首页|双流耦合构型混合动力拖拉机旋耕工况控制策略研究

双流耦合构型混合动力拖拉机旋耕工况控制策略研究

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大功率拖拉机作业时载荷冲击会造成发动机的输出转矩大范围波动,为减小载荷冲击对拖拉机动力单元的影响,提出以发动机和双电机为动力源的拖拉机双流耦合动力系统构型,以减小载荷冲击引起的动力传动系统换挡频次.基于Haar小波分解提出了基于功率预测的转矩分配策略,首先记录拖拉机的作业参数,基于径向基神经网络对拖拉机旋耕作业时的功率需求进行预测,由Haar小波变换确定高频和低频转矩需求值的范围,并分别由电机和发动机提供.最后,通过硬件在环试验对提出的动态转矩分配进行了可行性验证,测试结果表明:提出的基于神经网络功率需求预测模型对行驶端和动力输出端(Power take-off,PTO)的功率进行预测,实际值和预测值均方根误差分别占最大功率的7.6％和7.9％;提出的转矩分配策略能够应对拖拉机旋耕时的载荷波动.发动机转矩波动与传统构型相比减小35.0％,有效地缩小了发动机转矩波动范围,缓解了拖拉机作业时载荷冲击对发动机的影响.
Control Strategy for Rotary Tillage Condition of Hybrid Electric Tractor with Coupled-split Dynamic Configuration
The load impact of high-horsepower tractors during operation will cause a wide range of fluctuations in the output torque of the engine.In order to reduce the impact of load impact on the tractor power unit,a tractor coupled-split power system configuration with the engine and dual-motor as the power source was proposed to reduce the shift frequency of the power transmission system caused by load impact.A torque allocation strategy was proposed based on Haar wavelet decomposition algorithm and power prediction.Firstly,a priori prediction of power demand for tractor rotary tillage based on radial basis function neural network was researched in which the working load parameters were collected;and then the comprehensive dynamics of tractor loads were mathematically formulated.Then the torque requirements for high and low frequencies were determined by Haar wavelet transform and provided by motor and engine respectively.Finally,the effectiveness and feasibility of the proposed strategy were validated with the hardware-in-loop test.The result indicated that the prediction model of power requirement based on neural network can accurately predict the power demand of driving and power take-off(PTO),and driving end and PTO end root mean square error of predicted values accounted for 7.6％and 7.9％of the maximum power,respectively.The proposed model predictive controller can following tractor torque demand in operation.The torque ripple of the engine was reduced by 35.0％compared with the traditional configuration.And the strategy effectively reduced the torque variation range of the engine and alleviated the adverse effects of excessive shock of the operating load.

hybrid electric tractorscoupled-split configurationpower demand predictiontorque distributionHaar wavelet transform

窦海石、魏洪乾、艾强、张幽彤

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北京理工大学机械与车辆学院,北京 100081

北京理工大学长三角研究院(嘉兴),嘉兴 314001

混合动力拖拉机 双流耦合构型 功率预测 转矩分配 Haar小波变换

国家重点研发计划项目中国博士后科学基金项目中国博士后科学基金项目河北省2022年技术攻关类"揭榜挂帅"项目

2021YFB31015002022TQ00322022M710380

2024

10.6041/j.issn.1000-1298.2024.02.039

农业机械学报
中国农业机械学会 中国农业机械化科学研究院

农业机械学报

CSTPCD北大核心
影响因子：1.904
ISSN：1000-1298
年,卷(期)：2024.55(2)
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