CN108312896B - Dual-motor self-adaptive pre-speed-regulation multi-gear power coupling device and control method thereof - Google Patents
Dual-motor self-adaptive pre-speed-regulation multi-gear power coupling device and control method thereof Download PDFInfo
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- 230000033228 biological regulation Effects 0.000 claims abstract description 59
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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Abstract
The invention relates to a double-motor self-adaptive pre-speed-regulating multi-gear power coupling device and a control method thereof, wherein the power coupling device comprises a main driving motor (8), a planetary gear transmission device (100), an auxiliary motor (15), a vehicle transmission shaft (9) and a vehicle driving axle (10), the planetary gear transmission device (100) comprises a planetary gear mechanism and a bidirectional combination device (105), the planetary gear mechanism comprises a planetary sun gear (102), a planetary gear ring (103), a planetary planet carrier (108) and a planetary shell (107), and the planetary gear ring (103) is respectively connected with the planetary shell (107) or a planetary carrier output shaft (106) through the bidirectional combination device (105). Compared with the prior art, the invention has the beneficial effects that: the gear shifting control device can meet the running requirement of the pure electric bus, can pre-adjust the rotating speed of the motor before the gear shifting process, and can realize self-adaptive speed regulation to a certain extent, namely automatically adjust the matching rotating speed relation according to the gear shifting requirement under any running state.
Description
Technical Field
The invention relates to a power coupling device and a control method of a pure electric vehicle, in particular to a double-motor self-adaptive pre-speed-regulation multi-gear power coupling device and a control method thereof.
Background
In order to cope with the increasingly worsened environmental pollution and energy crisis, the development and popularization of the pure electric vehicles have great significance. At present, the pure electric vehicles are widely applied in the public transportation field and show great energy-saving and environment-friendly advantages. In order to further meet the use requirements of various circulation working conditions and various terrains, a pure electric vehicle is provided with a transmission device or a multi-gear power coupling device, so that the trend is that the power performance and the economy of the whole vehicle are further improved.
At present, an attempt has been made to add an automatic mechanical transmission AMT to a pure electric bus. Some conventional methods are to directly arrange a gearbox on a traditional vehicle in an electric driving system, such as adding a clutch-free four-gear AMT device, but the method can cause frequent gear shifting in the normal driving process, and the driving motor needs to be repeatedly regulated in speed, loaded and unloaded, so that gear shifting interruption is obvious, and the driving smoothness of the vehicle is deteriorated.
The other way is to make full use of the motor driving characteristics, only a two-gear AMT device is arranged, and the low gear is used as a climbing starting gear, and the high gear is used as a gear meeting the highest vehicle speed and the general driving gear. However, as the two-gear box gives consideration to climbing gear and direct gear, the speed ratio difference between the two gears is larger, and the speed difference is larger when the low gear is switched into the high gear for speed regulation, the speed regulation time is greatly improved, and power interruption which cannot be ignored is inevitably generated, so that the jerk feeling and even obvious impact are generated during gear shifting, and the smoothness and riding comfort of the automobile are affected.
In the conventional technical means, in order to cooperate with the clutch-free gear shifting process of an electric vehicle, a motor is required to be driven to carry out precise and rapid electronic synchronous processing such as speed regulation during gear shifting. Therefore, the motor can be accurately regulated in a large rotating speed range, the speed regulation time is extremely short during gear shifting, and the control difficulty is increased; meanwhile, the control and judgment of speed regulation completely depend on feedback data of a sensor, and the reading error and communication delay of the speed regulation can directly influence the speed difference judgment, and even the problems of tooth punching, synchronizer abrasion and the like can be caused by the error at a critical value.
The existing multi-power-source coupling device can derive more working modes, but the actual situation of mode switching in the dynamic running process of the vehicle is not considered. On the premise that the transmission system is loaded and has rotating speed, the switching between different driving modes can bring harsh requirements to the clutch and the actuator, and meanwhile, the process is required to undergo complicated electronic speed regulation and mechanical synchronization processes, and the problems that the high-precision control of the motor is difficult to realize, the mechanical synchronizer is maintained and the like still occur. In addition, the reliability of the transmission device is greatly reduced by more executing elements, and the maintenance difficulty is greatly increased. It can be said that the existing power coupler generally needs a motor to complete accurate speed regulation within a short time, and needs a mechanical synchronizer to complete the sliding and rubbing process rapidly, which causes contradiction between the rapidity and the accuracy of gear shifting, and is a technical bottleneck to be solved in the current gear shifting technology.
The invention patent No. ZL201310633682.5 discloses a double-motor coupling driving system of an electric automobile, which solves the problems of small working mode, large device size, difficult arrangement and low motor load rate existing in the prior art. However, the invention has a complex structure, and the motor rotation speed cannot be adjusted in advance before the gear shifting process, and the self-adaptive speed regulation cannot be realized, namely, the matching rotation speed relation cannot be automatically adjusted according to the gear shifting requirement in any driving state, so that the invention still needs improvement.
The Chinese patent of patent number ZL201520671900.9 discloses a double-motor power coupling device of an electric automobile, which comprises a main driving motor, an auxiliary motor, a planetary gear train and a clutch; the rotating shaft of the main driving motor is connected with the sun gear of the planetary gear train, the planet carrier of the planetary gear train is a power output end, the driving part of the clutch is connected with the gear ring of the planetary gear train, and the driven part of the clutch is connected with the sun gear of the planetary gear train; the rotating shaft of the auxiliary motor is connected with the gear ring of the planetary gear train, and the brake is used for braking the rotating shaft of the auxiliary motor and the gear ring. The double-motor power coupling device of the electric automobile has a simple structure, and can realize a torque coupling and rotating speed coupling driving mode. However, the utility model can not realize the technical effect of self-adaptive pre-speed regulation, and meanwhile, the existing gear switching process is not optimized and simplified, and the technical problems of long gear shifting time, large gear shifting impact and power interruption still exist, so that improvement is needed.
Disclosure of Invention
The utility model aims to provide a double-motor self-adaptive pre-speed-regulation multi-gear power coupling device for a pure electric bus and a control method thereof, wherein the double-motor self-adaptive pre-speed-regulation multi-gear power coupling device has the advantages of strong practicability, high integration level and good reliability. The utility model has the greatest characteristics that the running requirement of the pure electric bus can be met, the rotating speed of the motor can be adjusted in advance before the gear shifting process, and meanwhile, the self-adaptive speed regulation can be realized to a certain extent, namely, the matching rotating speed relation can be automatically regulated according to the gear shifting requirement under any running state, so that the gear shifting process can be rapidly completed without carrying out accurate electronic speed regulation at the moment of gear shifting and without using a complex synchronizer structure. The utility model can realize the technical effect of self-adaptive pre-speed regulation, so that the existing gear switching process is greatly simplified, and the technical problems of long gear shifting time, large gear shifting impact and power interruption in the prior art are also greatly improved. The utility model has the technical advantages of simple control, no maintenance, high reliability and strong practicability.
In order to achieve the above purpose, the technical defects existing in the existing electric automobile dual-motor coupling driving system and the electric automobile dual-motor power coupling device are overcome, and the technical scheme adopted by the dual-motor self-adaptive pre-speed-regulation multi-gear power coupling device is as follows:
the utility model provides a bi-motor self-adaptation is speed governing multispeed power coupling device in advance, includes main driving motor, planet row speed change gear, auxiliary motor, vehicle transmission shaft and vehicle drive axle, planet row speed change gear includes planetary gear mechanism and two-way combination device, planetary gear mechanism includes planet row sun gear, planet row ring gear, planet row planet carrier and planet row casing, auxiliary motor's power take off end with the planet row sun gear is connected, main driving motor one end with the planet carrier output shaft of planet row planet carrier is connected, and its other end passes through the vehicle transmission shaft with the vehicle drive axle is connected, the planet row ring gear pass through two-way combination device respectively with the planet row casing or the planet carrier output shaft is joined.
Preferably, a coaxial arrangement structure is adopted among the main driving motor, the planetary gear set speed changing device and the auxiliary motor.
Compared with the existing single-motor structural scheme, the sum of the peak power of the two motors is approximately equal to the peak power of the corresponding single motor; the sum of the two motor peak torques is approximately equal to the corresponding single motor peak torque. The invention can switch three meaningful driving modes according to the general working condition running requirement of the passenger car.
The invention defines the larger of the two motors as the main drive motor and the other as the auxiliary motor. The high-efficiency interval of the main driving motor is in a medium-speed and medium-torque section, and the efficiency characteristics of the general driving motor can meet the requirements; the auxiliary motor is mainly used for providing an additional torque value required under a specific working condition, and the highest rotating speed of the auxiliary motor is the same as that of the main driving motor and meets the highest speed requirement of a vehicle.
In any of the above schemes, preferably, the bidirectional combining device comprises a clutch and a clutch actuator, the clutch is arranged on the planet row gear ring and driven by the clutch actuator, a synchronizer is arranged at the joint of two ends of the clutch, and the mechanical synchronization process of the synchronizer is required to be low in gear shifting instant, and the abrasion is low.
In any of the above schemes, it is preferable that the clutch actuator power source is any one of an electromagnetic attraction power source, a motor-driven power source, a hydraulic transmission power source and a pneumatic transmission power source.
The planetary gear ring has three effective working states under the action of the clutch: when the clutch drives the planetary gear ring to be connected with the planetary gear shell, the planetary gear ring is braked, and the rotating speed is constant to zero; when the clutch is in neutral gear, the planetary gear set is in a free state and can rotate freely; when the clutch drives the planetary gear ring to be connected with the planetary carrier output shaft, the planetary gear ring is fixedly connected with the planetary carrier, and the rotating speeds of the planetary gear ring and the planetary carrier are consistent.
In any of the above schemes, preferably, each gear train and each joint component inside the planetary gear coupler adopt immersion lubrication and heat dissipation, that is, proper lubricating oil is preset inside the planetary gear coupler, and the lubricating oil is stirred and lubricated when the gear trains rotate.
When the planet carrier rotates at a certain rotation speed and the planet sun gear and the planet ring gear are in a free state, the rotation speed of the planet sun gear and the rotation speed of the planet ring gear automatically tend to certain determined values respectively due to the inherent mechanical characteristics of the planet speed change device; by designing key parameters such as inertia, damping and the like of each rotating part of the planetary gear transmission, the self-adaptive speed regulation effect of the planetary gear transmission can be realized, namely, the relative speed difference between the planetary gear speed and the planetary gear ring speed tends to be very small when the planetary gear speed tends to be a stable value, and the speeds tend to be consistent.
In any of the above schemes, preferably, the rotational inertia of the planet gear ring, the rotational inertia of the planet sun gear and the rotational inertia of the planet carrier need to be matched cooperatively; the oil stirring damping of the planet row gear ring, the oil stirring damping of the planet row sun gear and the oil stirring damping of the planet row planet carrier are required to be matched in a cooperative manner; the rotational inertia of each part of the planetary gear transmission is designed to be smaller, the oil stirring damping of the planetary gear ring is larger than that of the planetary sun gear, and the technical requirements are easy to realize according to the existing planetary gear design.
In any of the above schemes, preferably, a planetary gear set transmission output shaft rotation speed sensor is disposed at the input shaft of the main driving motor, the auxiliary motor includes an auxiliary motor output shaft, and an auxiliary motor input shaft rotation speed sensor is disposed at the auxiliary motor output shaft. The rotating speed sensors are all packaged in the power coupling device, and the rotating speeds of the shafts collected by the rotating speed sensors are important signals which are required to be referred to in gear switching decision.
In any of the above aspects, it is preferable that the vehicle drive axle comprises a power battery, a battery management system, an AM motor control unit and a vehicle drive wheel, wherein the power battery is respectively connected with the battery management system and the AM motor control unit, the AM motor control unit is connected with the auxiliary motor, and the vehicle drive wheel is connected with the vehicle drive axle.
In any of the above schemes, it is preferable that the system comprises a whole vehicle CAN communication network, an internal CAN communication network, an instrument control unit, a whole vehicle pedal and other modules, a power control unit and a TM motor control unit, wherein the whole vehicle CAN communication network is respectively connected with the battery management system, the instrument control unit, the whole vehicle control unit and the whole vehicle pedal and other modules, the internal CAN communication network is respectively connected with the power control unit and the whole vehicle control unit, the TM motor control unit is respectively connected with the main driving motor and the AM motor control unit, and the power control unit is connected with the planetary gear transmission, the planetary gear transmission output shaft rotation speed sensor and the auxiliary motor input shaft rotation speed sensor.
The power control unit can communicate with the whole vehicle control unit, and comprehensively judges the current driving force distribution and driving mode after receiving information such as control commands from VCU, pedal opening and the like, and feeds back the current whole vehicle driving state information; the power control unit can communicate with the motor control unit, and sends commands such as target torque and the like to the motor for driving or speed regulation control; meanwhile, the power control unit can regulate the clutch actuator, and the engagement action of the clutch is completed according to a preset method under a certain condition.
The invention uses an independent internal CAN communication network, which CAN be well correlated with the whole CAN communication network and CAN not generate communication redundancy, the power control unit is a main control node of the internal CAN communication network, and the whole vehicle control unit CAN realize the forwarding of information on the whole CAN communication network and the internal CAN communication network.
In order to solve the technical defects of the existing control methods of the electric vehicle double-motor coupling driving system and the electric vehicle double-motor power coupling device, the control method of the double-motor self-adaptive pre-speed-regulation multi-gear power coupling device adopts the following technical scheme:
the system for implementing the control method comprises the control method for automatically completing mode switching from the stopping, starting to accelerating stages of a vehicle and the control method for automatically completing mode switching from the accelerating, decelerating and braking to stopping stages of the vehicle.
Preferably, the control method for automatically completing the mode switching from the stopping, starting to accelerating stage of the vehicle comprises the following steps:
Step one: when the vehicle is stopped, the clutch defaults to connect the planetary gear set with the planetary gear set shell, and the clutch corresponds to a low gear; when starting or climbing, the planetary gear set speed change device is still in a low gear, and the auxiliary motor power is coupled with the main driving motor through the coaxial torque after the speed and the torque are increased and is output to the vehicle driving axle, so that the vehicle acceleration capacity and the climbing capacity are enhanced;
step two: when the vehicle starts to accelerate to a certain value, the vehicle does not need to continuously output larger torque, the main driving motor gradually increases the torque output, the auxiliary motor gradually decreases until the torque is removed and enters a free mode, the main driving motor continuously increases or maintains the torque according to the running requirement of the whole vehicle, the clutch connects the planetary gear ring into a neutral gear to enter the free mode, and at the moment, the main driving motor can just work in a middle speed and middle torque interval, which is equivalent to a single motor driving middle speed gear; when the coupling device is positioned at a medium speed gear and continuously speeds up, the auxiliary motor, the planet row sun gear and the planet row gear ring which are fixedly connected are in a free state, the rotation speed of the planet row planet carrier linearly changes along with the vehicle speed, the auxiliary motor and the planet row sun gear automatically slow down according to the inherent characteristics of the planet row speed changing device, the planet row gear ring automatically speeds up, the rotation speeds of the planet row sun gear, the planet row gear ring and the planet row planet carrier are consistent in a short time, and the rotation speeds of the planet row sun gear, the planet row gear ring and the planet row planet carrier self-adaptively tend to be consistent all the time, namely the self-adaptive speed adjusting effect is realized;
Step three: when the speed of the vehicle continues to increase, the running resistance increases, and the vehicle needs to work in a high-power high-speed state; because of the self-adaptive speed regulation function, the clutch can directly drive the planetary gear ring to be engaged with the planetary carrier output shaft, and the auxiliary motor participates in torque output and is equivalent to a double-motor high-speed gear; at the moment, the auxiliary motor and the main driving motor work at the same coaxial and same rotation speed, so that reasonable torque distribution is carried out according to an energy optimization method, and the auxiliary motor and the main driving motor are driven together to further improve the vehicle speed.
In any of the above aspects, preferably, the control method for automatically completing the mode switching of the vehicle from the acceleration, deceleration, braking to the stopping stage includes the following steps:
step four: when the vehicle is in a high-speed gear and the vehicle runs at a higher speed, if the opening of an accelerator pedal is reduced and the speed is slowly reduced, the main driving motor adjusts the torque according to the requirement, the auxiliary motor gradually reduces until the clearing torque enters a free mode, the clutch drives the planetary gear ring to enter a neutral gear, and the main driving motor drives the vehicle independently at the moment, namely, the vehicle enters a medium-speed gear; when the speed is in a medium speed gear, the auxiliary motor performs active self-adaptive pre-speed regulation based on a machine learning algorithm according to the current speed change, the speed regulation trend is that the lower the speed is, the more the auxiliary motor rotates to a corresponding higher value, the higher the speed is, the auxiliary motor rotates to a corresponding lower value, when the speed is increased to a certain value, the active speed regulation control is not performed any more, and the self-adaptive speed regulation process under the characteristics of the planetary gear transmission is entered;
Step five: when the vehicle is in a medium speed gear and the speed is further reduced, according to the active self-adaptive pre-regulation function, the speed difference between the rotating speed of the auxiliary motor and the target rotating speed of the gear shifting is a reasonable small value, and the planetary gear ring and the planetary gear shell can be directly engaged through the clutch without speed regulation, namely, the vehicle enters a low speed gear;
step six: when the vehicle is in a high-speed gear and is braked greatly at a higher speed, the auxiliary motor and the main driving motor simultaneously feed back braking energy, namely send negative target torque, and in order to recover energy to the maximum extent, gear switching is not carried out in the process of the step; after the braking is finished, the corresponding gear shifting operation is finished again according to the current state of the vehicle and the control method.
During normal driving, the low gear is used only for starting and climbing. When the vehicle normally runs, the vehicle is generally switched between a middle speed gear and a high speed gear only according to working conditions and energy management requirements, so that the self-adaptive pre-control speed characteristic can be fully utilized, and the gear shifting process is greatly simplified. The switching time of each gear mode of the vehicle is judged and given by the power control unit after integrating information such as an accelerator pedal, a brake pedal, a vehicle speed, a motor state and the like, the vehicle state and the intention of a driver can be accurately identified, and the phenomena such as cyclic gear shifting and the like can not occur. In the gear shifting process, a self-adaptive pre-shifting process always exists, a motor is not required to carry out rapid and accurate speed regulation at the moment of executing gear shifting operation, a complex mechanical synchronizer is not required to be used, and no obvious sliding process exists in the gear shifting process, namely the gear shifting device can realize the pre-shifting smooth gear shifting in the gear shifting process. In the gear shifting process, the main driving motor always outputs power to the whole vehicle, and the auxiliary motor is controlled by the power control unit to complete the torque coordination distribution process before torque input, namely the invention can realize power interruption-free and power fluctuation-free gear shifting in the gear shifting process.
The self-adaptive pre-shifting characteristic of the planetary gear in neutral gear and the active self-adaptive pre-shifting method in neutral gear can be applied to various similar structures or similar technical schemes, and the working condition characteristics of the existing pure electric bus are considered, the invention is illustrated by only relying on the configuration of the double-motor two-gear planetary gear box, but other structures or control methods based on the same characteristics also fall into the protection scope of the invention.
Compared with the prior art, the invention has the beneficial effects that: the motor and the motor drive system can be well applied to the technical field of pure electric vehicles, in particular to pure electric buses, and the main driving motor and the auxiliary motor are matched with each other, so that the torque output and the rotation speed adjustable interval of the whole vehicle can be well widened, the driving external characteristics are further optimized, and the performance of the whole vehicle is greatly improved.
The planetary gear set is used as a two-gear speed change device, the structure is simple, the arrangement is compact, the cylindrical mechanical structure of the planetary gear set can be well connected with the cylindrical motor shell, and compared with the existing AMT gearbox, the mass and the volume of the coupling device are greatly reduced, so that the whole vehicle arrangement and the lightweight design are facilitated.
The invention designs three driving gears of a low-speed gear, a medium-speed gear and a high-speed gear by utilizing the coaxial combination of the double motors and the two-gear planetary gear speed changing device, which correspond to the starting climbing requirement of a general passenger car, the medium-speed driving requirement of an urban working condition and the high-power driving requirement of an suburban expressway working condition respectively, and the switching of each mode is consistent with the process of gradually accelerating the vehicle from the starting to the gradual speed increasing.
Compared with the existing transmission device, the invention takes the inertia and damping influence of the planetary row into consideration, fully utilizes the mechanical characteristics of the planetary row during upshifting, enables the part to be speed-regulated to be self-adaptively and automatically regulated to the required rotating speed, does not need to actively regulate the rotating speed of the auxiliary motor, and greatly simplifies the traditional high-precision speed-regulating control mode of the auxiliary motor; meanwhile, the speed regulation process is finished before gear shifting, the self-adaptive following pre-speed regulation process is finished by utilizing the mechanical characteristics, and the vehicle can be directly switched from a middle speed gear to a high speed gear in the general running process of the vehicle without rapidly regulating the rotating speed of the auxiliary motor in extremely short time. The gear shifting time of the existing gear box for the pure electric vehicle is generally 0.8-1 second, and the gear shifting time can be shortened to 0.2 second, so that the inherent defect of long gear shifting time of the existing gear shifting device is greatly overcome, and the gear shifting process is smooth and free of impact.
Compared with the existing speed changing device, the self-adaptive speed regulating precision of the invention is far higher than the existing motor gear shifting instant speed regulating precision, in the prior art, the speed difference can be regulated to 30-50 rpm when the gear shifting instant motor actively regulates the speed, but the invention can regulate the speed difference to be lower than 3rpm, thereby greatly improving the impact and abrasion to the synchronizer when in gear shifting, improving the gear shifting smoothness and prolonging the service life of the synchronizer.
Compared with the existing speed changing device, the invention adopts an active pre-speed regulation control method during the gear-down, and can adjust the rotating speed to a required state in advance; meanwhile, on the premise of a gear shifting rule based on the vehicle speed, the current actual gear shifting intention is fully predicted, a low-gear shifting probability function P is introduced, the current vehicle state is comprehensively judged whether the active low-gear shifting pre-speed regulation is needed, the frequent large-amplitude motor active speed regulation is prevented, the accurate gear shifting intention judgment can be realized to the greatest extent, and the corresponding auxiliary motor active speed-up speed regulation is only carried out before the gear shifting into the low-gear.
Compared with the existing speed changing device, the invention can realize the shift without power interruption and power fluctuation. The main driving motor can always output power to the whole vehicle in the driving process, and no power interruption phenomenon occurs; the power control unit can coordinate the torque output of the auxiliary motor, smoothly connect in or disconnect from the drive system, not only can the torque be matched in sufficient time, but also the motor is easy to quickly and accurately adjust the torque, and the drive system does not have abrupt load. The running smoothness and riding comfort of the vehicle can be greatly improved, the damage of torsional vibration and the like generated by quick zero return and quick loading of torque on a transmission shaft of a general transmission can be further eliminated, and the service life of each part is prolonged.
Compared with the existing speed changing device, each mode of the invention is designed according to the torque and power requirements of the whole vehicle, and when braking at high speed, the double motors can just feed back braking energy at the same time, so that the energy during braking can be recovered to the maximum extent.
Compared with the existing power coupling device, the invention fully considers various states and requirements of the vehicle in running and can reasonably control gear switching according to actual requirements of the vehicle. Some existing power coupling devices can only switch modes in a vehicle stopping state, and some power coupling devices can complete dynamic mode switching only by using complex wet clutches, overrun clutches, synchronizers, precise electronic speed regulation and the like. The self-adaptive pre-shifting function can be realized only by using a general bidirectional combination device, and quick and stable gear shifting can be completed.
The double-motor coupling driving mode provided by the invention releases the limitation of a single motor in terms of power and torque; under the condition of the same power and torque, the cost is greatly reduced; meanwhile, the coupling driving of the double motors improves the fault tolerance of the electric driving system.
The sensors for collecting signals are packaged in the whole device, and a new sensor is not required to be added in the original structure; the coupling device is provided with an independent internal CAN communication network, only the power control unit and the whole vehicle control unit are required to carry out information interaction, complex data transmission in each controller of the original vehicle is not required, the response time of the system is shortened, and the reliability of the system is improved. Therefore, the coupling device is easy to implement, is convenient to reform and upgrade on the basis of the original structure, and has strong practicability.
Drawings
FIG. 1 is a schematic view of the overall frame structure of a preferred embodiment of a dual motor adaptive pre-speed multi-speed power coupling device of the present invention;
FIG. 2 is a schematic diagram of a planetary gear set transmission in the embodiment of FIG. 1 of a dual-motor adaptive pre-speed multi-speed power coupling device according to the present invention;
fig. 3 is a schematic diagram of the experimental result of the self-adaptive speed regulation of the middle-speed planetary gear set of the double-motor self-adaptive speed regulation multi-speed power coupling device according to the invention.
Reference numerals illustrate:
1 a whole vehicle CAN communication network (CAN 1); 2 an internal CAN communication network (CAN 2); a meter control unit (Instrument Control Unit, ICU); 4 a vehicle control unit (Vehicle Control Unit, VCU); 5, a whole vehicle pedal and other modules; 6 vehicle drive wheels; a power control unit (Traction Control Unit, TCU); 8, a main driving Motor (TM); 9 vehicle drive shaft; 10 a vehicle drive axle; an 11TM motor control unit (Motor Control Unit, MCU 1); a 12 planetary gear set transmission output shaft rotation speed sensor; 13, an auxiliary motor input shaft rotating speed sensor; 14 An AM motor control unit (MCU 2); an Auxiliary Motor (AM); a 16 power battery; a battery management system (Battery Management System, BMS).
100 planetary gear speed change device; 101 an auxiliary motor output shaft; 102 planet row sun gear; 103 planet row gear ring; 104 clutch actuator; 105 a bi-directional coupling device; 106 planet carrier output shaft; 107 planet row housing; 108 planet carrier.
Detailed Description
The following describes in detail the technical scheme of the double-motor adaptive pre-speed-regulation multi-gear power coupling device with reference to fig. 1 to 3:
as shown in fig. 1 and 2, a double-motor self-adaptive pre-speed-regulation multi-gear power coupling device comprises a main driving motor 8, a planetary gear transmission device 100, an auxiliary motor 15, a vehicle transmission shaft 9 and a vehicle driving axle 10, wherein the planetary gear transmission device 100 comprises a planetary gear mechanism and a bidirectional combining device 105, the planetary gear mechanism comprises a planetary sun gear 102, a planetary gear ring 103, a planetary planet carrier 108 and a planetary shell 107, the power output end of the auxiliary motor 15 is connected with the planetary sun gear 102, one end of the main driving motor 8 is connected with a planet carrier output shaft 106 of the planetary carrier 108, the other end of the main driving motor is connected with the vehicle driving axle 10 through the vehicle transmission shaft 9, and the planetary gear ring 103 is respectively connected with the planetary shell 107 or the planet carrier output shaft 106 through the bidirectional combining device 105. A coaxial arrangement is adopted among the main driving motor 8, the planetary gear set 100 and the auxiliary motor 15. The two-way coupling device 105 includes a clutch provided on the planetary gear set 103 and driven by the clutch actuator 104, and a synchronizer provided at the junction of both ends of the clutch. The clutch actuator 104 may be any one of electromagnetic attraction type power source, motor driven type power source, hydraulic transmission type power source and pneumatic transmission type power source. The main driving motor 8 is provided with a planetary gear set transmission output shaft speed sensor 12 at an input shaft, the auxiliary motor 15 comprises an auxiliary motor output shaft 101, and an auxiliary motor input shaft speed sensor 13 is provided at the auxiliary motor output shaft 101. The vehicle driving axle comprises a power battery 16, a battery management system 17, an AM motor control unit 14 and a vehicle driving wheel 6, wherein the power battery 16 is respectively connected with the battery management system 17 and the AM motor control unit 14, the AM motor control unit 14 is connected with an auxiliary motor 15, and the vehicle driving wheel 6 is connected with the vehicle driving axle 10. The intelligent automobile control system comprises an entire automobile CAN communication network 1, an internal CAN communication network 2, an instrument control unit 3, an entire automobile control unit 4, an entire automobile pedal and other modules 5, a power control unit 7 and a TM motor control unit 11, wherein the entire automobile CAN communication network 1 is respectively connected with a battery management system 17, the instrument control unit 3, the entire automobile control unit 4 and the entire automobile pedal and other modules 5, the internal CAN communication network 2 is respectively connected with the power control unit 7 and the entire automobile control unit 4, the TM motor control unit 11 is respectively connected with a main driving motor 8 and an AM motor control unit 14, and the power control unit 7 is connected with a planetary gear shifting device 100, a planetary gear shifting device output shaft speed sensor 12 and an auxiliary motor input shaft speed sensor 13. The working high-efficiency area of the main driving motor 8 is a medium speed and medium torque section, and the efficiency characteristic of the general driving motor can be met. The characteristic parameter of the planetary gear set, that is, the tooth ratio of the gear ring to the sun gear is set to be K, the specific form of the engagement device is not limited, and the structure forms of a common synchronizer combination sleeve, a jaw clutch and the like can be selected.
When the drive is in medium speed, the clutch actuator 104 pushes the planet row ring gear 103 into a neutral free state, the auxiliary motor 15 being also in a free state. At this time, the constant-speed running equivalent load of the vehicle is simulated by the dynamometer, the torque is output only by the main driving motor 8, the rotating speed of the vehicle transmission shaft 9 is accelerated to 200rpm, 400rpm and 600rpm in a gradient way, and as shown by a dotted line in fig. 3, the rotating speeds of the main driving motor 8 and the vehicle transmission shaft 9 are changed in a gradient way respectively; as shown by the solid line in fig. 3, the rotation speed of the auxiliary motor 15 can be adaptively regulated to the same rotation speed as the main driving motor 8, i.e., an adaptive speed regulation effect is achieved, in about 10 seconds without any active control.
According to the relation of the planet row rotating speeds:
n s +Kn r ＝(1+K)n c
wherein n is s For the rotation speed of the planet row sun gear 102, n r For the rotation speed of the planet gear 103, n c Is the planet carrier 108 speed. As is apparent from this formula, when the rotation speed of the auxiliary motor 15 is adaptively regulated to be the same as that of the main drive motor 8, the rotation speed of the planetary gear 103 is also adaptively regulated to be the same as that of the main drive motor. That is, after the intermediate speed gear is entered, even if the main drive motor 8 is speed-regulated in a step form, the auxiliary motor 15 and the planetary gear set 103 can be adaptively speed-regulated to the same rotational speed within about 10 seconds. In view of the fact that the vehicle is traveling, The step change of the vehicle transmission shaft 9 is hardly generated, so that in practical application, the adaptive speed adjusting time of the auxiliary motor 15 and the planet gear 103 is shorter. The adaptive speed regulation upshift control in the invention is realized based on the adaptive speed regulation effect characteristic of the planetary gear set speed change device 100.
The working principle of the invention is as follows: in order to highlight the technical characteristics of the invention, only a single parameter, namely the vehicle speed, is used as a gear shifting rule for description, only the whole vehicle control logic directly related to the invention is described, and other control logic defaults to general logic and is not repeated.
When the vehicle is stationary, the planetary gear 100 is engaged in low gear by default, i.e., the clutch actuator 104 engages the planetary gear 103 with the planetary housing 107. When the vehicle starts or climbs a slope, the output torque of the auxiliary motor 15 is reduced to be (1+K) times by the planetary gear set transmission 100, and is overlapped with the torque of the main driving motor 8 and then is output to the vehicle driving axle 10, so that the whole vehicle is pushed to climb a slope or quickly start.
When the vehicle runs at a medium-low speed after starting, the running resistance is smaller, the required torque and power are smaller, the vehicle is switched into a medium-speed gear, namely the main driving motor 8 gradually increases the torque, the auxiliary motor 15 gradually decreases the torque until the torque is cleared, the clutch actuator 104 pushes the planetary gear 103 to a neutral gear free state, and the auxiliary motor 15 is also in the free state. The main driving motor 8 can just work in a high-efficiency area with medium speed and medium-high torque to drive the vehicle to run at a constant speed or accelerate. Based on the above-mentioned adaptive speed regulation effect, the rotation speed of the auxiliary motor 15 and the rotation speed of the planetary gear 103 are adaptively and actively regulated to be consistent with the rotation speed of the main driving motor 8.
In the medium speed gear, the power control unit 7 will read the current speed of the vehicle and judge according to the degree of acceleration or deceleration of the vehicle. If the vehicle speed is greater than V H When the vehicle is in the working state, the vehicle is judged to be connected to a high gear, so that the rotating speed of the auxiliary motor 15 is not actively regulated; if the vehicle speed is less than V L When the vehicle is in a current working state, the vehicle is judged to be connected into a low gear, and the speed is actively regulated to (1+K) times of the rotating speed of the main driving motor 8 through the auxiliary motor 15, so that preparation is made for gear shifting; if the vehicle speed is between V H And V L In the middle, the auxiliary motor 15 is dynamically and adaptively followed and pre-regulated, and the regulating rotating speed value is as follows:
wherein the rotation speed of the auxiliary motor 15 and the rotation speed of the planet carrier output shaft 106 can be respectively measured by a corresponding auxiliary motor input shaft rotation speed sensor 13 and a planet row speed change device output shaft rotation speed sensor 12, and P can be the probability of shifting from a middle speed gear to a low speed gear or a rotation speed adjusting weight coefficient and is a function of reference variables such as pedal opening, vehicle speed and the like. In the invention, the initial value of P is determined by a specific probability density function based on the vehicle speed, and in the actual vehicle application, the initial value is continuously updated based on signals such as pedal opening, vehicle speed and the like through a machine learning algorithm, so that the mature and efficient self-adaptive speed regulation algorithm is finally completed. At the same time, the shift speed threshold V H And V L And the on-line updating calibration is carried out according to the real vehicle road test. By this method, if a shift is possible at any time, the input shaft rotation speed of the planetary gear transmission 100 must be adjusted in advance to the same or smaller speed difference range as the output shaft rotation speed, so that the shift instantaneous auxiliary motor 15 does not need to be regulated in a large scale and precisely, and the shift operation can be completed directly by only needing to be regulated in a small speed difference range for a second time or even without speed regulation.
When the vehicle is shifted into a high-speed gear, the main driving motor 8 and the auxiliary motor 15 can jointly output torque, so that the requirements of high power and high rotating speed under the high-speed working condition are met. When the vehicle is decelerating at the highest speed, the power control unit 7 coordinates and controls the main driving motor 8 to increase the torque, the auxiliary motor 15 reduces the torque until the torque is cleared, the clutch actuator 104 pushes the planet row gear ring 103 to a neutral gear free state, the vehicle enters a medium speed gear, and the self-adaptive speed regulation judging process is repeated.
When the vehicle is braked greatly in a high gear, the auxiliary motor 15 and the main drive motor 8 apply negative torque together without performing a gear switching operation, and maximum braking energy feedback is performed.
When the vehicle needs to respond to a step torque output response, such as an emergency full power acceleration, the power control unit 7 determines that there is insufficient time to complete the adaptive speed regulation, and the planetary gear shift device 100 will employ the existing active fast speed regulation to complete the gear shift. The probability of occurrence of the situation in the actual bus driving process is small, the self-adaptive speed regulation trend is consistent with that of active speed regulation, and the speed regulation time during gear shifting can be shortened to a certain extent.
The following describes in detail the technical scheme of the control method of the dual-motor adaptive pre-speed-regulation multi-gear power coupling device with reference to fig. 1 to 3:
the system for implementing the control method comprises the control method for automatically completing mode switching from the stopping, starting to accelerating stages of the vehicle and the control method for automatically completing mode switching from the accelerating, decelerating and braking to stopping stages of the vehicle.
The control method for automatically completing the mode switching from the stopping, starting to accelerating of the vehicle comprises the following steps:
step one: when the vehicle is stopped, the clutch defaults to engage the planetary gear set 103 with the planetary gear set housing 107, which corresponds to a low gear; when starting or climbing, the planetary gear set speed change device 100 is still in a low-speed gear, and the power of the auxiliary motor 15 is coupled with the coaxial torque of the main driving motor 8 after the speed and the torque are increased, and is output to the vehicle driving axle 10, so that the acceleration capacity and the climbing capacity of the vehicle are enhanced;
step two: when the vehicle starts to accelerate to a certain value, the vehicle does not need to continuously output larger torque, the main driving motor 8 gradually increases the torque output, the auxiliary motor 15 gradually decreases until the torque is removed and enters a free mode, the main driving motor 8 continuously increases or maintains the torque according to the running requirement of the whole vehicle, the clutch connects the planetary gear ring 103 into the neutral gear to enter the free mode, and at the moment, the main driving motor 8 can just work in a middle speed and middle torque interval, which is equivalent to a single motor driving middle speed gear; when the coupling device is positioned at a medium speed gear and continuously speeds up, the auxiliary motor 15, the planet row sun gear 102 fixedly connected with the coupling device and the planet row gear ring 103 positioned at a neutral gear are in a free state, the rotating speed of the planet row planet carrier 108 changes linearly along with the vehicle speed, according to the inherent characteristics of the planet row speed changing device 100, the auxiliary motor 15 and the planet row sun gear 102 automatically slow down, the planet row gear ring 103 automatically speeds up, the rotating speeds of the planet row sun gear 102, the planet row gear ring 103 and the planet row planet carrier 108 reach the same within a short time, and the rotating speeds of the planet row sun gear 102, the planet row gear ring 103 and the planet row planet carrier 108 always self-adaptively tend to the same, namely the self-adaptive speed adjusting effect is realized;
Step three: when the speed of the vehicle continues to increase, the running resistance increases, and the vehicle needs to work in a high-power high-speed state; because of the self-adaptive speed regulation function, the clutch can directly drive the planet row gear ring 103 to be engaged with the planet carrier output shaft 106, and the auxiliary motor 15 participates in torque output, which is equivalent to a double-motor high-speed gear; at this time, the auxiliary motor 15 and the main driving motor 8 work coaxially and at the same rotation speed, so that reasonable torque distribution is performed according to an energy optimization method, and the vehicle speed is further improved by common driving.
The control method for the automatic completion mode switching of the vehicle from acceleration, deceleration, braking to stopping stage comprises the following steps:
step four: when the vehicle is in a high-speed gear and the vehicle runs at a higher speed, if the opening of an accelerator pedal is reduced and the speed is slowly reduced, the main driving motor 8 adjusts the torque according to the requirement, the auxiliary motor 15 gradually reduces until the clearing torque enters a free mode, the clutch drives the planetary gear 103 to enter a neutral gear, and the main driving motor 8 drives the vehicle independently at the moment, namely, enters a medium-speed gear; in the middle speed gear, the auxiliary motor 15 performs active self-adaptive pre-speed regulation based on a machine learning algorithm according to the current speed change, the speed regulation trend is that the lower the speed is, the higher the rotation speed of the auxiliary motor 15 is, the rotation speed of the auxiliary motor 15 is adjusted to a corresponding higher value, when the speed is increased, the active speed regulation control is not performed when the speed is increased to a certain value, and the self-adaptive speed regulation process under the characteristic of the planetary gear transmission 100 is entered;
Step five: when the vehicle is in a medium speed gear and the speed is further reduced, according to the active self-adaptive pre-regulation function, the speed difference between the rotating speed of the auxiliary motor 15 and the gear shifting target rotating speed is a reasonable small value, and the planetary gear ring 103 can be directly engaged with the planetary gear shell 107 through the clutch without speed regulation, namely, the vehicle enters a low speed gear;
step six: when the vehicle is in a high-speed gear and is braked greatly at a higher speed, the auxiliary motor 15 and the main driving motor 8 carry out braking energy feedback at the same time, namely negative target torque is sent, and in order to recover energy to the maximum extent, gear switching is not carried out in the process of the step; after the braking is finished, the corresponding gear shifting operation is finished again according to the current state of the vehicle and the control method.
The present embodiment is merely a preferred embodiment, and the components and connection relationships involved are not limited to the above embodiment described in the embodiment, and the arrangement and connection relationships of the components in the preferred embodiment may be arbitrarily arranged and combined to form a complete technical solution.
Claims (8)
1. The control method of the double-motor self-adaptive pre-speed-regulating multi-gear power coupling device comprises a main driving motor (8), a planetary gear transmission device (100), an auxiliary motor (15), a vehicle transmission shaft (9) and a vehicle driving axle (10), wherein the planetary gear transmission device (100) comprises a planetary gear mechanism and a bidirectional combination device (105), the planetary gear mechanism comprises a planetary sun gear (102), a planetary gear ring (103), a planetary planet carrier (108) and a planetary shell (107), the power output end of the auxiliary motor (15) is connected with the planetary sun gear (102), one end of the main driving motor (8) is connected with a planet carrier output shaft (106) of the planetary carrier (108), and the other end of the main driving motor is connected with the vehicle driving axle (10) through a vehicle transmission shaft (9), and the control method is characterized in that the planetary gear ring (103) is respectively connected with the planetary shell (107) or the planet carrier output shaft (106) through the bidirectional combination device (105); the control method comprises a control method for automatically completing mode switching from a stopping stage, a starting stage and an accelerating stage of the vehicle and a control method for automatically completing mode switching from the accelerating stage, the decelerating stage and the braking stage of the vehicle, and is characterized in that the control method for automatically completing mode switching from the stopping stage, the starting stage and the accelerating stage of the vehicle comprises the following steps:
Step one: when the vehicle is stopped, the bidirectional coupling device (105) couples the planet gear ring (103) with the planet gear shell (107) by default, and the gear corresponds to a low gear; when starting or climbing, the planetary gear set speed change device (100) is still in a low-speed gear, and the power of the auxiliary motor (15) is coupled with the coaxial torque of the main driving motor (8) after the speed and the torque are increased, and is output to the vehicle driving axle (10), so that the acceleration capacity and the climbing capacity of the vehicle are enhanced;
step two: when the vehicle starts to accelerate to a certain value, the vehicle does not need to continuously output larger torque, the main driving motor (8) gradually increases the torque output, the auxiliary motor (15) gradually decreases until the torque is removed and enters a free mode, the main driving motor (8) continuously increases or maintains the torque according to the running requirement of the whole vehicle, the clutch connects the planetary gear ring (103) into a neutral gear to enter the free mode, and at the moment, the main driving motor (8) can just work in a middle speed and middle torque section, which is equivalent to a single motor driving middle speed gear; when the coupling device is positioned at a medium speed gear and continuously speeds up, an auxiliary motor (15), a planet row sun gear (102) fixedly connected with the coupling device and a planet row gear ring (103) positioned at a neutral gear are in a free state, the rotating speed of a planet row planet carrier (108) linearly changes along with the vehicle speed, the auxiliary motor (15) and the planet row sun gear (102) automatically slow down according to the inherent characteristics of a planet row speed changing device (100), the planet row gear ring (103) automatically speeds up, and the rotating speeds of the planet row sun gear (102), the planet row gear ring (103) and the planet row planet carrier (108) are consistent in a short time and always self-adaptively tend to be consistent, so that the self-adaptive speed adjusting effect is realized;
Step three: when the speed of the vehicle continues to increase, the running resistance increases, and the vehicle needs to work in a high-power high-speed state; because of the self-adaptive speed regulation function, the clutch can directly drive the planet row gear ring (103) to be engaged with the planet carrier output shaft (106), and the auxiliary motor (15) participates in torque output, which is equivalent to a double-motor high-speed gear; at the moment, the auxiliary motor (15) and the main driving motor (8) work at the same shaft and the same rotation speed, so that reasonable torque distribution is carried out according to an energy optimization method, and the vehicle speed is further improved by common driving.
2. The control method of the two-motor adaptive pre-speed multi-gear power coupling device according to claim 1, wherein the control method for the vehicle to autonomously complete the mode switching from the acceleration, deceleration, braking to the stopping stage comprises the steps of:
step four: when the vehicle is in a high-speed gear and the vehicle runs at a higher speed, if the opening of an accelerator pedal is reduced and the speed is slowly reduced, the main driving motor (8) adjusts the torque according to the requirement, the auxiliary motor (15) gradually reduces until the clearing torque enters a free mode, the clutch drives the planetary gear set (103) to enter a neutral gear, and the main driving motor (8) independently drives the vehicle to enter the medium-speed gear at the moment; when the speed is in a medium speed gear, the auxiliary motor (15) performs active self-adaptive pre-speed regulation based on a machine learning algorithm according to the current speed change, the speed regulation trend is that the lower the speed is, the rotating speed of the auxiliary motor (15) is regulated to a corresponding higher value, the rotating speed of the auxiliary motor (15) is regulated to a corresponding lower value when the speed is increased, when the speed is increased to a certain value, active speed regulation control is not performed any more, and the self-adaptive speed regulation process under the characteristic of the planetary gear transmission (100) is entered;
Step five: when the vehicle is in a medium speed gear and the speed is further reduced, according to the active self-adaptive pre-regulation function, the speed difference between the rotating speed of the auxiliary motor (15) and the gear shifting target rotating speed is a reasonable small value, and the planetary gear ring (103) can be directly connected with the planetary gear shell (107) through the clutch without speed regulation, namely, the vehicle enters a low speed gear;
step six: when the vehicle is in a high-speed gear and is braked greatly at a higher speed, the auxiliary motor (15) and the main driving motor (8) carry out braking energy feedback at the same time, namely negative target torque is sent, and in order to recover energy to the maximum extent, gear switching is not carried out in the process of the step; after the braking is finished, the corresponding gear shifting operation is finished again according to the current state of the vehicle and the control method.
3. A dual-motor adaptive pre-speed multi-gear power coupling device applied to the control method of the dual-motor adaptive pre-speed multi-gear power coupling device as claimed in claim 1 or 2, characterized in that: and a coaxial arrangement structure is adopted among the main driving motor (8), the planetary gear transmission device (100) and the auxiliary motor (15).
4. A twin-motor adaptive pre-speed multi-gear power coupling device according to claim 3, characterised in that the bi-directional coupling means (105) comprises a clutch and a clutch actuator (104), the clutch being arranged on the planet row ring gear (103) and driven by the clutch actuator (104), the junction between the two ends of the clutch being provided with a synchronizer.
5. The dual-motor adaptive pre-speed multi-gear power coupling device according to claim 4, wherein the clutch actuator (104) power source is any one of an electromagnetic attraction power source, a motor-driven power source, a hydraulic transmission power source and a pneumatic transmission power source.
6. A dual-motor adaptive pre-speed multi-gear power coupling device as claimed in claim 3, characterized in that a planetary gear transmission output shaft speed sensor (12) is arranged at the input shaft of the main driving motor (8), the auxiliary motor (15) comprises an auxiliary motor output shaft (101), and an auxiliary motor input shaft speed sensor (13) is arranged at the auxiliary motor output shaft (101).
7. A dual-motor adaptive pre-speed multi-gear power coupling device as claimed in claim 3, characterized by comprising a power battery (16), a battery management system (17), an AM motor control unit (14) and a vehicle drive wheel (6), the power battery (16) being connected with the battery management system (17) and the AM motor control unit (14), respectively, the AM motor control unit (14) being connected with an auxiliary motor (15), the vehicle drive wheel (6) being connected with the vehicle drive axle (10).
8. The double-motor self-adaptive pre-speed-regulating multi-gear power coupling device according to claim 3, comprising a whole-vehicle CAN communication network (1), an internal CAN communication network (2), an instrument control unit (3), a whole-vehicle control unit (4), a whole-vehicle pedal and other modules (5), a power control unit (7) and a TM motor control unit (11), wherein the whole-vehicle CAN communication network (1) is respectively connected with a battery management system (17), the instrument control unit (3), the whole-vehicle control unit (4) and the whole-vehicle pedal and other modules (5), the internal CAN communication network (2) is respectively connected with the power control unit (7) and the whole-vehicle control unit (4), the TM motor control unit (11) is respectively connected with a main driving motor (8) and an AM motor control unit (14), and the power control unit (7) is connected with a planetary gear speed change device (100), a planetary gear speed change device output shaft speed sensor (12) and an auxiliary motor input shaft speed sensor (13).
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