A multi-mode power coordination control method and system for an electric tractor

Abstract

The application relates to the technical field of process control, in particular to a multi-mode power coordination control method and system for an electric tractor, which comprises the following steps: calculating a period angle remainder and taking the negative, superimposing a basic torque to generate feedforward data, combining a slip rate to contract a torque limit to generate dynamic boundary reconstruction data, deducting a frequency according to a junction temperature gradient to obtain a temperature derating carrier frequency, comparing and deducing a lowest frequency boundary to define a safe execution carrier frequency, analyzing a duty cycle parameter to construct a driving waveform to generate a power coordination control instruction, and the like. In the application, the torque superposition is applied through a deduced opposite sequence to suppress external mechanical resistance interference, a slip deviation is compared to contract a limit to reconstruct a vehicle traction and anti-skid boundary, a control period is reduced in combination with a frequency wave peak to relieve high-frequency switch junction temperature accumulation, an allowable ripple top limit is deduced to define a switch clock extreme value parameter, a bottom-layer electrical safety limit is constructed, a feedforward instruction is injected to issue driving, and the smoothness of power coordination is improved.

Description

Technical Field

[0001] This invention relates to the field of process control technology, and in particular to a multi-mode power coordination control method and system for electric tractors. Background Technology

[0002] The field of process control technology involves the system architecture for the automated regulation and management of physical and electromechanical processes that operate continuously or according to a certain cycle. This field mainly collects engineering parameters that change continuously, such as temperature, pressure, flow rate, speed, and torque, and uses proportional-integral-differential laws and nonlinear logic to dynamically calculate and continuously output the action commands of the actuators, so that the operating state of the controlled mechanical object can strictly follow the preset process trajectory and working condition requirements. The traditional multi-mode power coordination control method for electric tractors refers to the operation process of comprehensively distributing the discharge current of the vehicle's power battery pack, the speed of the main drive motor, and the torque of the power output shaft under different working conditions of tractors such as plowing, rotary tilling, sowing, and road transportation. The traditional method mainly uses a torque calibration lookup table matrix in the chassis microprocessor. When the voltage signal output by the throttle pedal displacement sensor and the pulse frequency collected by the wheel speed sensor are received, the corresponding reference torque value is found in the torque calibration lookup table matrix. Then, the reference torque value is converted into the pulse width modulation duty cycle parameter of the three-phase inverter to drive the underlying traction motor. At the same time, when the driver moves the mode switching handle, the hard-wired level signal directly triggers the opening or closing of the solenoid valve of the power output shaft clutch. The power is directly distributed between the walking transmission gear and the external agricultural implement connecting shaft by performing hydraulic reversal operation.

[0003] Traditional electric tractor power control relies on a calibration lookup matrix to address the reference torque and convert it into duty cycle parameters to drive the underlying traction motor. When the mode switching handle is turned on, a hard-wired level signal is used to directly trigger the output shaft clutch solenoid valve to open or close and complete the physical distribution of power. This static lookup and mechanical hard-wired intervention mechanism is dynamically lagging when faced with variable loads and geological resistance interference, and lacks underlying electrical boundary constraints, resulting in heat accumulation and alternating current ripple exceeding the limit, affecting the continuity of operation. Summary of the Invention

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a multi-mode power coordination control method for an electric tractor, comprising the following steps: S1: Calculate the periodic angle remainder based on the periodic relative margin between the absolute mechanical rotation angle and the physical interval angle of the implement, extract the load torque waveform record that maps to the periodic angle remainder, invert the amplitude parameter to construct a feedforward torque compensation array, and superimpose it with the basic traction torque to generate mechanical interference feedforward torque data. S2: Calculate the real-time slip ratio of the difference between the motor's analytical linear velocity and the chassis's running speed to the linear velocity, compare it with the optimal benchmark value to obtain the slip deviation, multiply it by the preset shrinkage coefficient to obtain the hysteresis reduction, and combine the hysteresis reduction to perform inward shrinkage calculation on the upper and lower limits of the basic torque to generate dynamic boundary reconstruction data. S3: Calculate the transient rise gradient of junction temperature as a percentage of the difference between the real-time and historical junction temperature values ​​of the inverter and the control cycle time span. Compare it with the safe ramp-up threshold to obtain the temperature overshoot gradient and multiply it by the frequency reduction gain coefficient to obtain the carrier frequency deduction. The temperature derating carrier frequency is generated by subtracting the carrier frequency deduction from the base carrier frequency. S4: Calculate the physical upper limit of absolute ripple by multiplying the absolute amplitude of stator current by the allowable ripple ratio limit, and deduce the minimum switching frequency boundary value by combining the instantaneous electrical angular velocity. Then, compare the temperature derating carrier frequency with the minimum switching frequency boundary value in descending order to generate a safe execution carrier frequency. S5: Analyze the basic voltage vector path, map and calculate the duty cycle parameter of the mechanical interference feedforward torque data within the dynamic boundary reconstruction data range, combine the safe execution carrier frequency and duty cycle parameter to construct a waveform, and generate a power coordination control command.

[0005] As a further aspect of the present invention, the mechanical interference feedforward torque data specifically includes an inverse torque sequence, a periodic compensation amount, and a basic superposition value; the dynamic boundary reconstruction data includes a top-level torque threshold, a bottom-level reduction boundary, and a hysteresis pruning amount; the temperature derating carrier frequency specifically refers to a thermal derating node, a carrier reduction margin, and a safety-limited frequency point; the safety execution carrier frequency specifically includes a ripple drive upper limit, a switching period extreme value, and execution clock parameters; and the power coordination control command includes a sector allocation code, three-phase pulse parameters, and a waveform modulation duty cycle.

[0006] As a further aspect of the present invention, the step of obtaining the mechanical disturbance feedforward torque data specifically includes: S101: Obtain the absolute mechanical rotation angle and the physical interval angle of the implement during rotary tillage. Compare the absolute mechanical rotation angle and the implement interval angle, extract the position difference between the absolute mechanical rotation angle and the implement interval angle under periodic motion, calculate the periodic relative margin of the absolute mechanical rotation angle and the implement interval angle, and generate the periodic angle remainder. S102: Analyze the continuous change of the period angle remainder in the time series, extract the load torque waveform record corresponding to the period angle remainder based on the mapping relationship, read the amplitude parameter in the load torque waveform record, perform inverse feature mapping operation on the amplitude parameter, calculate the opposite value of the amplitude parameter on the coordinate axis, combine the opposite values ​​of each time node to construct a data sequence, and generate a feedforward torque compensation array. S103: Monitor the base traction torque under the current continuous operation state, extract the various compensation values ​​distributed inside the feedforward torque compensation array, perform synchronous summation calculation on each compensation value and the base traction torque, calculate the superposition sum of each compensation value and the base traction torque in the time dimension, and generate mechanical disturbance feedforward torque data.

[0007] As a further aspect of the present invention, the process of performing the inverse eigenmap operation on the amplitude parameter is specifically as follows: Extract the waveform data distribution sequence of the amplitude parameter, and read the extreme peak values ​​and extreme trough values ​​of the waveform data distribution sequence; The arithmetic mean of the extreme peak values ​​and the extreme trough values ​​is calculated to determine the zero point of the fluctuation reference and to establish a static mapping reference axis. The initial amplitude of each sampling node in the waveform data distribution sequence is obtained, the deviation of the initial amplitude relative to the static mapping reference axis is calculated, the negative number of the deviation is obtained, and a mirror-reversed numerical sequence is obtained. The physical time delay parameter is determined based on the spatial relationship between the absolute mechanical rotation angle and the physical interval angle of the agricultural implement. The physical time delay parameter is invoked to perform a phase-aligned translation operation on the mirror-inverted numerical sequence, and the translated discrete data is extracted as the opposite value.

[0008] As a further aspect of the present invention, the step of obtaining the dynamic boundary reconstruction data specifically includes: S201: Monitor the linear velocity of the motor and the running speed of the chassis under traction driving conditions, compare the linear velocity of the motor and the running speed of the chassis, calculate the speed difference between the linear velocity of the motor and the running speed of the chassis, extract the ratio of the speed difference to the linear velocity of the motor and record it to obtain the real-time slip ratio. S202: Call the real-time slip rate, extract the preset slip rate benchmark value from the data record, perform interval judgment comparison between the real-time slip rate and the preset slip rate benchmark value, obtain the slip deviation amount, read the preset shrinkage coefficient, perform product algebra operation on the slip deviation amount and the preset shrinkage coefficient, and obtain the hysteresis reduction amount; S203: Call the hysteresis reduction amount, monitor the upper limit of the basic torque issued by the vehicle controller and the lower limit of the basic torque corresponding to the external characteristics of the motor, subtract the upper limit of the basic torque and the hysteresis reduction amount to calculate the upper limit shrinkage value, sum the lower limit of the basic torque and the hysteresis reduction amount to calculate the lower limit shrinkage value, integrate the upper limit shrinkage value and the lower limit shrinkage value to generate dynamic boundary reconstruction data.

[0009] As a further aspect of the present invention, the step of obtaining the temperature derating carrier frequency specifically includes: S301: Monitor the real-time junction temperature value and historical junction temperature value of the inverter under continuous operation. Subtract the real-time junction temperature value from the historical junction temperature value to obtain the temperature difference. Extract the control cycle time span in the operation record. Perform ratio extrapolation calculation on the temperature difference and the control cycle time span to obtain the transient rise gradient of the junction temperature. S302: Call the junction temperature transient rise gradient, read the extreme rise gradient threshold in the configuration data record, perform data comparison calculation on the junction temperature transient rise gradient and the extreme rise gradient threshold, obtain the temperature overshoot gradient amount, extract the frequency reduction gain coefficient in the data set, perform product calculation on the temperature overshoot gradient amount and the frequency reduction gain coefficient, and obtain the carrier frequency deduction amount. S303: Call the carrier frequency deduction amount, monitor the operating status record of the underlying hardware device, extract the basic carrier frequency at the control node, perform subtraction and difference operation on the basic carrier frequency and the carrier frequency deduction amount, deduce the numerical record after deducting the carrier frequency deduction amount from the basic carrier frequency, and generate the temperature derating carrier frequency.

[0010] As a further aspect of the present invention, the step of obtaining the secure execution carrier frequency specifically comprises: S401: Monitors data records under variable frequency operation status, extracts the absolute amplitude of stator current and the allowable ripple ratio limit during the variable frequency process, performs product algebraic calculation on the absolute amplitude of stator current and the allowable ripple ratio limit, deduces the product record of the absolute amplitude of stator current and the allowable ripple ratio limit, and obtains the physical upper limit of absolute ripple. S402: Call the absolute ripple physical upper limit, extract the instantaneous electrical angular velocity from the running record, perform numerical deduction calculations on the instantaneous electrical angular velocity and the absolute ripple physical upper limit, extract the extreme value of the driving cycle under the maintenance constraint, deduce the boundary record of the extreme value of the driving cycle under the maintenance constraint, and obtain the minimum switching frequency boundary value. S403: Call the minimum switching frequency boundary value, read the temperature derating carrier frequency transmitted by the control node, perform numerical sorting and comparison between the temperature derating carrier frequency and the minimum switching frequency boundary value, extract the safety node parameters from the temperature derating carrier frequency and the minimum switching frequency boundary value, and generate a safe execution carrier frequency.

[0011] As a further aspect of the present invention, the process of extracting the extreme value of the driving cycle under the maintenance constraint conditions specifically includes: Obtain the stator equivalent inductance parameters, rotor flux linkage parameters, and DC bus voltage data transmitted from the power supply network inside the motor; Real-time back electromotive force data is obtained by multiplying the instantaneous electric angular velocity with the rotor flux linkage parameters. Calculate the difference between the DC-side bus voltage data and the real-time back electromotive force data, and extract the maximum voltage step change amplitude within the inverter operating cycle; Calculate the ratio of the maximum voltage step change amplitude to the stator equivalent inductance parameter to obtain the stator current ripple slope; Calculate the quotient of the absolute ripple physical upper limit and the stator current ripple slope to obtain the maximum allowable switching physical time span; The maximum permissible physical time span of the switch is extracted as the extreme value of the drive cycle under the maintenance constraint condition.

[0012] As a further aspect of the present invention, the step of obtaining the power coordination control command specifically includes: S501: Determine the correlation mapping relationship between the mechanical disturbance feedforward torque data and the dynamic boundary reconstruction data, extract the inverter three-phase bridge arm recorded by the underlying hardware, analyze the base voltage vector path inside the inverter three-phase bridge arm, determine the hexagonal sector position where the reference voltage vector is located, calculate the action time of two adjacent non-zero base voltage vectors and the zero vector, and obtain the vector duty cycle mapping architecture. S502: Call the vector duty cycle mapping architecture, extract the upper and lower limit ranges of the records corresponding to the dynamic boundary reconstruction data, compare the mechanical disturbance feedforward torque data with the upper and lower limit ranges, deduce the distribution nodes of the mechanical disturbance feedforward torque data within the upper and lower limit ranges, calculate the numerical proportion of the mechanical disturbance feedforward torque data corresponding to the upper and lower limit ranges, and obtain the duty cycle parameters. S503: Read the safe execution carrier frequency recorded by the control node, determine the transmission period based on the safe execution carrier frequency, allocate the basic conduction time of each sector in combination with the duty cycle parameter, deduce the waveform sequence within the control period, and generate power coordination control commands.

[0013] A multi-mode power coordination control system for an electric tractor, comprising: The feedforward torque construction module calculates the periodic angle remainder based on the periodic relative margin between the absolute mechanical rotation angle and the physical interval angle of the implement, extracts the load torque waveform record that maps to the periodic angle remainder, inverts the amplitude parameter to construct the feedforward torque compensation array, and superimposes it with the basic traction torque to generate mechanical interference feedforward torque data. The slip limit boundary module calculates the real-time slip ratio of the difference between the motor's analytical linear velocity and the chassis's running speed to the linear velocity. It compares the slip deviation with the optimal benchmark value and multiplies it by a preset shrinkage coefficient to obtain the hysteresis reduction. It then combines the hysteresis reduction to perform inward shrinkage calculations on the upper and lower limits of the basic torque, generating dynamic boundary reconstruction data. The thermal derating calculation module calculates the transient temperature rise gradient of the junction temperature as a percentage of the difference between the real-time and historical junction temperature values ​​of the inverter and the control cycle time span. It compares the temperature overshoot gradient with the safe ramp-up threshold and multiplies it by the frequency reduction gain coefficient to obtain the carrier frequency deduction. The temperature derating carrier frequency is generated by subtracting the carrier frequency deduction from the base carrier frequency. The carrier frequency safety arbitration module calculates the physical upper limit of absolute ripple by multiplying the absolute amplitude of stator current by the allowable ripple ratio limit, and deduces the minimum switching frequency boundary value by combining the instantaneous electric angular velocity. It then compares the temperature derating carrier frequency with the minimum switching frequency boundary value in descending order to generate a safe execution carrier frequency. The coordination command synthesis module parses the base voltage vector path, maps and calculates the duty cycle parameter of the mechanical interference feedforward torque data within the dynamic boundary reconstruction data range, and constructs a waveform by combining the safe execution carrier frequency and the duty cycle parameter to generate a power coordination control command.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by extracting the absolute angle parameter of relative motion to derive the opposite compensation sequence, a feedforward torque superposition is applied to the basic traction command to suppress external agricultural implement mechanical resistance interference. The linear velocity is compared and analyzed simultaneously to obtain the slip deviation variable. The upper and lower limits of the basic torque are contracted inward to reconstruct the vehicle traction anti-slip boundary. The inverter temperature rise range is determined by combining the control cycle, the high-level carrier frequency peak is reduced in stages, the high-frequency switch junction temperature heat accumulation trend is suppressed, the allowable alternating current ripple limit is deduced, the extreme value parameters of the switch clock are defined in descending order, and the underlying electrical safety operation limit conditions are constructed. The feedforward suppression duty cycle command is injected into the safe frequency waveform to stably issue the driving action and improve the continuity and smoothness of power coordination. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the steps of the present invention; Figure 2 This is a detailed schematic diagram of S1 of the present invention; Figure 3 This is a detailed schematic diagram of S2 of the present invention; Figure 4 This is a detailed schematic diagram of S3 of the present invention; Figure 5 This is a detailed schematic diagram of S4 of the present invention; Figure 6 This is a detailed schematic diagram of S5 of the present invention; Figure 7 This is a system module diagram of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0018] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0019] Please see Figure 1 This invention provides a multi-mode power coordination control method for electric tractors, comprising the following steps: S1: Calculate the periodic angle remainder based on the periodic relative margin between the absolute mechanical rotation angle and the physical interval angle of the implement, extract the load torque waveform record that maps to the periodic angle remainder, invert the amplitude parameter to construct a feedforward torque compensation array, and superimpose it with the basic traction torque to generate mechanical interference feedforward torque data. S2: Calculate the real-time slip ratio of the difference between the motor's analytical linear velocity and the chassis's running speed to the linear velocity, compare it with the optimal benchmark value to obtain the slip deviation, multiply it by the preset shrinkage coefficient to obtain the hysteresis reduction, and combine the hysteresis reduction to perform inward shrinkage calculation on the upper and lower limits of the basic torque to generate dynamic boundary reconstruction data. S3: Calculate the transient rise gradient of junction temperature as a percentage of the difference between the real-time and historical junction temperature values ​​of the inverter and the control cycle time span. Compare it with the safe ramp-up threshold to obtain the temperature overshoot gradient and multiply it by the frequency reduction gain coefficient to obtain the carrier frequency deduction. The temperature derating carrier frequency is generated by subtracting the carrier frequency deduction from the base carrier frequency. S4: Calculate the physical upper limit of absolute ripple by multiplying the absolute amplitude of stator current by the allowable ripple ratio limit. Combine the instantaneous electric angular velocity to deduce the minimum switching frequency boundary value. Compare the temperature derating carrier frequency with the minimum switching frequency boundary value in descending order to generate the safe execution carrier frequency. S5: Analyze the basic voltage vector path, map and calculate the duty cycle parameter of the mechanical disturbance feedforward torque data within the dynamic boundary reconstruction data range, combine the safe execution carrier frequency and duty cycle parameter to construct the waveform, and generate power coordination control commands.

[0020] The mechanical interference feedforward torque data specifically includes the inverse torque sequence, periodic compensation amount, and basic superposition value. The dynamic boundary reconstruction data includes the top-level torque threshold, the bottom-level reduction boundary, and the hysteresis pruning amount. The temperature derating carrier frequency specifically refers to the thermal derating node, carrier reduction margin, and safety limit frequency point. The safety execution carrier frequency specifically includes the ripple drive upper limit, the switching cycle extreme value, and the execution clock parameter. The power coordination control command includes the sector allocation code, three-phase pulse parameters, and waveform modulation duty cycle.

[0021] Please see Figure 2 The specific steps for obtaining mechanical disturbance feedforward torque data are as follows: S101: Obtain the absolute mechanical rotation angle and the physical interval angle of the implement during rotary tillage. Compare the absolute mechanical rotation angle and the implement interval angle, extract the position difference between the absolute mechanical rotation angle and the implement interval angle under periodic motion, calculate the periodic relative margin of the absolute mechanical rotation angle and the implement interval angle, and generate the periodic angle remainder. A high-precision absolute rotary encoder installed at the end of the tractor's power take-off shaft is invoked to continuously collect real-time absolute mechanical rotation angle data during rotary tillage operations via a fixed sampling frequency of 1000 Hz through the controller local area network bus. Simultaneously, a preset implement interval angle parameter is read from the underlying register. This parameter, calibrated based on the mechanical assembly position relationship of the blades on the rotary tiller's cutter roller, is set to a fixed 90 degrees. A differential operation is performed on the absolute mechanical rotation angle and implement interval angle extracted at the same time stamp to extract the absolute position difference between the two during cyclic motion. This position difference is then substituted into a preset periodic modulus logic using a digital signal processor, with a complete single-turn mechanical rotation angle of 360 degrees as the reference period constant. The residual data of the position difference relative to this reference period constant is calculated. Specifically, assuming the currently acquired absolute mechanical rotation angle is 465 degrees, combined with the 90-degree implement interval angle, the difference is calculated to be 375 degrees. Then, 375 degrees is divided by 360 degrees, and the remainder is calculated to obtain a 15-degree relative periodic residual. The calculated 15-degree remainder value is converted into a 32-bit floating-point data format and stored in a dual-port random access memory in chronological order to generate a dynamic sequence of periodic angle remainders that characterizes the spatial features of the soil cutting load.

[0022] S102: Analyze the continuous change of the period angle remainder in the time series, extract the load torque waveform record corresponding to the period angle remainder based on the mapping relationship, read the amplitude parameter in the load torque waveform record, perform inverse phase feature mapping operation on the amplitude parameter, calculate the opposite value of the amplitude parameter on the coordinate axis, combine the opposite values ​​of each time node to construct a data sequence, and generate a feedforward torque compensation array. The system iterates through the periodic angle remainder sequence cached in the dual-port random access memory and uses a sliding window algorithm to analyze the transient variation of this sequence over a continuous time series. Based on a pre-calibrated angle-cutting resistance correlation lookup matrix within the microprocessor, the periodic angle remainder sequence is mapped and converted into the corresponding dynamic waveform of mechanical load torque. A local peak-finding algorithm is used to scan the load torque waveform record point by point, extracting the extreme peak and trough values ​​of torque corresponding to the maximum cutting depth of the cutter roller and the moment of soil exit as amplitude parameters. An arithmetic mean is calculated on the extracted torque peak and trough values ​​to determine the fluctuation reference zero point, thus establishing a static mapping reference axis. The initial torque amplitude data of each sampling node is acquired, and its absolute deviation distance relative to the reference axis is calculated. An algebraic transformation of multiplying this deviation distance by -1 is performed to obtain the mirror-reversed opposite value. The physical time delay parameter in the mechanical transmission process is calculated using the speed ratio parameters of the rotary tiller's transmission gearbox, and this delay parameter is used to perform a phase translation operation on the time axis dimension of the opposite value sequence. Specifically, assuming the current torque deviation is 20 N·m, multiplying it by -1 yields the opposite value of -20 N·m. If the measured mechanical transmission delay is 50 milliseconds, this -20 N·m data is shifted backward by 50 milliseconds in the time series for phase alignment. The shifted data from each time point are integrated to construct a one-dimensional discrete array, generating a feedforward torque compensation array, as shown in Table 1, which illustrates the compensation data mapping relationship for some sampling nodes.

[0023] Table 1 Feedforward Torque Compensation Mapping Parameter Table Sampling time node Initial deviation amplitude Mapping the opposite value Delay translation time Final compensation value 100 milliseconds 15 Newtons -15 Newtons·m 50 milliseconds -15 Newtons·m 110 milliseconds 25 Newtons -25 Newtons·m 50 milliseconds -25 Newtons·m 120 milliseconds 10 Newtons -10 Newtons·m 50 milliseconds -10 Newtons·m As shown in Table 1, by mirroring and time shifting, the compensation data can be reliably applied before the mechanical disturbance actually reaches the chassis, effectively offsetting the high-frequency transient disturbance caused by the cutter roller cutting the soil.

[0024] S103: Monitor the base traction torque under the current continuous operation state, extract the various compensation values ​​distributed inside the feedforward torque compensation array, perform synchronous summation calculation on each compensation value and the base traction torque, calculate the superposition sum of each compensation value and the base traction torque in the time dimension, and generate mechanical disturbance feedforward torque data. The traction inverter's internal current loop analysis logic monitors the motor's base traction torque data in real time during continuous construction operations. It synchronously reads the feedforward torque compensation array cached in the static random access memory and extracts the discrete compensation values ​​distributed within this array. A clock management unit with hardware nanosecond-level timestamp synchronization is used to strictly align the read base traction torque with the extracted compensation values. Synchronous summation algebraic operations are then performed on each aligned compensation value and the base traction torque. The calculation process is as follows: assuming the monitored tractor base traction torque is 800 N·m, and the compensation value extracted from the feedforward torque compensation array corresponding to the current timestamp is -25 N·m, the sum of 800 N·m and -25 N·m is directly added, resulting in a total sum of 775 N·m. This 775 N·m result represents the proactive reduction of mechanical backlash load caused by the rotary tiller cutting the soil while meeting the overall vehicle base traction requirements. The superimposed sum sequence obtained from continuous calculations in the time dimension is subjected to first-order low-pass filtering to remove high-frequency glitches, ultimately generating smooth and continuous mechanical disturbance feedforward torque data, which is directly used as the basic target input parameter for subsequent control logic.

[0025] Please see Figure 3 The specific steps for obtaining dynamic boundary reconstruction data are as follows: S201: Monitor the linear velocity of the motor and the running speed of the chassis under traction driving conditions, compare the linear velocity of the motor and the running speed of the chassis, calculate the speed difference between the linear velocity of the motor and the running speed of the chassis, extract the ratio of the speed difference to the linear velocity of the motor and record it to obtain the real-time slip ratio. The system activates the high-precision wheel speed sensors independently mounted on all four wheels of the chassis and the resolver position decoding chip of the main drive motor. It reads the rotor mechanical angular frequency output by the resolver position decoding chip and, combined with the tractor's main reducer transmission ratio and the rolling radius of the drive wheels, calculates and converts it into the equivalent analytical linear velocity of the motor. Simultaneously, it acquires the actual chassis operating speed signal fed back from the non-drive wheels or the satellite positioning component, and smooths and denoises the two speed signals using a Kalman filter algorithm. It then subtracts the filtered motor analytical linear velocity from the actual chassis operating speed to obtain the speed difference. Using this speed difference as the numerator and the motor analytical linear velocity as the denominator, it performs a division derivation operation to extract and record the ratio. In a specific calculation scenario, assuming the motor analytical linear velocity obtained in the current calculation cycle is 10 m / s, while the actual chassis operating speed obtained through the satellite positioning component is 8 m / s, the subtraction operation yields a speed difference of 2 m / s. This 2 m / s is then divided by the motor analytical linear velocity of 10 m / s, resulting in a ratio of 0.20. Multiply the ratio by a constant of 100 to convert it into a percentage format, thereby obtaining a real-time slip ratio parameter of 20% under the current traction driving state, which is used to quantify the dynamic adhesion state of the tire-soil interface.

[0026] S202: Call the real-time slip rate, extract the preset slip rate benchmark value from the data record, compare the real-time slip rate and the preset slip rate benchmark value for interval judgment, obtain the slip deviation, read the preset shrinkage coefficient, perform a product algebra operation on the slip deviation and the preset shrinkage coefficient, and obtain the hysteresis reduction. The system retrieves real-time slip ratio data updated in random access memory and extracts a preset optimal slip ratio benchmark value specifically for soft clay conditions from the chassis control unit's calibration lookup table. A numerical comparison and interval determination operation are performed between the extracted real-time slip ratio and the optimal slip ratio benchmark value. Assuming the extracted optimal slip ratio benchmark value is 15%, the actual monitored 20% real-time slip ratio is subtracted by 15% of the optimal benchmark value to calculate a slip deviation of 5%. A preset shrinkage coefficient, representing the torque reduction required per unit slip deviation, is read from the flash memory; here, it is set to 50 N·m per percentage point. The calculated slip deviation is multiplied by the preset shrinkage coefficient. Specifically, the 5% deviation value of 5 is multiplied by 50 N·m to calculate an absolute hysteresis reduction of 250 N·m. Table 2 shows the changes in the hysteresis reduction parameter calculated by the control architecture under different slip deviation states.

[0027] Table 2 Mapping Table of Slip Deviation and Boundary Contraction Real-time slip ratio Preset baseline value Slip deviation Preset shrinkage coefficient Hysteresis reduction 15% 15% 0% 50 Newtons per meter 0 Newtons·meter 18% 15% 3% 50 Newtons per meter 150 Newtons 20% 15% 5% 50 Newtons per meter 250 Newtons per minute As shown in Table 2, the calculated hysteresis reduction is linearly positively correlated with the slip deviation. This result of 250 Newton-meters objectively reflects the excess power required to restore wheel adhesion to the ground.

[0028] S203: Call the hysteresis reduction amount, monitor the upper limit of the basic torque issued by the vehicle controller and the lower limit of the basic torque corresponding to the external characteristics of the motor, calculate the upper limit shrinkage value by subtracting the upper limit of the basic torque and the hysteresis reduction amount, calculate the lower limit shrinkage value by summing the lower limit of the basic torque and the hysteresis reduction amount, integrate the upper limit shrinkage value and the lower limit shrinkage value to generate dynamic boundary reconstruction data; The calculated 250 Nm hysteresis reduction is invoked. The system monitors the current upper limit command for the basic torque issued by the vehicle controller via the internal controller area network bus, and synchronously reads the corresponding physical extreme value of the lower limit of the basic torque from the interpolation matrix of the motor's external characteristic curve. To achieve inward contraction of the torque output boundary, a subtraction calculation is performed on the upper limit of the basic torque and the hysteresis reduction, while a summation calculation is performed on the lower limit of the basic torque and the hysteresis reduction. The calculation derivation is as follows: assuming the current vehicle controller requests a basic torque upper limit of 1000 Nm, and the allowable lower limit of the basic torque for the motor's external characteristics is -500 Nm. Subtracting the 250 Nm reduction from the 1000 Nm upper limit yields an upper limit contraction value of 750 Nm; adding the 250 Nm reduction to the -500 Nm lower limit yields a lower limit contraction value of -250 Nm. The upper limit contraction value of 750 N·m and the lower limit contraction value of -250 N·m are integrated to replace the original global boundary, generating reconstructed dynamic boundary reconstruction data. This data shows that the control logic forcibly reduces the maximum driving capability and the maximum reverse charging braking capability, effectively avoiding continuous tire spinning and vehicle loss of control caused by excessive torque in harsh muddy farmland.

[0029] Please see Figure 4 The specific steps for obtaining the temperature derating carrier frequency are as follows: S301: Monitor the real-time junction temperature value and historical junction temperature value of the inverter under continuous operation. Subtract the real-time junction temperature value from the historical junction temperature value to obtain the temperature difference. Extract the control cycle time span in the operation record. Perform ratio extrapolation calculation on the temperature difference and the control cycle time span to obtain the transient rise gradient of the junction temperature. A negative temperature coefficient thermistor built into the power component baseboard of the inverter's insulated-gate bipolar transistor (IGBT) monitors the real-time junction temperature during continuous high-load operation at 100-microsecond sampling intervals. The system extracts historical junction temperature values ​​from the microcontroller's internal cache array at the end of the previous control cycle. A subtraction operation is performed between the extracted real-time junction temperature and the historical junction temperature to obtain the absolute value of the transient temperature change. The control cycle time span parameter set in the global timer is read. A division ratio calculation is performed between the temperature difference and the time span. In the actual calculation, assuming the current real-time junction temperature obtained through the thermistor is 85.5 degrees Celsius and the historical junction temperature value extracted from the cache is 84.0 degrees Celsius, a subtraction operation is performed to calculate a temperature difference of 1.5 degrees Celsius. The current control cycle time span is read as 0.05 seconds; dividing 1.5 degrees Celsius by 0.05 seconds calculates a transient junction temperature rise gradient of 30 degrees Celsius per second. The calculation results quantify the rate of heat accumulation in silicon-based chips caused by a sudden increase in stator current due to sudden jamming of agricultural implements, and input it into the frequency reduction logic as the core criterion for assessing the risk of thermal collapse of power devices.

[0030] S302: Call the junction temperature transient rise gradient, read the extreme rise gradient threshold in the configuration data record, perform data comparison calculation on the junction temperature transient rise gradient and the extreme rise gradient threshold, obtain the temperature overshoot gradient amount, extract the frequency reduction gain coefficient in the data set, perform product calculation on the temperature overshoot gradient amount and the frequency reduction gain coefficient, and obtain the carrier frequency deduction amount. The system retrieves the transient junction temperature rise gradient data of 30 degrees Celsius per second temporarily stored in the microprocessor memory and reads the extreme rise gradient threshold set for the current ambient temperature from the thermal management configuration table of the electronic control architecture. A monotonic comparison is performed between the actual junction temperature gradient and the threshold parameter. Assuming the set extreme rise gradient threshold is 20 degrees Celsius per second, the actual gradient of 30 degrees Celsius per second is subtracted from the extreme threshold of 20 degrees Celsius per second to obtain a temperature overshoot gradient of 10 degrees Celsius per second. A pre-calibrated frequency reduction gain coefficient is extracted from the non-volatile memory. This coefficient is defined as the amount of switching frequency reduction corresponding to each 1 degree Celsius per second gradient exceeding the threshold; here, it is assumed to be 100 Hz. A multiplicative algebraic operation is performed on the 10 degrees Celsius per second overshoot gradient and the 100 Hz gain coefficient to calculate the carrier frequency reduction of 1000 Hz. Table 3 details the frequency trimming data stream under different heat wave impacts.

[0031] Table 3. Linkage between Junction Temperature Overshoot and Carrier Frequency Derating Transient Ascending Gradient Extreme Climb Threshold Overshoot gradient Down-frequency gain coefficient Carrier frequency reduction 15 degrees Celsius per second 20 degrees Celsius per second 0 degrees Celsius per second 100 Hz 0 Hz 25 degrees Celsius per second 20 degrees Celsius per second 5 degrees Celsius per second 100 Hz 500 Hz 30 degrees Celsius per second 20 degrees Celsius per second 10 degrees Celsius per second 100 Hz 1000 Hz As shown in Table 3, the deduction amount is zero when the junction temperature gradient does not exceed the limit. Once the limit is exceeded, the control logic immediately outputs a 1000 Hz deduction index through linear multiplication, providing a reliable data source for subsequent forced suppression of switching losses.

[0032] S303: Call the carrier frequency deduction amount, monitor the operation status record of the underlying hardware device, extract the basic carrier frequency at the control node, perform subtraction and difference operation on the basic carrier frequency and the carrier frequency deduction amount, deduce the numerical record after the basic carrier frequency deducts the carrier frequency deduction amount, and generate the temperature derating carrier frequency. The 1000 Hz carrier frequency deduction parameter output by the aforementioned computing node is invoked. The operating status of the pulse width modulation unit (PWM unit) of the underlying inverter hardware digital signal processor is monitored, and the currently active initial base carrier frequency is extracted. A direct subtraction operation is performed between the extracted base carrier frequency and the calculated carrier frequency deduction. Specifically, assuming the base carrier frequency configured in the current microcontroller PWM unit is typically 10000 Hz, the 1000 Hz deduction is subtracted from 10000 Hz, resulting in a new frequency of 9000 Hz. This 9000 Hz value is overwritten into a temporary memory stack, generating a temperature derating carrier frequency parameter record. This 9000 Hz result means that the control logic, by sacrificing a small portion of the current waveform smoothness, effectively reduces the heat accumulation generated by the power semiconductor switch during the switching from conduction to shutdown, effectively reducing the risk of overheating caused by continuous high-frequency switching operations in the inverter.

[0033] Please see Figure 5 The specific steps for safely obtaining the carrier frequency are as follows: S401: Monitors data records under variable frequency operation status, extracts the absolute amplitude of stator current and the allowable ripple ratio limit during the variable frequency process, performs product algebraic calculation on the absolute amplitude of stator current and the allowable ripple ratio limit, deduces the product record of the absolute amplitude of stator current and the allowable ripple ratio limit, and obtains the physical upper limit of absolute ripple. A high-precision Hall-effect closed-loop current sensor mounted on the inverter output is used to collect the three-phase stator current in real time during the frequency conversion drive process, and the absolute amplitude of the stator current after spatial vector coordinate transformation is extracted. The physical property table of the motor design is accessed to read the permissible ripple ratio limit calibrated under conditions that do not induce severe magnetic resonance. A direct product algebraic operation is performed on the extracted absolute stator current amplitude and the permissible ripple ratio limit. The derivation process is as follows: assuming the absolute stator current amplitude monitored during the current high-load rotary tillage operation is 300 amps, the permissible ripple ratio limit of the motor manufacturer is obtained from the table as 5%. Multiplying the base of 300 amps by a ratio of 0.05, a product of 15 amps is derived. This 15-amp value is established and output as the absolute ripple physical upper limit.

[0034] S402: Call the absolute ripple physical upper limit, extract the instantaneous electrical angular velocity from the running record, perform numerical deduction calculations on the instantaneous electrical angular velocity and the absolute ripple physical upper limit, extract the extreme value of the drive cycle under the maintenance constraint, deduce the boundary record of the extreme value of the drive cycle under the maintenance constraint, and obtain the minimum switching frequency boundary value. The stator equivalent inductance and rotor flux linkage parameters inside the motor are acquired, and the DC bus voltage data is read through an analog-to-digital converter. The real-time back electromotive force (EMF) is calculated by multiplying the currently acquired instantaneous electrical angular velocity by the rotor flux linkage parameters. The maximum voltage step amplitude is calculated by subtracting the real-time back EMF from the DC bus voltage. This amplitude is then divided by the stator equivalent inductance parameter to obtain the stator current ripple slope. The absolute ripple physical upper limit obtained in the previous step is used, and divided by the stator current ripple slope to calculate the maximum permissible switching physical time span. This time span represents the extreme value of the drive cycle under the maintenance constraint conditions. In the simulation example, assuming the measured stator equivalent inductance parameter is 5 millihenries, the calculated back EMF yields a voltage step amplitude of 300 volts. Dividing 300 volts by 0.005 Henrys yields a current ripple slope of 60,000 amperes per second. The previously obtained absolute ripple limit of 15 amps is used, and divided by 60,000 amps per second, resulting in a maximum permissible physical switching time span of 250 microseconds. Taking the reciprocal of this 250-microsecond time span, a minimum switching frequency boundary value of 4000 Hz is derived, which serves as the hard bottom line for guaranteed arbitration.

[0035] S403: Call the minimum switching frequency boundary value, read the temperature derating carrier frequency transmitted by the control node, perform numerical extraction and comparison between the temperature derating carrier frequency and the minimum switching frequency boundary value in descending order, extract the safety node parameters from the temperature derating carrier frequency and the minimum switching frequency boundary value, and generate the safety execution carrier frequency. The call calls the minimum switching frequency boundary value of 4000 Hz, which resides in the internal stack. Simultaneously, it reads the temperature derating carrier frequency of 9000 Hz, passed from the upper-level thermal management control node via shared memory. A strict descending-order comparison logic is then performed between this 9000 Hz temperature derating carrier frequency and the minimum switching frequency boundary value of 4000 Hz. The comparison rule is to take the larger of the two values ​​to ensure that the final executed frequency meets both the cooling requirements and effectively prevents it from falling below the physical warning line that would cause severe current ripple. In this scenario, since 9000 Hz is greater than 4000 Hz, the arbitration logic determines that the cooling requirement is still within the safety framework, and therefore directly extracts 9000 Hz as the final safe node parameter. Conversely, if the calculated derating frequency is only 3000 Hz, the arbitration logic will forcibly intercept it and raise it to 4000 Hz. Finally, the selected 9000 Hz parameter is fixed and updated in the timer's underlying prescaler register, and the safe execution carrier frequency is officially generated and put into effect.

[0036] Please see Figure 6 The specific steps for obtaining the power coordination control command are as follows: S501: Determine the correlation mapping relationship between mechanical disturbance feedforward torque data and dynamic boundary reconstruction data, extract the inverter three-phase bridge arm recorded by the underlying hardware, analyze the base voltage vector path inside the inverter three-phase bridge arm, determine the hexagonal sector position where the reference voltage vector is located, calculate the action time of two adjacent non-zero base voltage vectors and zero vector, and obtain the vector duty cycle mapping architecture. The mechanical interference feedforward torque data flowing on the data bus and the reconstructed dynamic boundary reconstruction data are extracted and correlated for mapping to ensure that the reference level range of the target torque signal and the upper and lower limit boundaries are in the same dimension domain. The underlying driver is called to load the three-phase bridge arm topology information composed of six sets of insulated-gate bipolar transistors (IGBTs) of the inverter. The rotation path of the internal base reference voltage vector derived through Clark and Park matrix transformations is analyzed to determine the specific residence position of the current reference voltage vector in the six regular hexagonal sectors divided in the complex plane. Based on the principle of space vector pulse width modulation, the mathematical action models of the two adjacent non-zero base voltage vectors and the zero vector of the continuous current within this specific sector are retrieved. Combining the bus voltage and the reference vector amplitude, the specific action time that the two adjacent non-zero base voltage vectors and the zero vector should be allocated within one wave cycle is calculated through the sinusoidal trigonometric function projection relationship. These action times are reassembled into an array in a specific order, and finally, the vector duty cycle mapping architecture prototype mapping the three-phase bridge arm on / off logic is obtained in the controller memory.

[0037] S502: Call the vector duty cycle mapping architecture, extract the upper and lower limit ranges of the records corresponding to the dynamic boundary reconstruction data, compare the mechanical disturbance feedforward torque data with the upper and lower limit ranges, deduce the distribution nodes of the mechanical disturbance feedforward torque data within the upper and lower limit ranges, calculate the numerical proportion of the mechanical disturbance feedforward torque data corresponding to the upper and lower limit ranges, and obtain the duty cycle parameters. The vector duty cycle mapping architecture residing in static memory is invoked. The upper and lower bound contraction values ​​defined in the dynamic boundary reconstruction data are extracted. The mechanical disturbance feedforward torque data output by the pre-processor algorithm is placed within these upper and lower bounds for numerical anti-penetration comparison. Assume that the calculated mechanical disturbance feedforward torque data suddenly increases to 850 N·m, while the extracted dynamic boundary upper bound has been contracted to 750 N·m. The control algorithm executes the amplitude limiting and truncation logic, truncating the 850 N·m out-of-bounds data and flattening it at the legal node position of 750 N·m. Subsequently, the per-unit value ratio of the truncated legal torque parameter to the maximum physical torque reference value that the motor can output at this speed is calculated by dividing the truncated legal torque parameter by the maximum physical torque reference value that the motor can output at this speed. This per-unit value ratio is substituted into the pre-processor voltage vector time allocation equation for gain adjustment, converting the virtual electromagnetic torque demand into the pulse high-level width register count value required by the microcontroller's advanced timer, thereby obtaining the absolute duty cycle parameters for controlling the conduction ratio of each bridge arm of the three-phase full-bridge inverter circuit.

[0038] S503: Reads the safe execution carrier frequency recorded by the control node, determines the transmission period based on the safe execution carrier frequency, allocates the basic conduction time of each sector in combination with the duty cycle parameter, deduces the waveform sequence within the control period, and generates power coordination control commands. The latest latched 9000 Hz safe execution carrier frequency from the underlying time base control node is read. The reciprocal of this 9000 Hz frequency is calculated to determine and generate a single transmission control cycle with a duration of 111 microseconds. The extracted duty cycle parameter is multiplied by this 111-microsecond transmission cycle constant to convert the abstract duty cycle into a seven-segment basic conduction physical time in microseconds distributed across each sector. For example, it is calculated that the upper arm of phase U in the current sector must maintain a high-level conduction state for 45 microseconds within the 111-microsecond cycle. All microsecond-level time data calculated for the three-phase arms are written into the microcontroller's compare-capture channel register. Combined with the dead-time compensation unit, a continuous pulse waveform sequence with anti-shoot-through delay is derived for the entire control cycle. This high-low level inversion waveform sequence is pushed to the optocoupler-isolated drive circuit via direct memory access, formally generating the power coordination control command for multi-dimensional dynamic correction and thermal safety protection of the traction motor.

[0039] Please see Figure 7 A multi-mode power coordination control system for an electric tractor, comprising: The feedforward torque construction module calculates the periodic angle remainder based on the periodic relative margin between the absolute mechanical rotation angle and the physical interval angle of the implement, extracts the load torque waveform record that maps to the periodic angle remainder, inverts the amplitude parameter to construct the feedforward torque compensation array, and superimposes it with the basic traction torque to generate mechanical interference feedforward torque data. The slip limit boundary module calculates the real-time slip ratio of the difference between the motor's analytical linear velocity and the chassis's running speed to the linear velocity. It compares the slip deviation with the optimal benchmark value and multiplies it by a preset shrinkage coefficient to obtain the hysteresis reduction. It then combines the hysteresis reduction to perform inward shrinkage calculations on the upper and lower limits of the basic torque, generating dynamic boundary reconstruction data. The thermal derating calculation module calculates the transient temperature rise gradient of the junction temperature as a percentage of the difference between the real-time and historical junction temperature values ​​of the inverter and the control cycle time span. It compares the temperature overshoot gradient with the safe ramp-up threshold and multiplies it by the frequency reduction gain coefficient to obtain the carrier frequency deduction. The temperature derating carrier frequency is generated by subtracting the carrier frequency deduction from the base carrier frequency. The carrier frequency safety arbitration module calculates the physical upper limit of absolute ripple by multiplying the absolute amplitude of stator current by the allowable ripple ratio limit. It then combines the instantaneous electric angular velocity to deduce the minimum switching frequency boundary value and compares the temperature derating carrier frequency with the minimum switching frequency boundary value in descending order to generate a safe execution carrier frequency. The coordination command synthesis module analyzes the base voltage vector path, maps and calculates the duty cycle parameters of the mechanical disturbance feedforward torque data within the dynamic boundary reconstruction data range, and combines the safe execution carrier frequency and duty cycle parameters to construct waveforms and generate power coordination control commands.

[0040] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-mode power coordination control method for an electric tractor, characterized in that, Includes the following steps: S1: Calculate the periodic angle remainder based on the periodic relative margin between the absolute mechanical rotation angle and the physical interval angle of the implement, extract the load torque waveform record that maps to the periodic angle remainder, invert the amplitude parameter to construct a feedforward torque compensation array, and superimpose it with the basic traction torque to generate mechanical interference feedforward torque data. S2: Calculate the real-time slip ratio of the difference between the motor's analytical linear velocity and the chassis's running speed to the linear velocity, compare it with the optimal benchmark value to obtain the slip deviation, multiply it by the preset shrinkage coefficient to obtain the hysteresis reduction, and combine the hysteresis reduction to perform inward shrinkage calculation on the upper and lower limits of the basic torque to generate dynamic boundary reconstruction data. S3: Calculate the transient rise gradient of junction temperature as a percentage of the difference between the real-time and historical junction temperature values ​​of the inverter and the control cycle time span. Compare it with the safe ramp-up threshold to obtain the temperature overshoot gradient and multiply it by the frequency reduction gain coefficient to obtain the carrier frequency deduction. The temperature derating carrier frequency is generated by subtracting the carrier frequency deduction from the base carrier frequency. S4: Calculate the physical upper limit of absolute ripple by multiplying the absolute amplitude of stator current by the allowable ripple ratio limit, and deduce the minimum switching frequency boundary value by combining the instantaneous electrical angular velocity. Then, compare the temperature derating carrier frequency with the minimum switching frequency boundary value in descending order to generate a safe execution carrier frequency. S5: Analyze the basic voltage vector path, map and calculate the duty cycle parameter of the mechanical interference feedforward torque data within the dynamic boundary reconstruction data range, combine the safe execution carrier frequency and duty cycle parameter to construct a waveform, and generate a power coordination control command.

2. The multi-mode power coordination control method for electric tractors according to claim 1, characterized in that, The mechanical interference feedforward torque data specifically includes an inverse torque sequence, period compensation amount, and basic superposition value. The dynamic boundary reconstruction data includes a top-level torque threshold, a bottom-level reduction boundary, and a hysteresis pruning amount. The temperature derating carrier frequency specifically refers to a thermal derating node, a carrier reduction margin, and a safety limiting frequency point. The safety execution carrier frequency specifically includes a ripple drive upper limit, a switching period extreme value, and execution clock parameters. The power coordination control command includes a sector allocation code, three-phase pulse parameters, and a waveform modulation duty cycle.

3. The multi-mode power coordination control method for electric tractors according to claim 1, characterized in that, The specific steps for obtaining the mechanical disturbance feedforward torque data are as follows: S101: Obtain the absolute mechanical rotation angle and the physical interval angle of the implement during rotary tillage. Compare the absolute mechanical rotation angle and the implement interval angle, extract the position difference between the absolute mechanical rotation angle and the implement interval angle under periodic motion, calculate the periodic relative margin of the absolute mechanical rotation angle and the implement interval angle, and generate the periodic angle remainder. S102: Analyze the continuous change of the period angle remainder in the time series, extract the load torque waveform record corresponding to the period angle remainder based on the mapping relationship, read the amplitude parameter in the load torque waveform record, perform inverse feature mapping operation on the amplitude parameter, calculate the opposite value of the amplitude parameter on the coordinate axis, combine the opposite values ​​of each time node to construct a data sequence, and generate a feedforward torque compensation array. S103: Monitor the base traction torque under the current continuous operation state, extract the various compensation values ​​distributed inside the feedforward torque compensation array, perform synchronous summation calculation on each compensation value and the base traction torque, calculate the superposition sum of each compensation value and the base traction torque in the time dimension, and generate mechanical disturbance feedforward torque data.

4. The multi-mode power coordination control method for electric tractors according to claim 3, characterized in that, The process of performing the inverse eigenmap operation on the amplitude parameter is as follows: Extract the waveform data distribution sequence of the amplitude parameter, and read the extreme peak values ​​and extreme trough values ​​of the waveform data distribution sequence; The arithmetic mean of the extreme peak values ​​and the extreme trough values ​​is calculated to determine the zero point of the fluctuation reference and to establish a static mapping reference axis. The initial amplitude of each sampling node in the waveform data distribution sequence is obtained, the deviation of the initial amplitude relative to the static mapping reference axis is calculated, the negative number of the deviation is obtained, and a mirror-reversed numerical sequence is obtained. The physical time delay parameter is determined based on the spatial relationship between the absolute mechanical rotation angle and the physical interval angle of the agricultural implement. The physical time delay parameter is invoked to perform a phase-aligned translation operation on the mirror-inverted numerical sequence, and the translated discrete data is extracted as the opposite value.

5. The multi-mode power coordination control method for electric tractors according to claim 3, characterized in that, The specific steps for obtaining the dynamic boundary reconstruction data are as follows: S201: Monitor the linear velocity of the motor and the running speed of the chassis under traction driving conditions, compare the linear velocity of the motor and the running speed of the chassis, calculate the speed difference between the linear velocity of the motor and the running speed of the chassis, extract the ratio of the speed difference to the linear velocity of the motor and record it to obtain the real-time slip ratio. S202: Call the real-time slip rate, extract the preset slip rate benchmark value from the data record, perform interval judgment comparison between the real-time slip rate and the preset slip rate benchmark value, obtain the slip deviation amount, read the preset shrinkage coefficient, perform product algebra operation on the slip deviation amount and the preset shrinkage coefficient, and obtain the hysteresis reduction amount; S203: Call the hysteresis reduction amount, monitor the upper limit of the basic torque issued by the vehicle controller and the lower limit of the basic torque corresponding to the external characteristics of the motor, subtract the upper limit of the basic torque and the hysteresis reduction amount to calculate the upper limit shrinkage value, sum the lower limit of the basic torque and the hysteresis reduction amount to calculate the lower limit shrinkage value, integrate the upper limit shrinkage value and the lower limit shrinkage value to generate dynamic boundary reconstruction data.

6. The multi-mode power coordination control method for electric tractors according to claim 5, characterized in that, The specific steps for obtaining the temperature derating carrier frequency are as follows: S301: Monitor the real-time junction temperature value and historical junction temperature value of the inverter under continuous operation. Subtract the real-time junction temperature value from the historical junction temperature value to obtain the temperature difference. Extract the control cycle time span in the operation record. Perform ratio extrapolation calculation on the temperature difference and the control cycle time span to obtain the transient rise gradient of the junction temperature. S302: Call the junction temperature transient rise gradient, read the extreme rise gradient threshold in the configuration data record, perform data comparison calculation on the junction temperature transient rise gradient and the extreme rise gradient threshold, obtain the temperature overshoot gradient amount, extract the frequency reduction gain coefficient in the data set, perform product calculation on the temperature overshoot gradient amount and the frequency reduction gain coefficient, and obtain the carrier frequency deduction amount. S303: Call the carrier frequency deduction amount, monitor the operating status record of the underlying hardware device, extract the basic carrier frequency at the control node, perform subtraction and difference operation on the basic carrier frequency and the carrier frequency deduction amount, deduce the numerical record after deducting the carrier frequency deduction amount from the basic carrier frequency, and generate the temperature derating carrier frequency.

7. The multi-mode power coordination control method for electric tractors according to claim 6, characterized in that, The specific steps for obtaining the secure execution carrier frequency are as follows: S401: Monitors data records under variable frequency operation status, extracts the absolute amplitude of stator current and the allowable ripple ratio limit during the variable frequency process, performs product algebraic calculation on the absolute amplitude of stator current and the allowable ripple ratio limit, deduces the product record of the absolute amplitude of stator current and the allowable ripple ratio limit, and obtains the physical upper limit of absolute ripple. S402: Call the absolute ripple physical upper limit, extract the instantaneous electrical angular velocity from the running record, perform numerical deduction calculations on the instantaneous electrical angular velocity and the absolute ripple physical upper limit, extract the extreme value of the driving cycle under the maintenance constraint, deduce the boundary record of the extreme value of the driving cycle under the maintenance constraint, and obtain the minimum switching frequency boundary value. S403: Call the minimum switching frequency boundary value, read the temperature derating carrier frequency transmitted by the control node, perform numerical sorting and comparison between the temperature derating carrier frequency and the minimum switching frequency boundary value, extract the safety node parameters from the temperature derating carrier frequency and the minimum switching frequency boundary value, and generate a safe execution carrier frequency.

8. The multi-mode power coordination control method for electric tractors according to claim 7, characterized in that, The process of extracting the extreme value of the driving cycle under the maintenance constraint is as follows: Obtain the stator equivalent inductance parameters, rotor flux linkage parameters, and DC bus voltage data transmitted from the power supply network inside the motor; Real-time back electromotive force data is obtained by multiplying the instantaneous electric angular velocity with the rotor flux linkage parameters. Calculate the difference between the DC-side bus voltage data and the real-time back electromotive force data, and extract the maximum voltage step change amplitude within the inverter operating cycle; Calculate the ratio of the maximum voltage step change amplitude to the stator equivalent inductance parameter to obtain the stator current ripple slope; Calculate the quotient of the absolute ripple physical upper limit and the stator current ripple slope to obtain the maximum allowable switching physical time span; The maximum permissible physical time span of the switch is extracted as the extreme value of the drive cycle under the maintenance constraint condition.

9. The multi-mode power coordination control method for electric tractors according to claim 7, characterized in that, The specific steps for obtaining the power coordination control command are as follows: S501: Determine the correlation mapping relationship between the mechanical disturbance feedforward torque data and the dynamic boundary reconstruction data, extract the inverter three-phase bridge arm recorded by the underlying hardware, analyze the base voltage vector path inside the inverter three-phase bridge arm, determine the hexagonal sector position where the reference voltage vector is located, calculate the action time of two adjacent non-zero base voltage vectors and the zero vector, and obtain the vector duty cycle mapping architecture. S502: Call the vector duty cycle mapping architecture, extract the upper and lower limit ranges of the records corresponding to the dynamic boundary reconstruction data, compare the mechanical disturbance feedforward torque data with the upper and lower limit ranges, deduce the distribution nodes of the mechanical disturbance feedforward torque data within the upper and lower limit ranges, calculate the numerical proportion of the mechanical disturbance feedforward torque data corresponding to the upper and lower limit ranges, and obtain the duty cycle parameters. S503: Read the safe execution carrier frequency recorded by the control node, determine the transmission period based on the safe execution carrier frequency, allocate the basic conduction time of each sector in combination with the duty cycle parameter, deduce the waveform sequence within the control period, and generate power coordination control commands.

10. A multi-mode power coordination control system for an electric tractor, characterized in that, The system is used to implement the multi-mode power coordination control method for an electric tractor as described in any one of claims 1-9, and the system includes: The feedforward torque construction module calculates the periodic angle remainder based on the periodic relative margin between the absolute mechanical rotation angle and the physical interval angle of the implement, extracts the load torque waveform record that maps to the periodic angle remainder, inverts the amplitude parameter to construct the feedforward torque compensation array, and superimposes it with the basic traction torque to generate mechanical interference feedforward torque data. The slip limit boundary module calculates the real-time slip ratio of the difference between the motor's analytical linear velocity and the chassis's running speed to the linear velocity. It compares the slip deviation with the optimal benchmark value and multiplies it by a preset shrinkage coefficient to obtain the hysteresis reduction. It then combines the hysteresis reduction to perform inward shrinkage calculations on the upper and lower limits of the basic torque, generating dynamic boundary reconstruction data. The thermal derating calculation module calculates the transient temperature rise gradient of the junction temperature as a percentage of the difference between the real-time and historical junction temperature values ​​of the inverter and the control cycle time span. It compares the temperature overshoot gradient with the safe ramp-up threshold and multiplies it by the frequency reduction gain coefficient to obtain the carrier frequency deduction. The temperature derating carrier frequency is generated by subtracting the carrier frequency deduction from the base carrier frequency. The carrier frequency safety arbitration module calculates the physical upper limit of absolute ripple by multiplying the absolute amplitude of stator current by the allowable ripple ratio limit, and deduces the minimum switching frequency boundary value by combining the instantaneous electric angular velocity. It then compares the temperature derating carrier frequency with the minimum switching frequency boundary value in descending order to generate a safe execution carrier frequency. The coordination command synthesis module parses the base voltage vector path, maps and calculates the duty cycle parameter of the mechanical interference feedforward torque data within the dynamic boundary reconstruction data range, and constructs a waveform by combining the safe execution carrier frequency and the duty cycle parameter to generate a power coordination control command.

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