Extended-range wheel type electric tractor control system

Abstract

The utility model relates to a control system of a range-extending type wheel type electric tractor, a range extender comprises an engine and a generator which are arranged on the front side of a frame, a driving motor is arranged on the middle rear part of the frame and is connected with an automatic gearbox, and a handrail operation box is arranged in a cab and is connected with the automatic gearbox. The dual-motor controller is used for controlling operation and protection of the engine and the driving motor; the range extender controller communicates with the dual-motor controller and the engine controller through a CAN bus, the range extender controller obtains the target power of the driving motor, calculation is carried out according to the current generating capacity of the generator, the target mechanical power used for operation of the engine is obtained, and the output power of the engine is controlled through the engine controller; and the whole vehicle controller is respectively communicated with the range extender controller, the battery management system, the gearbox controller and the armrest operation box through a CAN (Controller Area Network) bus. The utility model has the advantages of compact and reasonable structure, reduced oil consumption, reduced energy loss, improved energy utilization rate and prolonged service life of the battery.

Description

Technical Field

[0001] The utility model relates to a control system for an extended-range wheeled electric tractor, belonging to the technical field of wheeled electric tractors. Background Art

[0002] Wheeled tractors are mainly used for field operations in different regions and for different crops. The power of wheeled tractors is traditional diesel engines, which consume a large amount of energy in farm operations and have an important impact on the utilization efficiency of energy resources. Therefore, there are problems such as low energy efficiency, emission pollution, and noise disturbing residents during the use of wheeled tractors.

[0003] The extended-range electric tractor combines the advantages of electric tractors and diesel tractors and can utilize advanced electric drive technology and extended-range systems to achieve higher energy efficiency and lower environmental impact. In the existing control system of the extended-range electric tractor, the range extender is connected to the power battery, and the range extender is used to charge the power battery. The power battery is connected to the motor controller and the drive motor through power conversion to control the operation of the drive motor. The vehicle controller controls the drive motor, the battery management system, and the range extender according to the current actual SOC of the power battery pack and other control information. However, this control system mainly judges the power of the power battery pack. When the power of the power battery pack cannot meet the operating conditions, the range extender is started to work so that the power battery pack can be fully utilized. At the end of the operation, the battery SOC is 25% to avoid over-discharge. Although the power battery pack is managed by the vehicle controller, the power battery pack needs to be charged and discharged frequently, resulting in large energy losses and shortening the service life of the power battery. Summary of the Invention

[0004] The purpose of the utility model is to provide a control system for an extended-range wheeled electric tractor with a compact and reasonable structure, which can reduce fuel consumption, reduce energy loss, and improve energy utilization rate and battery service life.

[0005] The technical solution of the utility model to achieve the above purpose is: a control system for an extended-range wheeled electric tractor, characterized in that it includes a power battery assembly, a range extender, a range extender controller, a drive motor, a dual-motor controller, a high-voltage distribution box, an automatic transmission, a transmission controller, a vehicle controller, and an armrest operation box;

[0006] The power battery assembly is installed on the vehicle frame and includes a battery management system of the power battery. The power battery is used to store electric energy and provide power to the drive motor, and the battery management system is used to detect and manage the charging and discharging, power, voltage, and temperature of the power battery.

[0007] The described range extender includes an engine and a generator. The engine and the generator are installed on the front side of the vehicle frame. The output side of the engine is connected to the input side of the generator, converting the mechanical energy of the engine into three-phase alternating current through the generator. The engine controller is installed on the engine and is used to control the operation of the engine and obtain the operation parameters of the engine;

[0008] The described drive motor is installed in the middle and rear part of the vehicle frame, and the output shaft of the drive motor is connected to the input shaft of the automatic transmission. The transmission controller installed on the automatic transmission receives instructions from the vehicle controller and manipulates the automatic transmission to shift gears;

[0009] The described armrest operation box is installed in the cab. The armrest operation box includes a main control handle for power commutation, a function selection panel, and a display. The display is used to display the vehicle status information;

[0010] The described dual-motor controller is installed on the automatic transmission. The dual-motor controller is electrically connected to the generator and the drive motor. The dual-motor controller is used to control the operation and protection of the engine and the drive motor; the dual-motor controller distributes the power of the three-phase alternating current generated by the generator to the drive motor; the dual-motor controller is also electrically connected to the power battery through the high-voltage distribution box, and sends the remaining three-phase alternating current power of the generator to the power battery for storage after voltage transformation and rectification through the high-voltage distribution box. The power of the power battery is sent to the dual-motor controller after rectification through the high-voltage distribution box, and the dual-motor controller converts the high-voltage direct current into three-phase alternating current to provide it to the drive motor;

[0011] The described range extender controller is installed on the automatic transmission. The range extender controller communicates with the dual-motor controller and the engine controller through the CAN bus. The range extender controller obtains the target power of the drive motor, calculates based on the current power generation of the generator, obtains the target mechanical power used by the engine for operation, and controls the output power of the engine through the engine controller;

[0012] The described vehicle controller is installed on the automatic transmission. The vehicle controller communicates with the range extender controller, the battery management system, the transmission controller, and the armrest operation box through the CAN bus respectively; the vehicle controller receives information of the generator and the drive motor, power information, and operation information, analyzes and judges the received information in combination with the vehicle control strategy, and sends instructions to the range extender controller, the transmission controller, and the battery management system through the CAN bus to control vehicle driving, energy optimization, and braking energy recovery.

[0013] The range-extended electric tractor system of the present utility model uses a dual-motor controller to control the generator and the drive motor of the range extender. The power of the three-phase alternating current generated by the generator is distributed to the drive motor through the dual-motor controller, and the excess power is distributed to the power battery. The three-phase alternating current generated by the generator is provided to the drive motor, reducing energy loss. It can not only reduce the number of parts in the vehicle layout, but also reduce the complexity and cost of the control system. The engine of the range extender of the present utility model only functions as a generator and does not participate in direct operation. It can well control the engine to operate at a high-efficiency area speed, showing good fuel consumption. The engine does not work under long-term overload, improving the reliability of the engine. The power battery of the present utility model can not only provide electric energy, but also absorb the excess electric energy generated by the range extender. Only when the power generation of the generator is insufficient or a fault occurs, the power battery can be used to supply energy for the motor to work, improving the vehicle use comfort and extending the battery service life. The range extender controller of the present utility model can calculate based on the target power of the drive motor and the current power generation of the generator, and can accurately control the engine operation, improving the energy utilization rate and meeting the electric energy demand under different driving conditions. The present utility model installs the dual-motor controller, the range extender controller and the vehicle controller on the automatic transmission, which is convenient for the layout of the control system on the whole machine and facilitates subsequent maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The embodiments of the present utility model will be further described in detail below with reference to the drawings.

[0015] Figure 1 It is a structural block diagram of a range-extended wheeled electric tractor control system of the present utility model.

[0016] Figure 2 It is a structural schematic diagram of the range-extended wheeled electric tractor control system installed on a tractor.

[0017] Figure 3 It is a structural schematic diagram of each controller of the present utility model installed on a tractor.

[0018] Figure 4 It is a structural schematic diagram of the power battery of the present utility model installed on a tractor.

[0019] Figure 5 It is a structural schematic diagram of the armrest operation box of the present utility model.

[0020] Wherein: 1—power battery, 2—battery management system, 3—high-voltage distribution box, 4—forward and backward button, 5—vehicle controller, 6—range extender controller, 7—engine controller, 8—range extender, 8-1—engine, 8-2—generator, 9—dual-motor controller, 10—drive motor, 11—automatic transmission, 12—rear axle, 13—armrest operation box, 13-1—display, 13-2—main control handle, 13-3—function selection panel, 14—transmission controller, 15—frame, 16—cab. Specific embodiments

[0021] See Figure 1 As shown, a control system for a range-extended wheeled electric tractor of the present invention includes a power battery assembly, a range extender 7, a range extender controller 6, a drive motor 10, a dual-motor controller 9, a high-voltage distribution box 3, an automatic transmission 11, a transmission controller 14, a vehicle controller 5, and an armrest operation box 13.

[0022] See Figure 1 , 4 As shown, the power battery assembly of the present invention is installed on the frame 15 and can be set on the upper part for convenient charging and external connection of other power tools. The power battery assembly includes the battery management system 2 of the power battery 1. The power battery 1 is used to store electric energy and provide power to the drive motor 10. The battery management system 2 is used to detect and manage the charging and discharging, battery level, voltage, and temperature of the power battery 1. The power battery 1 provides driving force for the vehicle. An input-output interface is also provided on the power battery assembly of the present invention. The power battery 1 can be charged through the input-output interface by connecting to an external power source, or other power tools can be connected to the input-output interface to provide working power for the power tools.

[0023] See Figures 1 - 4 As shown, the range extender 7 of the present invention includes an engine 8-1 and a generator 8-2. The engine 8-1 and the generator 8-2 are installed on the front side of the frame 15. The engine 8-1 of the present invention can adopt an existing diesel engine. The engine 8-1 is connected to the front bracket through a front oil pan gasket with fasteners, and the front bracket is fixed to the frame 15 by fasteners or welding to reliably install the range extender 7 on the frame 15. The output side of the engine 8-1 of the present invention is connected to the input side of the generator 8-2, and the mechanical energy of the engine 8-1 is converted into three-phase alternating current by the generator 8-2 and directly provided to the drive motor 10. The present invention uses the engine 8-1 as the original output power and drives the generator 8-2 to generate electricity. The generator 8-2 converts the mechanical energy of the engine 8-1 into electric energy, and the electric drive operation of the wheeled tractor is realized through the drive motor 10. See Figure 1 , 2As shown in the figure, the engine controller 7 is installed on the engine 8-1, and is used to control the operation of the engine 8-1 and obtain the operation parameters of the engine 8-1. The engine controller 7 is used to receive the signal from the range extender controller 6 and control the operation of the engine 8-1, and feedback the operation data to the range extender controller 6.

[0024] See Figures 1 - 4 As shown in the figure, the drive motor 10 of the present utility model is installed at the middle rear part of the vehicle frame 15, and the output shaft of the drive motor 10 is connected to the input shaft of the automatic transmission 11. The engine 8-1, the generator 8-2, the drive motor 10 and the automatic transmission 11 of the present utility model are coaxially installed on the vehicle frame 15, and the structure is more compact and reasonable. The transmission controller 14 is installed on the automatic transmission 11. The transmission controller 14 receives the instruction from the vehicle controller 5 and operates the automatic transmission 11 to shift gears. The automatic transmission 11 is connected to the rear axle 12 to transmit power to the wheels, so that the tractor can run. Since the transmission controller 14 is used to control the automatic transmission 11 to realize the stepless speed change of the vehicle, the driving is simpler, and the power performance and economy of the vehicle are improved.

[0025] See Figure 1 、 5 As shown in the figure, the armrest operation box of the present utility model is installed in the cab 16. The armrest operation box 13 includes a main control handle 13-2 for power commutation, a function selection panel 13-3 and a display 13-1. The display 13-1 is used to display the vehicle status information. The vehicle controller 5 transmits the vehicle status information to the display 13-1 through the CAN bus. The display 13-1 displays information such as the actual torque, speed, winding temperature of the drive motor, and the voltage and temperature of the power battery 1. The main control handle 13-2 of the present utility model is a one-piece self-resetting handle. Press the enable button on the back and push the main control handle 13-2 forward to make the vehicle go forward, and pull it backward to make the vehicle go backward. The driver operates the main control handle 13-2 and the function buttons on the corresponding function selection panel 13-3 to transmit the operation information to the vehicle controller 5, and realizes the vehicle driving and operation through the instruction of the vehicle controller 5. The armrest operation box 13 of the present utility model is integrated on the right side of the seat. The function selection panel 13-3 on the armrest operation box 13 is provided with a differential lock button, an economy mode button, a turning lift function button, a reverse lift function button and a shock absorption function button, which is convenient for the driver to operate. The display 13-1 is installed on the vertical rod at an adjustable angle, which is convenient for the driver to observe.

[0026] See Figure 1 、 5As shown, the dual-motor controller 9 of the present utility model is installed on the automatic transmission 11 and electrically connected to the generator 8-2 and the drive motor 10. The dual-motor controller 9 is used to control the operation and protection of the engine 8-1 and the drive motor 10. The two-in-one motor controller can reduce the number of parts in the vehicle layout, reduce complexity and cost. The generator 8-2 and the drive motor 10 of the present utility model are existing permanent magnet synchronous motors, using a resolver as the motor position sensor, with the motor phase current as the feedback quantity, and the control method is torque closed-loop control. The dual-motor controller 9 of the present utility model distributes the electric energy of the three-phase alternating current generated by the generator 8-2 to the drive motor 10, without passing through the power battery 1, and directly provides the electric energy of the generator 8-2 to the drive motor 10 to achieve electric drive, with small energy loss during the process. See Figure 1 As shown, the dual-motor controller 9 of the present utility model is also electrically connected to the power battery 1 through the high-voltage distribution box 3. The remaining electric energy of the three-phase alternating current generated by the generator 8-2 is sent to the power battery 1 for storage after being transformed and rectified by the high-voltage distribution box 3. The dual-motor controller 9 conducts the distribution of electric energy. The electric energy of the power battery 1 is sent to the dual-motor controller 9 after being rectified by the high-voltage distribution box 3. The dual-motor controller 9 converts the high-voltage direct current into three-phase alternating current and provides it to the drive motor 10. The high-voltage direct current can be converted into three-phase alternating current with adjustable voltage amplitude and frequency by the dual-motor controller 9 to control the operation of the drive motor 10. Only when the power generation of the generator 8-2 is insufficient or a fault occurs, or when the power battery 1 is fully charged, the power battery 1 is used to provide power to the drive motor 10, which can improve the vehicle use comfort.

[0027] The dual-motor controller 9 of the present utility model transmits the actually measured torque, current, voltage, power generation amount and fault information of the generator 8-2, and the actually measured torque, current, voltage, power and fault information of the drive motor 10 to the range extender controller 6. At the same time, the range extender controller 6 transmits the motor enabling, target torque control instruction and working mode information sent by the vehicle controller 5 to the dual-motor controller 9, and precisely controls the operation of the generator 8-2 and the drive motor 10 through the dual-motor controller 9 to improve energy efficiency.

[0028] See Figure 1 、 5As shown, the range extender controller 6 of the present utility model is installed on the automatic transmission 11. The range extender controller 6 communicates with the dual-motor controller 9 and the engine controller 7 via the CAN bus. The range extender controller 6 obtains the target power of the drive motor 10, calculates based on the current power generation of the generator 8-2, obtains the target mechanical power for the operation of the engine 8-1, and controls the power of the engine through the engine controller 7. The range extender controller 6 of the present utility model is the controller for the power generation system composed of the engine 8-1 and the generator 8-2. It reads the current and voltage of the drive motor 10 given by the dual-motor controller 9 via the CAN bus to obtain the current power, and feeds it back to the range extender controller 6. After interaction, the range extender controller 6 can calculate based on the current power generation to control the power of the generator 8-2, and then control the power of the engine 8-1 to provide more electric energy for vehicle driving. It can achieve fixed-point, power following and multi-point power generation control, taking into account economy and passenger subjective comfort, achieving the optimal performance of the whole vehicle, and having good vehicle economy and power performance.

[0029] See Figure 1 、 5 As shown, the vehicle controller 5 of the present utility model is installed on the automatic transmission 11. The vehicle controller 5 communicates with the range extender controller 6, the battery management system 2, the transmission controller 14 and the armrest operation box 13 via the CAN bus respectively. The vehicle controller 5 receives the information of the generator 8-2, the drive motor 10, the power quantity information and the operation information, analyzes and judges the received information in combination with the vehicle control strategy, and sends instructions to the range extender controller 6, the transmission controller 14 and the battery management system 2 via the CAN bus. According to the current state information of the motor and the power battery, it controls the operation of the motor and the discharge of the battery, and controls the vehicle drive, energy optimization and braking energy recovery. The vehicle controller 5 is responsible for the normal driving of the vehicle, braking energy recovery, energy optimization management, network management, fault diagnosis and handling, vehicle state monitoring and display, and overspeed protection.

[0030] See Figure 1 As shown, the present utility model also has a forward and reverse button 4. The forward and reverse button 4 communicates with the vehicle controller 5 via the CAN bus. The forward and reverse button 4 is installed on the rear fender of the tractor. The user can independently hitch the implement by one person and can control the vehicle to move forward and backward.

Claims

1. A control system for an extended-range wheeled electric tractor, characterized in that: It includes a power battery assembly, a range extender (7), a range extender controller (6), a drive motor (10), a dual motor controller (9), a high-voltage distribution box (3), an automatic transmission (11), a transmission controller (14), a vehicle controller (5) and an armrest operating box (13); The power battery assembly is mounted on a vehicle frame (15), and comprises a battery management system (2) of a power battery (1), wherein the power battery (1) is used to store electric energy and provide power to a drive motor (10), and the battery management system (2) is used to detect and manage charging and discharging, electric quantity, voltage and temperature of the power battery (1); The range extender (7) comprises an engine (8-1) and a generator (8-2), wherein the engine (8-1) and the generator (8-2) are mounted on the front side of the vehicle frame (15), the output side of the engine (8-1) is connected to the input side of the generator (8-2), and the mechanical energy of the engine (8-1) is converted into three-phase alternating current via the generator (8-2); the engine controller (7) is mounted on the engine (8-1) and is used to control the operation of the engine (8-1) and obtain operating parameters of the engine (8-1); The drive motor (10) is mounted at the middle and rear part of the vehicle frame (15), and the output shaft of the drive motor (10) is connected to the input shaft of the automatic transmission (11). The transmission controller (14) mounted on the automatic transmission (11) receives instructions from the vehicle controller (5) and controls the automatic transmission (11) to change speed; The armrest operating box (13) is installed in the cab, and comprises a main operating handle (13-2) for power reversing, a function selection panel (13-3) and a display (13-1), wherein the display (13-1) is used to display vehicle status information; The dual-motor controller (9) is mounted on the automatic transmission (11). The dual-motor controller (9) is electrically connected to the generator (8-2) and the drive motor (10). The dual-motor controller (9) is used to control the operation and protection of the engine (8-1) and the drive motor (10). The dual-motor controller (9) distributes the power of the three-phase alternating current generated by the generator (8-2) to the drive motor (10). The dual-motor controller (9) is also electrically connected to the power battery (1) via the high-voltage distribution box (3). The power of the remaining three-phase alternating current of the generator (8-2) is transformed and rectified by the high-voltage distribution box (3) and sent to the power battery (1) for storage. The power of the power battery (1) is rectified by the high-voltage distribution box (3) and sent to the dual-motor controller (9). The dual-motor controller (9) converts the high-voltage direct current into three-phase alternating current and provides it to the drive motor (10). The range extender controller (6) is mounted on the automatic transmission (11), and the range extender controller (6) communicates with the dual motor controller (9) and the engine controller (7) via a CAN bus. The range extender controller (6) obtains the target power of the drive motor (10), and calculates the target mechanical power used by the engine (8-1) according to the current power generation of the generator (8-2), and controls the output power of the engine (8-1) via the engine controller (7); The vehicle controller (5) is mounted on the automatic transmission (11), and the vehicle controller (5) communicates with the range extender controller (6), the battery management system (2), the transmission controller (14), and the armrest operating box (13) respectively through the CAN bus; the vehicle controller (5) receives information, power information, and operation information of the generator (8-2) and the drive motor (10), analyzes and judges the received information in combination with the vehicle control strategy, and sends instructions to the range extender controller (6), the transmission controller (14), and the battery management system (2) through the CAN bus to control the vehicle drive, energy optimization, and brake energy recovery.

2. The extended-range wheeled electric tractor control system according to claim 1, characterized in that: The engine (8-1), the generator (8-2), the drive motor (10) and the automatic transmission (11) are coaxially mounted on the vehicle frame (15).

3. The control system of an extended-range wheeled electric tractor according to claim 1 or 2, characterized in that: The generator (8-2) and the drive motor (10) are permanent magnet synchronous motors.

4. The extended-range wheeled electric tractor control system according to claim 1 or 2, characterized in that: The dual-motor controller (9) transmits the measured actual torque, current, voltage, power generation and fault information of the generator (8-2), and the measured actual torque, current, voltage, power and fault information of the drive motor (10) to the range extender controller (6), and the range extender controller (6) receives the motor enable, target torque control instructions and working mode information sent by the vehicle controller (5) and transmits them to the dual-motor controller (9).

5. The extended-range wheeled electric tractor control system according to claim 1, characterized in that: The inch-forward and inch-backward button (4) is also provided. The inch-forward and inch-backward button (4) communicates with the vehicle controller (5) via a CAN bus. The inch-forward and inch-backward button (4) is mounted on the rear fender of the tractor.

6. The extended-range wheeled electric tractor control system according to claim 1, characterized in that: The armrest operating box (13) is integrated on the right side of the seat, and a differential lock button, an economy mode button, a turning lift function button, a reverse lift function button, and a shock absorption function button are provided on the function selection panel (13-3) on the armrest operating box (13).

7. The extended-range wheeled electric tractor control system according to claim 1, characterized in that: The engine (8-1) is connected to the front bracket by fasteners via a front oil pan pad, and the front bracket is fixed to the vehicle frame (15) by fasteners or welding.

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