Experimental Verification on Peak Driving Power Compensation of Tractors Employing Control Moment Gyro
Reduced speed and stalling in small electric tractors,caused by sudden increases in traction resistance and insufficient instantaneous power under complex environmental conditions,significantly impact operational quality and efficiency.A novel method for peak driving power compensation and gyro energy recovery was proposed based on a single gimbal control moment gyro(CMG)anti-rollover system.An energy flow and power conversion model for the tractor-CMG system was developed,incorporating the effects of gyroscopic precession and energy storage.Building on this model,a time-varying traction power demand model was created for scenarios with insufficient power.Subsequently,a rule-based multi-source energy management strategy was designed to regulate the CMG system's energy flow and power output,addressing instantaneous power compensation,energy recovery,and rollover control.By combining the state of charge of the tractor's power battery pack and the gyro system,the overall energy management was optimized.When the basic output power of the battery pack was insufficient to meet the instantaneous power demand caused by traction resistance,the gyro rotor decelerated to release energy,compensating for the tractor's peak driving power.Experiments on a scaled model platform,focusing on obstacle disturbances and climbing,demonstrated that the CMG system significantly improved the tractor's direct current bus voltage and compensated for transient power deficits.Furthermore,gyro energy recovery tests following rollover control indicated that the CMG system can effectively perform multiple functions.These included rollover prevention,peak power compensation,and energy recovery from gyro rotor unloading,thus improving overall system utilization and energy efficiency.
electric tractorcontrol moment gyropower compensationenergy management
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