transmission and an electric motor. The middle part includes a middle warehouse, which is provided with a whole vehicle heat dissipation system. One side of the left side and the right side of the middle warehouse is provided with a battery protection warehouse, and the other side is provided with a fuel tank. The battery protection warehouse is used for protecting the battery pack. The whole vehicle heat dissipation system plays a role of isolating the left and right warehouses. The rear part is provided with an output module of a working device, and the output module includes a mechanical output shaft for a PTO (Power Take-Off) system, a hydraulic pump for hydraulic output, and a distribution box for electric power output.

[0006] Further, the power output type of the working device includes three kinds of machine, electricity and liquid, wherein the mechanical output of the working device is to output power through the mechanical output shaft, and the maximum power is 85% of the rated power of the engine. The electric power output is to output electric energy through the generator and the battery pack, and the maximum power is 50% of the rated power of the engine, and the output voltage is 600V, 360V or 48V. The hydraulic output power is output through the hydraulic pump, and the maximum power is 50% of the rated power of the engine.

[0007] Further, the general chassis adopts a integrated power output control strategy chassis integrated controller, the strategy is expressed as: according to the operation demand, the priority output strategy is constructed without exceeding the rated power, the power output mode is adjusted to mechanical single type output, mechanical and hydraulic double type output or mechanical, electrical and hydraulic three type output, and according to the operation mode, it is switched flexibly, when rotary plowing, mechanical output power is given priority to, when plowing, electrical output power is given priority to, when transferring, turning and fixed operation, hydraulic output power is given priority to. Mechanical output is the main output, and electrical and hydraulic output is the supplementary output, wherein the characteristic of hydraulic output is high power density and fast response; electrical power output is fast in response and strong in overload capacity, and is suitable for transient working condition adjustment.

[0008] Further, the brake system of the general chassis adopts a mechatronic coupling line control brake strategy, including electrical brake mode, mechanical brake mode and mechatronic brake mode, and electrical brake is given priority to, when the brake demand is low, the brake percentage is less than the preset percentage, the electrical brake mode is adopted; otherwise, the mechatronic combined brake efficiency mode is adopted.

[0009] Further, the output brake power is distributed according to the following distribution strategy: P B =θP N +(θ-θ0)P MX Wherein, P B is the output brake power, P N is the rated electrical brake power, P MX is the maximum mechanical brake power, θ is the maximum percentage of brake input electrical signal, and θ0 is the preset percentage.

[0010] Further, the whole vehicle heat dissipation system includes a water pump, a water tank and a heat dissipation pipeline, the water pump is arranged on the water inlet side of the water tank, the water outlet side of the water tank flows out in sequence to the battery pack, motor one and motor two, motor controller one and motor controller two for heat dissipation, and finally enters the water pump; The motor controller one is used for controlling the motor one, and the motor controller two is used for controlling the motor two.

[0011] Further, the motor one and the motor two are arranged in parallel, the heat dissipation pipeline is divided into two paths for cooling the two respectively before flowing through the two, and is combined into one path after flowing through the two; The motor controller one and the motor controller two are arranged in parallel, the heat dissipation pipeline is divided into two paths for cooling the two respectively before flowing through the two, and is combined into one path after flowing through the two.

[0012] Further, the universal chassis further comprises a bus network-based control system, the control system comprising a central control unit, the central control unit integrating a vehicle control unit VCU, a communication management TBOX, a gateway and a security protection function; The universal chassis is configured with an automatic driving control unit, the automatic driving control unit being connected with the central control unit through an Ethernet bus.

[0013] Further, the universal chassis is further configured with a cab auxiliary control unit, the cab auxiliary control unit being connected with the central control unit through a vehicle-mounted WiFi.

[0014] The universal chassis of the tractor provided by the present application can produce the following beneficial effects: The universal chassis of the tractor provided by the present application first divides the frame into a front part, a middle part and a rear part, implements a modular layout, and is convenient for maintenance and replacement of each module. Moreover, the power supply, the oil supply and the whole vehicle heat dissipation system are arranged in the middle part of the frame, wherein the whole vehicle heat dissipation system is located in the middle part to separate the battery pack and the oil tank, so that the oil tank and the battery pack are far away from each other and can be effectively cooled, thereby ensuring safety and heat dissipation performance. That is, the present application adopts a modular layout, so that each module is very convenient to maintain and replace, and the battery pack, the motor controller and the like are separated from the oil tank by the whole machine heat dissipation system, so that the layout is very reasonable, safe and standard, and the heat dissipation performance is also good.

[0015] The second object of the present application is to provide an unmanned tractor to solve the technical problem of complex coupling of each module of the tractor and inconvenient maintenance in the prior art.

[0016] The unmanned tractor provided by the present application comprises the universal chassis of the tractor described above, further comprises an engine and a working device, is configured with the wheels and the counterweight of the tractor, and can realize unmanned control operation.

[0017] The unmanned tractor provided by the present application has all the beneficial effects of the universal chassis described above, and therefore will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only belong to the embodiments of the present application, and those skilled in the art can also obtain other drawings according to the provided drawings without any creative effort.

[0019] Figure 1 The side view structural schematic diagram of the universal chassis of the tractor provided by the present application; Figure 2 Fig. 1 is a partial top view of a tractor universal chassis according to an embodiment of the present application; Figure 3 Fig. 2 is a top view of a tractor universal chassis according to an embodiment of the present application; Figure 4 Fig. 3 is another partial top view of a tractor universal chassis according to an embodiment of the present application; Figure 5 Fig. 4 is a network architecture diagram of a tractor universal chassis according to an embodiment of the present application; Figure 6 Fig. 5 is a schematic diagram of a vehicle heat dissipation system of a tractor universal chassis according to an embodiment of the present application.

[0020] Legend of reference signs: 110 - vehicle frame; 120 - power module; 130 - vehicle heat dissipation system; 140 - battery protection bin; 150 - fuel tank; 160 - output module; 161 - mechanical output shaft; 162 - hydraulic pump; 163 - distribution box; 210 - central control unit; 220 - engine control unit; 230 - steering and braking control unit; 240 - hydraulic suspension system control unit; 250 - battery management unit; 260 - cooling system control unit; 270 - integrated electric drive controller; 280 - automatic driving control unit; 290 - cab auxiliary control system; 310 - high-speed CAN line; 320 - LIN line; 330 - Ethernet bus; 340 - vehicle-mounted WiFi; 410 - water pump; 420 - water tank; 430 - battery pack; 450 - motor two; 460 - motor controller one; 470 - motor controller two; 480 - shunt bus; 490 - bus. DETAILED DESCRIPTION

[0021] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0022] The present embodiment provides a tractor universal chassis, which comprises a vehicle frame 110, a power module 120, a vehicle heat dissipation system 130, a battery protection bin 140, a fuel tank 150, an output module 160, a mechanical output shaft 161, a hydraulic pump 162, a distribution box 163, a central control unit 210, an engine control unit 220, a steering and braking control unit 230, a hydraulic suspension system control unit 240, a battery management unit 250, a cooling system control unit 260, an integrated electric drive controller 270, an automatic driving control unit 280, and a cab auxiliary control system 290. Figures 1 to 4As shown, the tractor universal chassis adopts a whole frame 110, which is modularly divided into a front part, a middle part and a rear part. The front part is used for mounting a power module 120, which includes an engine, a generator, a transmission and a motor. The middle part includes a middle compartment, which is provided with a whole vehicle heat dissipation system 130. One side of the left side and the right side of the middle compartment is provided with a battery protection compartment 140, and the other side is provided with an oil tank 150. The battery protection compartment 140 is used for protecting the battery pack. The whole vehicle heat dissipation system 130 plays a role in isolating the left and right compartments. The rear part is provided with an output module 160 of a working device, which includes a mechanical output shaft 161 for a PTO system, a hydraulic pump 162 for hydraulic output, and a distribution box 163 for electric power output.

[0023] The tractor universal chassis provided by the embodiment first divides the frame 110 into a front part, a middle part and a rear part, and implements modular layout, which is convenient for maintenance and replacement of each module. Moreover, the power supply, the oil supply and the whole vehicle heat dissipation system 130 are arranged in the middle part of the frame 110. The whole vehicle heat dissipation system 130 is located in the middle and separates the battery pack and the oil tank 150, so that the oil tank 150 and the battery pack are far away from each other and can be effectively cooled, thereby ensuring safety and heat dissipation performance. That is, the embodiment adopts modular layout, so that each module is very convenient for maintenance and replacement. Moreover, the battery pack, the motor controller and the like are separated from the oil tank 150 by the whole machine heat dissipation system 130, so that the layout is very reasonable, safe and standard, and the heat dissipation performance is also good.

[0024] Specifically, in the embodiment, the battery protection compartment 140 is fixedly arranged on the frame 110 and is welded by high-strength steel material, so as to ensure the safety of the battery pack. The battery protection compartment 140 can be integrated with a temperature sensor to monitor the battery temperature in real time. The whole vehicle heat dissipation system 130 can adopt an integrated oil cooling technology to adjust the temperatures of the battery, the motor controller, the motor, the hydraulic system and the transmission system by a fan and a radiator, and is integrated with a temperature sensor to monitor the temperatures of each component in real time. The oil tank 150 can be integrated with a liquid level sensor to monitor the fuel quantity in real time.

[0025] In the embodiment, the engine is a diesel engine, the power transmission is diesel engine plus double-motor coupling series-parallel electric coupling transmission, the mechanical transmission of the diesel engine is mainly used, the electric drive system provides additional torque, the power coupling of the diesel engine and the motor is realized through double clutches before and after the generator, the stability of plowing power output is ensured, the electric drive system and the diesel engine drive are separated through the rear clutch, the PTO system provides rotary plowing power, the precise control of the wheels is realized through the motor controller, different soil conditions are adapted, the front clutch is combined with the rear clutch to separate to obtain a pure electric drive mode of the transfer working condition, the battery pack independently provides electric energy, when the battery capacity is insufficient, the diesel engine is started to supplement power supply, a double-two-in-one motor and an electric control structure are adopted, and high compactness is ensured.

[0026] Specifically, in this embodiment, the power output types of the working device include mechanical, electrical and hydraulic, wherein the mechanical output of the working device is to output power through a mechanical output shaft, the maximum power is 85% of the rated power of the engine, and is suitable for various agricultural implements and adjusts the constant speed according to the load fluctuation; the electrical output is to output electrical energy through a generator and a battery pack, the maximum power is 50% of the rated power of the engine, the output voltage is 600V, 360V or 48V, and the electrical energy is output through the generator and the battery pack, the adjustable DC-DC conversion is suitable for electric agricultural implements and control systems; the hydraulic output power is output through a hydraulic pump, the maximum power is 50% of the rated power of the engine, and is suitable for hydraulic-driven agricultural implements. Among them, the hydraulic pump is an electrically controlled adjustable hydraulic pump.

[0027] Specifically, in this embodiment, the general chassis adopts a integrated power output control strategy chassis integrated controller, and the control strategy is expressed as: under the condition of not exceeding the rated power, according to the operation demand, the priority output strategy is constructed, the power output mode is adjusted to mechanical single type output, mechanical and hydraulic double type output or mechanical, electrical and hydraulic three type output, and is flexibly switched according to the operation mode, the mechanical output power is given priority to in rotary tillage, the electrical output power is given priority to in ploughing, and the hydraulic output power is given priority to in transfer, bending and fixed operation. The mechanical output is the main output, and the electrical and hydraulic outputs are the supplementary outputs, wherein the hydraulic output has the characteristics of high power density and fast response; the electrical power output has the characteristics of fast response and strong overload capacity, and is suitable for transient working condition adjustment.

[0028] In this embodiment, the brake system of the general chassis adopts a mechatronic coupled line control brake strategy, including an electrical braking mode, a mechanical braking mode and a mechatronic braking mode, and the electrical braking is mainly used. When the braking demand is low, the braking percentage is less than the preset percentage, the electrical braking mode is adopted; otherwise, the mechatronic combined braking efficiency mode is adopted for emergency braking.

[0029] Specifically, the output braking power is distributed according to the following distribution strategy: P B =θP N +(θ-θ0)P MX Among them, P B is the output braking power, P N is the rated electrical braking power, P MX is the maximum mechanical braking power, θ is the maximum percentage of the braking input electrical signal, and θ0 is the preset percentage. That is, the percentage of the maximum input of the electrical signal θ is used as the braking input, and the controller gives the electrical braking signal according to the size of the value. When the braking signal is greater than θ0, the mechanical braking actuator is started to drive the hydraulic braking mechanism, and the braking controller distributes the braking power according to the electrical input signal and the braking output signal.

[0030] AsFigure 6 As shown, in this embodiment, the whole vehicle heat dissipation system 130 of the tractor universal chassis includes a water pump 410, a water tank 420, and a heat dissipation pipeline. The water pump 410 is arranged at the water inlet side of the water tank 420. The water flowing out of the water outlet side of the water tank 420 successively performs heat dissipation on the battery pack 430, the motor one 440 and the motor two 450, the motor controller one 460 and the motor controller two 470, and finally enters the water pump 410. The motor controller one 460 is used to control the motor one 440, and the motor controller two 470 is used to control the motor two 480. Among them, the motor one and the motor two can be used for wheel driving, and can also be used for power output of the working device. Under this setting form, the whole vehicle heat dissipation system 130 cools and dissipates heat on the battery pack 430, the motor and the corresponding controller in turn by water cooling, which can effectively control the temperature of each high-heat component and ensure the normal work of each component.

[0031] Of course, in other embodiments of the present embodiment, the whole vehicle heat dissipation system 130 is not limited to a water cooling system, but can also be an air cooling system, or both a water cooling system and an air cooling system.

[0032] More specifically, as shown in Figure 6 As shown, in this embodiment, the motor one 440 and the motor two 450 are arranged in parallel. The heat dissipation pipeline is divided into two paths to cool the two motors respectively before flowing through the two motors, and is combined into one path through a busbar after flowing through the two motors. The motor controller one 460 and the motor controller two 470 are arranged in parallel. The heat dissipation pipeline is divided into two paths to cool the two motor controllers respectively before flowing through the two motor controllers, and is combined into one path through another busbar after flowing through the two motor controllers. Under this setting form, the parallel heat dissipation branches cool and dissipate heat on the parallel motors or motor controllers, which can ensure the timely cooling and cooling efficiency of each motor or motor controller, thereby ensuring the normal and stable operation of the whole machine.

[0033] As shown in Figure 5 As shown, in this embodiment, the universal chassis further includes a control system based on a bus network. The control system includes a central control unit 210, which integrates a whole vehicle controller VCU, a communication management TBOX, a gateway, and a security protection function. The central control unit 210 is connected to the engine control unit 220, the steering and braking control unit 230, the hydraulic suspension system control unit 240, and the battery management unit 250 through the high-speed CAN line 310. The central control unit 210 is connected to the cooling system control unit 260 and the integrated electric drive control unit 270 through the LIN line 320.

[0034] As shown in Figure 5As shown, in this embodiment, the general chassis is configured with an automatic driving control unit 280, and the automatic driving control unit 280 is connected with the central control unit 210 through an Ethernet bus 330.

[0035] Specifically, the general chassis is also configured with a cab auxiliary control unit 290, and the cab auxiliary control unit 290 is connected with the central control unit 210 through a vehicle-mounted WiFi 340.

[0036] As can be seen from the above, the network architecture of the general chassis provided in this embodiment adopts a compact star-type centralized structure, taking the central control unit 210 as the core, and other units are connected with the central control unit 210. Of course, data standardization needs to be performed between the units, that is, a unified data format and communication protocol are adopted to realize the interconnection, intercommunication and sharing of data.

[0037] More specifically, in this embodiment, the central control unit 210 is configured with a 4G / 5G communication and GPS module to realize real-time collection and storage of operation core data. The microcontroller thereof adopts a microcontroller with three or more cores and a main frequency ≥ 200MHz, has AI computing capability, has an Ethernet communication interface, can realize remote calibration and data interaction, and can realize communication with the automatic driving instrument. In addition, the central control unit 210 also adopts automatic identification and configuration technology to monitor the battery temperature in real time.

[0038] This embodiment also provides an unmanned tractor, which comprises the tractor general chassis described above, is configured with tractor wheels and counterweights, and can realize unmanned control operation; further comprises an engine and a working device, the engine is arranged at the front of the frame 110, and the working device is arranged at the rear of the frame 110. The unmanned tractor has all the beneficial effects of the general chassis described above, and therefore will not be described here again.

[0039] In summary, this embodiment provides a tractor general chassis and an unmanned tractor, wherein the chassis is a large-horsepower hybrid intelligent tractor general chassis, which comprises an engine, an electromechanical transmission system, a frame, a front axle, a rear axle, a wheel, a steering system, a braking system, a central control unit, a vehicle-mounted network, a hydraulic suspension traction device, a PTO system, etc. In combination with the features of the general chassis highlighted above, the systems thereof are roughly introduced as follows: 1) Electromechanical transmission system: The electromechanical transmission system is composed of a permanent magnet synchronous generator connected with the flywheel end clutch of the engine, a permanent magnet synchronous drive motor connected with the speed reducer, a coupling device and a transmission. The rated power of the generator matches the rated power of the drive motor, and the motors are electrically controlled coupling devices. The mechanical transmission system speed reducer is composed of a multi-gear gear transmission. The power output torque conversion device adopts a wet clutch structure to realize seamless switching between the diesel engine and the motor.

[0040] 2) Traveling system: The frame is welded from high-strength steel, and the front and rear axles form an H-shaped structure with the frame. The front axle is connected to the frame through a hydraulic floating support, and the rear axle is rigidly connected to the frame. The front and rear axles use independent floating suspension systems to adjust the height of the vehicle body through hydraulic cylinders, adapting to different terrains.

[0041] 3) Steering system: The steering motor drives the hydraulic steering pump through a reducer to control the front axle hydraulic steering device. The steering system integrates an angle sensor to obtain the steering angle, and the steering controller realizes precise control of the steering angle.

[0042] 4) Braking system: The braking system includes electric braking, mechanical braking, and parking braking. The braking energy is recovered through the drive motor to convert kinetic energy into electrical energy for storage. The mechanical braking uses disc brakes, and the braking pressure is controlled by a brake control motor. During emergency braking, the electric braking and mechanical braking work simultaneously to ensure rapid stopping.

[0043] 5) Hydraulic suspension traction device: The traction device adjusts the traction force through hydraulic cylinders. The suspension lifting device raises and lowers the agricultural implement through the hydraulic system. The PTO system outputs power through a mechanical transmission shaft, with a maximum power of 85% of the rated power of the diesel engine.

[0044] 6) Central control unit: Intelligent control: integrates AI algorithms to optimize power distribution in real time, improving fuel efficiency and operation accuracy. Multi-mode switching: supports pure electric, hybrid, and fuel modes to adapt to different operation scenarios. Remote monitoring: equipped with an Internet of Things module to realize remote fault diagnosis, data analysis, and software upgrades.

[0045] 7) Chassis standardization design: The chassis adopts a standard structure, matching diesel engine power ranging from 200-300kW. The motor space and transmission device of the frame are standard spaces. The steering, braking, shifting, and four-wheel drive controls are all electrically driven, with compact structure, standardization, and modular arrangement, facilitating the matching of different models.

[0046] That is, the chassis provided by the embodiment can meet the needs of digitalization, generalization, modularization, drive-by-wire, and high reliability of large-horsepower intelligent tractors.

[0047] Finally, it should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0048] The above description of disclosed embodiments provides enabling or using the present application to those skilled in the art. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A universal tractor chassis, characterized in that, The vehicle adopts an integral frame (110), which is modularly divided into a front, middle and rear section. The front section is used to install a power module (120), which includes an engine, a generator, a transmission and an electric motor. The middle section includes a central compartment, which is equipped with a vehicle cooling system (130). A battery protection compartment (140) is provided on one of the left and right sides of the central compartment, and an oil tank (150) is provided on the other side. The battery protection compartment (140) is used to protect the battery pack. The rear of the frame (110) is provided with an output module (160) for the working device, the output module (160) including a mechanical output shaft (161) for the PTO system, a hydraulic pump (162) for hydraulic output, and a distribution box (163) for electrical output.

2. The universal tractor chassis according to claim 1, characterized in that, The power output types of the working device include mechanical, electrical, and hydraulic types. Among them, the mechanical output of the working device is to output power through the mechanical output shaft, and the maximum power is 85% of the rated power of the engine. The power output is electrical energy output through the generator and the battery pack, with a maximum power of 50% of the rated power of the engine and an output voltage of 600V, 360V or 48V; The hydraulic output power is generated through the hydraulic pump, and the maximum power is 50% of the engine's rated power.

3. The universal tractor chassis according to claim 2, characterized in that, The chassis integrated controller adopts an integrated power output control strategy. The strategy is described as follows: under the condition of not exceeding the rated power, a priority output strategy is constructed according to the operation requirements, and the power output mode is adjusted to mechanical single-type output, mechanical-hydraulic dual-type output, or mechanical-electric-hydraulic triple-type output. It can be flexibly switched according to the operation mode. Mechanical power output is given priority during rotary tillage, electric power output is given priority during plowing, and hydraulic power output is given priority during transportation, turning, and stationary operation.

4. The universal tractor chassis according to claim 1, characterized in that, The braking system of the general chassis adopts an electromechanical coupled-line control braking strategy, including electric braking mode, mechanical braking mode, and electromechanical braking mode, with electric braking as the main mode. When the braking demand is low and the braking percentage is less than the preset percentage, the electric braking mode is used; otherwise, the electromechanical combined braking efficiency mode is adopted. The output braking power is allocated according to the following strategy: P B =θP N +(θ-θ0)P MX Among them, P B To output braking power, P N For rated electric braking power, P MX θ represents the maximum mechanical braking power, θ represents the maximum percentage of the braking input electrical signal, and θ0 represents the preset percentage.

5. The universal tractor chassis according to claim 1, characterized in that, The vehicle cooling system (130) includes a water pump (410), a water tank (420), and cooling pipes. The water pump (410) is located on the water inlet side of the water tank (420). The water flowing out from the water outlet side of the water tank (420) cools the battery pack (430), motor one (440), motor two (450), motor controller one (460), and motor controller two (470) in sequence, and finally enters the water pump (410). The first motor controller (460) is used to control the first motor (440), and the second motor controller (470) is used to control the second motor (480). The first motor (440) and the second motor (450) are connected in parallel. Before flowing through the two motors, the heat dissipation pipe is divided into two paths by a splitter (480) to cool the two motors respectively. After flowing through the two motors, the pipes are merged into one path by a busbar (490). The first motor controller (460) and the second motor controller (470) are connected in parallel. Before flowing through the two, the heat dissipation pipe is divided into two paths by another branch to cool the two respectively, and after flowing through the two, it is merged into one path by another busbar.

6. The universal tractor chassis according to claim 1, characterized in that, The general chassis also includes a bus network-based control system, which includes a central control unit (210) that integrates a vehicle controller (VCU), a communication management TBOX, a gateway, and security protection functions. The general-purpose chassis is equipped with an automatic driving control unit (280), which is connected to the central control unit (210) via an Ethernet bus (330). The general chassis is also equipped with a cab auxiliary control unit (290), which is connected to the central control unit (210) via in-vehicle WiFi (340).

7. An unmanned tractor, characterized in that, The tractor chassis included in any one of claims 1-6 is equipped with tractor wheels and counterweights, enabling unmanned operation.

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