CN110254204B - Loading and walking hybrid driving sanitation operation vehicle and control method thereof - Google Patents

Loading and walking hybrid driving sanitation operation vehicle and control method thereof Download PDF

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CN110254204B
CN110254204B CN201910558999.4A CN201910558999A CN110254204B CN 110254204 B CN110254204 B CN 110254204B CN 201910558999 A CN201910558999 A CN 201910558999A CN 110254204 B CN110254204 B CN 110254204B
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engine
gear
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sanitation
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CN110254204A (en
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王军年
王宪东
靳立强
曾小华
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B60L50/62—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles charged by low-power generators primarily intended to support the batteries, e.g. range extenders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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Abstract

The invention discloses a loading and walking hybrid driving sanitation operation vehicle, which comprises: an engine having an output shaft on which a gear is fixed; the driving axle is connected with the output shaft, and two ends of the driving axle are connected with driving wheels; the generator is provided with a transmission shaft, and a first spline hub is coaxially fixed on the transmission shaft; the first idler gear is sleeved on the transmission shaft and meshed with the gear; the first idler gear is fixedly arranged inside and engaged with the first outer gear ring; a first engagement sleeve slidably coupled to the first spline hub; a top-mounted motor electrically connected to the motor; a battery electrically connected with the upper motor; the input end of the planetary gear reduction mechanism is fixedly connected with the output end of the upper motor, and the planetary gear reduction mechanism comprises a planet carrier gear; the second spline hub is fixed in the middle of the output shaft; the second idler gear is sleeved on the output shaft and meshed with the planet carrier gear; the second idler gear is fixedly connected with a second outer gear ring; and the second joint sleeve is in sliding connection with the second spline hub.

Description

Loading and walking hybrid driving sanitation operation vehicle and control method thereof
Technical Field
The invention relates to the field of hybrid electric vehicles, in particular to a loading and walking hybrid driving sanitation operation vehicle and a control method thereof.
Background
In recent years, with the increasing severity of energy and environmental problems, energy conservation and environmental protection problems are a major subject of current development. The automobile industry also gradually develops towards the direction of energy conservation and environmental protection, various new energy automobiles are generated, and new technologies such as pure electric automobiles, hybrid electric automobiles, fuel cell automobiles and the like appear, so that the transformation and upgrading of the energy utilization of the automobiles are quickened. The hybrid electric vehicle obtains the favor of various vehicle manufacturers and consumers by means of the mature technology, the convenient energy acquisition mode and the driving mileage comparable to the traditional vehicle, and becomes one of the main directions of the development of the current new energy vehicle.
Along with the improvement of energy conservation and environmental protection consciousness, the strict requirements of people on energy consumption and emission are not limited to passenger vehicles and commercial vehicles, and higher requirements on energy consumption and emission of special vehicles are also provided. Since the innovation is opened, the urban process of China is gradually accelerated, the problem of urban road cleaning is also unavoidable, and the problem of environmental sanitation vehicles is greatly improved. Compared with sanitation workers, the sanitation work vehicle has high cleaning efficiency, and is approved by people.
However, most of the sanitation operation vehicles at present are in a structure that a chassis independently operates, and an upper mounting part is formed by driving a fan and a high-pressure water pump to work by an independent engine, so that the cleaning function of the whole vehicle is realized. The two are independent of each other and have no direct relation. This results in two problems that are detrimental to the economy of operation (driving and sweeping). On the other hand, the sanitation operation vehicle has lower running speed, generally 3-20 km/h. In order to meet the power requirements for cleaning and transition, the chassis engine is generally large in power selection, so that when the chassis engine runs at a low speed, the load rate of the chassis engine is low, the working point is far away from the optimal fuel consumption rate interval, power waste is caused, and the fuel economy is poor. On the other hand, when the vehicle is driven at a high speed in transition, although the load rate of the chassis engine is higher, the driving fuel economy is better, but the power source of the auxiliary engine provided with the driving fan and the high-pressure water pump belongs to useless load, the load of the whole vehicle is increased, the fuel of the vehicle is consumed in a white way, and the transportation efficiency is reduced. In addition, both the chassis engine and the upper auxiliary engine are mechanically connected with the load (wheels for the chassis engine and cleaning devices such as a fan and a high-pressure water pump for the upper auxiliary engine) respectively during operation, so mechanical decoupling is not realized, the working points of the chassis engine and the upper auxiliary engine are changed due to the load operation state, the working points of the chassis engine and the upper auxiliary engine cannot be adjusted to improve fuel economy, and when the chassis engine and the upper auxiliary engine respectively meet high-power requirements, no additional power source is used for providing auxiliary power input for the chassis engine and the upper auxiliary engine, so the defects of high energy consumption, high noise and poor emission are caused. Therefore, in consideration of the problems of energy conservation and environmental protection, the development of the sanitation work vehicle with the novel dynamic device becomes a necessary trend of development.
At present, some companies and related universities in the industry have been designing and developing new dynamic device sanitation vehicles, and have achieved some achievements, such as: the patent with publication number CN102383388A discloses a hybrid power driving system of a large road sweeper, which only needs one internal combustion engine, adopts engine to drive the upper part to operate and simultaneously drive the chassis to operate in an operation mode, adopts the engine to independently drive the hybrid power sanitation working vehicle of the chassis to operate in a transition mode, can enable the engine to operate in a high-efficiency area, improves the load rate of the engine and reduces the oil consumption; the patent with the publication number of CN102704427A discloses a hybrid power sweeper, which is used for realizing the operation of driving a chassis by an engine in an operation mode, driving a motor to perform loading operation, and independently driving the chassis by the engine in a transition mode and simultaneously charging a battery pack, so that the engine can work in a high-efficiency interval in the transition mode; the patent with the publication number of CN104527403A discloses a power driving system of a large-scale oil-electricity hybrid road sweeper and a control strategy thereof, wherein the technical power system only needs one engine with the power equal to that of an original vehicle auxiliary engine, so that the engine is used for driving the upper-loading operation in an operation mode, a chassis is driven to operate by a motor, and the hybrid sanitation operation vehicle configuration driven by parallel hybrid power is adopted in a transition mode, thereby improving the load rate of the engine and the fuel economy; the 'matching and design of a power battery system of a plug-in hybrid power sweeper' article 1671-7988 (2013) 07-52-03 published by the technical journal of the automobile realizes that a storage battery is adopted to drive an upper assembly to operate in an operation mode, an engine is adopted to drive a chassis to operate, and a hybrid power sanitation operation vehicle driven by parallel hybrid power is adopted in a transition mode, so that the size of the engine is reduced, the quality of the whole automobile is reduced, and meanwhile, the engine in the transition mode is ensured to operate in a more ideal working interval; the patent with the publication number of CN204738260U discloses a power system, a sweeper and a hybrid power system for cleaning, which realizes that an engine drives an upper assembly operation in an operation mode, a motor drives a chassis to operate, and the hybrid power sanitation operation vehicle with the motor driving the chassis to operate in a transition mode, so that the engine works in a high-efficiency interval, the zero emission is realized in the transition mode, and the starting and stopping are rapid; a new energy sanitation operation vehicle, D-zero, is provided by Italy road treasures company. D-zero is a pure electric sanitation operation vehicle, has the advantages of zero operation difficulty, convenient charging, zero emission and small noise, can greatly reduce exhaust emission and reduce air pollution, but the operation vehicle is a small sanitation operation vehicle, has limited cleaning capacity, has higher requirements on battery performance in a pure electric driving mode, and still does not solve the problem of the energy density of the battery well at present, so that the application difficulty of the pure electric driving mode on the medium and large sanitation operation vehicle is higher.
Disclosure of Invention
The invention provides a loading and walking hybrid driving sanitation operation vehicle, which solves the defects of the prior art, provides different power driving methods according to two different working modes and ensures the efficient operation of an engine.
The invention also provides a control method of the loading and walking hybrid driving sanitation operation vehicle, which is driven by the engine and the loading motor in a transition mode, so that the power of the engine can be reduced and matched, and the engine can be used for providing stable driving power.
The technical scheme provided by the invention is as follows: a loading and walking hybrid drive sanitation vehicle comprising:
an engine having an output shaft on which a gear is fixed;
the driving axle is connected with the output shaft, and two ends of the driving axle are connected with driving wheels;
a generator having a drive shaft;
a first spline hub coaxially fixed to the drive shaft;
the first idler gear is sleeved on the transmission shaft and meshed with the gear;
the first outer gear ring is fixedly arranged in the first idler gear;
a first engagement sleeve slidably connected to the first spline hub, the first engagement sleeve being axially movable into and out of selective engagement with the first outer gear ring;
a top-mounted motor electrically connected to the generator;
a battery electrically connected to the upper motor;
the input end of the planetary gear reduction mechanism is fixedly connected with the output end of the upper motor, and the planetary gear reduction mechanism comprises a planet carrier gear;
a second spline hub fixed to a middle portion of the output shaft;
the second idler gear is sleeved on the output shaft and meshed with the planet carrier gear;
the second outer gear ring is fixedly arranged inside the second outer gear ring;
a second engagement sleeve slidably connected to the second spline hub, the second engagement sleeve being axially movable into and out of selective engagement with the second external gear ring;
and the working device is fixed at the output end of the planetary gear speed reduction mechanism.
Preferably, the working device includes: the device comprises a fan, a high-pressure water pump and a sweeping device;
wherein the brushing device comprises:
the input end of the gear pump is connected with the output end of the planetary gear reduction mechanism;
the input end of the cycloid motor is connected with the output end of the gear pump;
and the input end of the brushing mechanism is connected with the output end of the cycloid motor.
Preferably, the method further comprises:
a clutch provided between an output end of the engine and the gear;
a transmission disposed between the second idler gear and the drive axle.
And a centrifugal automatic clutch provided between the planetary gear reduction mechanism and the working device.
Preferably, the planetary gear reduction mechanism further includes:
housing body
The outer part of the planet carrier is fixedly connected with the planet carrier gear, and one end of the planet carrier is fixedly connected with the centrifugal automatic clutch;
and the center of the sun gear is connected with the output end of the upper motor.
An inner gear ring fixed on the housing;
and the planet gears are rotatably supported at the other end of the planet carrier, uniformly arranged between the sun gear and the annular gear and meshed with the sun gear and the annular gear respectively.
Preferably, the method further comprises:
and a hydraulic line connecting the gear pump and the gerotor motor.
A control method of a loading and walking hybrid driving sanitation operation vehicle comprises the following steps:
when T is t ＜0，SOC＜SOC max When the engine and the generator do not work, the upper motor generates electricity; wherein T is t The SOC is the residual electric quantity of the battery, and is the total driving torque; SOC (State of Charge) max The maximum residual capacity of the battery;
T t ＜T e_min ，SOC av ＜SOC≤SOC max when the engine is in operation, the engine is driven by the battery to operate, and the upper motor is driven by the engine; wherein T is e_min Lower drive torque limit for optimal operating range of engine given rotational speed, SOC av Setting a charge-discharge limit;
when T is t ＜T e_min ，SOC min ＜SOC≤SOC av When the engine and the generator work, the upper motor does not work; SOC (State of Charge) min The minimum residual capacity of the battery is set;
when T is t ＜T e_min ，SOC≤SOC min When the engine and the generator work, the upper motor does not work;
when T is e_min ≤T t ≤T e_max ，SOC av ≤SOC≤SOC max When the engine and the generator work, the upper motor does not work; wherein T is e_max An upper drive torque limit for an optimal operating range for a given engine speed;
when T is t ＞T e_max ，SOC min ＜SOC≤SOC max When the engine is started, the first connecting sleeve is connected with the first external gear ring, the second connecting sleeve is connected with the second external gear ring, the engine and the upper motor work, and the generator does not work;
when T is t ＞T e_max ，SOC＜SOC min When the engine is started, the first joint sleeve is disconnected with the first outer gear ring, the second joint sleeve is disconnected with the second outer gear ring, the engine works, and the generator and the upper motor do not work.
Preferably, the charge-discharge limit SOC av The method meets the following conditions:
Figure BDA0002107715130000051
preferably, the residual battery power is measured in real time based on a Kalman filtering method.
Preferably, when T t ＜T e_min ，SOC min ＜SOC≤SOC av Or T t ＜T e_min ，SOC≤SOC min Or T e-min ≤T t ≤T e_max ，SOC＜SOC av When the engine supplies power P to the generator e_g The method comprises the following steps:
P e_g ＝(T e_max -T t )n e
wherein T is e_max N is the output torque of the engine e Is the output rotational speed of the engine.
Preferably, when T t ＞T e_max ，SOC min ＜SOC≤SOC max At the time, the output torque T of the upper motor m The method comprises the following steps:
T m ＝T t -T e_max 。
the beneficial effects of the invention are as follows:
1. the loading and walking hybrid driving sanitation operation vehicle provided by the invention eliminates the auxiliary engine with poor emission performance of the traditional sanitation operation vehicle, thereby reducing emission, noise and environmental pollution in the operation working condition.
2. According to the loading and walking hybrid driving sanitation operation vehicle, in the operation mode, the chassis engine can drive the vehicle to walk at a low speed and simultaneously provide power input for the loading cleaning operation device or charge the battery by driving the loading generator to generate electricity, so that the loading rate of the chassis engine is improved, and the chassis engine can be always in an optimal operation region under the operation mode by reasonably matching the displacement and power of the engine due to stable working condition during cleaning operation.
3. According to the upper assembly and walking hybrid driving sanitation operation vehicle, under the operation mode, the auxiliary engine power device is abandoned, and the vehicle is driven by pure electric instead, so that the vehicle is small in noise, free of disturbance and pollution, and very suitable for cleaning operation tasks at night or in the early morning.
4. The loading and walking hybrid driving sanitation operation vehicle is driven by the engine and the loading motor together in a transition mode, so that the power of the engine can be reduced and matched, the engine is used for providing stable driving power demand, and the peak clipping and valley filling effects on the stable output power of the engine are realized by means of the loading battery pure electric driving/generating system when the electric quantity is sufficient. The problem that the power consumption of the vehicle is unnecessarily increased only by taking the upper driving system as a load in a transition mode is avoided, meanwhile, the load rate of the engine is increased due to the fact that the engine with smaller power is selected, and the engine is stable in working condition and good in fuel economy due to the fact that a hybrid driving scheme is adopted.
5. In the operation mode of the upper loading and walking hybrid driving sanitation operation vehicle, the maximum required power mainly comes from an upper loading operation system, so that the upper loading operation system can not only work in a pure electric power battery driving mode, but also adopt an engine and power battery hybrid driving mode according to the quantity of electric quantity of a battery; and the chassis is driven by only adopting an engine to drive only because the required power is low. In the transition mode, the required power is all from the chassis drive system, and therefore the chassis drive adopts the engine and motor hybrid drive mode. The power battery capacity and the engine size can be reduced through reasonable type selection, so that the maximum utilization of energy is achieved, the size of a driving system is reduced, the arrangement space is saved, the cost is reduced, and the quality of the whole vehicle is reduced.
Drawings
FIG. 1 is a schematic diagram of the power system of the loading and walking hybrid drive sanitation vehicle of the invention.
Fig. 2 is a diagram of electrical connection relation between the upper assembly and the walking hybrid driving sanitation work vehicle.
Fig. 3 is a control flow chart of the invention in the transition mode of the loading and walking hybrid driving sanitation work vehicle.
Fig. 4 is a control flow chart of the invention in the working mode of the loading and walking hybrid driving sanitation working vehicle.
Fig. 5 is a diagram of an engine working area of the upper assembly and walking hybrid driving sanitation work vehicle.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1-3, the invention relates to a loading and walking hybrid driving sanitation vehicle for a hybrid sanitation vehicle and a control method thereof. The power driving system of the loading and walking hybrid driving sanitation operation vehicle can select different power transmission modes of the sanitation operation vehicle under the transition working condition and the operation working condition through the mode switching button operated by a driver. The power system of the sanitation work vehicle mainly comprises a chassis running system 700 and an upper-loading work system 800. The chassis running system 700 is composed of an engine 100, a clutch 101, a gear 102, a transmission 103, a transaxle 104, driving wheels 105, and a second mode switching device 300. The upper operating system 800 is composed of a first mode switching device 200, a generator 401, an upper motor 402, a battery 403, a sprinkling motor 404, a planetary gear reduction mechanism 500, a centrifugal automatic clutch 601, a fan 602, a gear pump 603, a cycloid motor 604, a brushing mechanism 605 and a high-pressure water pump 606.
In the chassis running system 700, the crankshaft output of the engine 100 is mechanically connected to the driving disk of the clutch 101. The second mode switching device 300 is composed of a second idler gear 301, a second external ring gear 302, a second coupling sleeve 303, and a second spline hub 304. The second idler gear 301 is sleeved on the transmission shaft, the second outer gear ring 302 is fixedly connected with the second idler gear 301, the driven disc of the clutch 101 is mechanically connected with the gear 102 and the second spline hub 304, the second engagement sleeve 303 is provided with sliding inner splines, the second outer gear ring 302 is provided with sliding outer splines by means of processing, the second engagement sleeve 303 and the second spline hub 304 are always in a sliding connection state, the second engagement sleeve 303 can axially move, the second engagement sleeve 303 moves right to be engaged with the second outer gear ring 302, and the second engagement sleeve 303 moves left to be disconnected with the second outer gear ring 302. The second spline hub 304 of the second mode switching device 300 is fixedly connected with the input end of the transmission 103, the output end of the transmission 103 is mechanically connected with the drive axle 104, and the drive axle 104 is further mechanically connected with the driving wheels 105 on the left and right sides.
In the upper working system 800, the first mode switching device 200 is composed of a first idler gear 201, a first external gear ring 202, a first engagement sleeve 203 and a first spline hub 204. The first idler gear 201 is sleeved on the transmission shaft, the first idler gear 201 is always meshed with the gear 102 of the chassis running system 700, the first idler gear 201 is fixedly connected with the first outer gear ring 202, the first engagement sleeve 203 is machined with sliding inner splines, the first outer gear ring 202 is engaged with the first spline hub 204 and is machined with sliding outer splines, the first engagement sleeve 203 and the first spline hub 204 are always in a sliding connection state, the first engagement sleeve 203 can axially move, the first engagement sleeve 203 moves leftwards to be engaged with the first outer gear ring 202, and the first engagement sleeve 203 moves rightwards to be disconnected with the first outer gear ring 202. The first spline hub 204 is mechanically connected to the input of the generator 401. The electric wire connection mode is adopted between the generator 401 and the upper motor 402, between the generator 401 and the water spraying motor 404 and between the generator 401 and the battery 403, and the electric wire connection mode is adopted between the battery 403 and the upper motor 402 and between the battery 403 and the water spraying motor 404. The planetary gear reduction mechanism 500 is composed of a sun gear 501, a planetary gear 502, a carrier 503, an inner gear ring 504, and a carrier gear 505. The output end of the upper motor 402 is mechanically connected with the sun gear 501 of the planetary gear reduction mechanism 500, the inner gear ring 504 of the planetary gear reduction mechanism 500 is fixed on the shell, the planet carrier 503 of the planetary gear reduction mechanism 500 is fixedly connected with the planet carrier gear 505, and the planet carrier gear 505 is in constant mesh with the second idler gear 301; three planetary gears 502 are uniformly distributed between a sun gear 501 and an inner gear ring 504 of the planetary gear reduction mechanism 500 and are respectively meshed with the sun gear 501 and the inner gear ring 504; the three planetary gears 502 are rotatably supported on planetary gear shafts in the centers of the planetary gears, and the planetary gear shafts are fixedly connected with a planetary carrier 503 of the planetary gear reduction mechanism 500; the planet carrier 503 of the planetary gear reduction mechanism 500 is mechanically connected with the input end of the centrifugal automatic clutch 601, the output end of the centrifugal automatic clutch 601 is mechanically connected with the fan 602, the gear pump 603 and the high-pressure water pump 606, the gear pump 603 is connected with the cycloid motor 604 through a hydraulic pipeline, and the cycloid motor 604 is mechanically connected with the brushing mechanism 605.
As shown in fig. 4 and table 1, the control program flow of the loading and walking hybrid driving sanitation vehicle and the control method thereof in the transition mode specifically comprises the following steps:
after power-on, initializing a whole vehicle controller of the sanitation operation vehicle, completing a self-checking process, reading mode switching control parameters, and comprising the following steps: lower limit SOC of battery SOC min And upper limit SOC max The values are shown in Table 3, and the charge and discharge limit value SOC av Engine universal characteristic (stored in program in form of data table) driving torque lower limit T of optimum working interval of engine given rotation speed e_min And an upper drive torque limit T e_max . The invention sets the charge-discharge limit SOC av The method comprises the following steps:
Figure BDA0002107715130000091
a Vehicle Control Unit (VCU) acquires control signals in real time through a sensor, wherein the mode switching control strategy is stored in the vehicle control unit, and the sensor comprises: pedal displacement sensor, vehicle speed sensor, battery energy management system. The pedal displacement sensor is respectively arranged at an accelerator pedal and a brake pedal, the vehicle speed sensor is arranged at a wheel, the battery energy management system is arranged near a battery, a battery SOC estimation module is arranged in the battery energy management system, the pedal displacement sensor, the vehicle speed sensor and the battery energy management system transmit pedal displacement signals, vehicle speed signals and estimated battery SOC values to the VCU through a CAN bus, the VCU calculates total required torque according to the pedal displacement signals and the vehicle speed signals, and transmits processed signals to a mode switching device controller through the CAN bus, and the mode switching device controller completes control of a mode switching device I and a mode switching device II according to the VCU signals.
And deciding a power distribution mode of the power system under the current working condition according to a control signal obtained by the whole vehicle controller, and completing mode switching operation through the mode switching device controller and the corresponding mode switching devices I and II. The method comprises the following steps:
1) When T is t ＜0，SOC＜SOC max . The first coupling sleeve 203 of the first mode switching device 200 moves to the right and the second coupling sleeve 303 of the second mode switching device 300 moves to the right. The engine 100 is not involved in driving, the generator 401 is in a stopped state, the upper motor 402 is in a power generation mode, braking energy passes through the drive axle 104, the transmission 103, and the planetary gear reduction device 500 drives the upper motor 402 to operate in the power generation mode, so that the battery 403 is charged, and at this time, the engine output torque is 0.
2)T t ＜T e_min ，SOC av ＜SOC≤SOC max . The first coupling sleeve 203 of the first mode switching device 200 moves to the right, the second coupling sleeve 303 of the second mode switching device 300 moves to the right, the engine 100 stops operating, the battery 403 alone drives the upper motor 402 to operate, and the generated power is used for the vehicle to travel.
3)T t ＜T e_min ，SOC min ＜SOC≤SOC av . The first coupling sleeve 203 of the first mode switching device 200 moves leftwards, the second coupling sleeve 303 of the second mode switching device 300 moves leftwards, the driving system power of the sanitation work vehicle is provided by the engine 100, meanwhile, the engine 100 drives the generator 401 to work, the generated electric energy charges the battery 403, and the upper motor 402 stops working. At this time, the output torque of the engine 100 is T e_min The power provided to the generator 401 is: p (P) e_g ＝(T e-min -T t )n e Wherein n is e (r/min) is the output rotational speed of the engine 100.
4)T t ＜T e_min ，SOC≤SOC min . The first coupling sleeve 203 of the first mode switching device 200 moves left and the second coupling sleeve 303 of the second mode switching device 300 moves left. The power of the running system of the sanitation work vehicle is provided by the engine 100, meanwhile, part of the power of the engine 100 drives the generator 401 through the first mode switching device 200, the generated electric energy charges the battery 403, the upper motor 402 stops working, and at the moment, the output torque of the engine 100 is T e_max The power provided by engine 100 to generator 401 is: p (P) e-g ＝(T e-max -T t )n e 。
5)T e_min ≤T t ≤T e_max ，SOC av ≤SOC≤SOC max . The first coupling sleeve 203 of the first mode switching device 200 moves right and the second coupling sleeve 303 of the second mode switching device 300 moves left. Engine 100 is powered by clutch 101, transmission 103, drive axle 104, drive wheel 105 to drive the sanitation vehicle, and generator 401 and upper motor 402 are in a stop state. At this time, the engine 100 outputs torque T t 。
6)T e_min ≤T t ≤T e_max ，SOC＜SOC av . Mode switching device I200, the first coupling sleeve 203 is moved left and the second coupling sleeve 303 of the second mode switching device 300 is moved left. Part of the power of the engine 100 passes through the clutch 101, the transmission 103, the drive axle 104 to the drive wheel 105 to drive the sanitation vehicle to run, and the other part of the power passes through the mode switching device one 200 to drive the generator 401 to generate electricity, the generated electricity charges the battery 403, the upper motor 402 is in a stop state, and the output torque of the engine 100 is T e_max The power provided by engine 100 to generator 401 is: p (P) e_g ＝(T e_max -T t )n e 。
7)T t ＞T e_max ，SOC min ＜SOC≤SOC max . The first coupling sleeve 203 of the first mode switching device 200 moves to the right and the second coupling sleeve 303 of the second mode switching device 300 moves to the right. The generator 401 stops working, the battery 403 provides driving power for the upper motor 402, and the output torque of the upper motor 402 is coupled with the output torque of the engine 100 after being decelerated by the planetary gear reduction mechanism 500, and the coupling torque passes through the transmission 103, the driving axle 104 to the driving wheels 105, so that the sanitation work vehicle is driven to run. At this time, the output torque of the engine 100 is T e_max The output torque of the upper motor is T m ＝T t -T e_max 。
8)T t ＞T e_max ，SOC＜SOC min . The first coupling sleeve 203 of the first mode switching device 200 moves right and the second coupling sleeve 303 of the second mode switching device 300 moves left. The generator 401 stops working, the battery 403 does not output electric energy, the upper motor 402 is in a stop state, the engine 100 independently drives the sanitation work vehicle to operate, and at the moment, the output torque of the engine 100 is T t 。
TABLE 1 control strategy in transition mode
Figure BDA0002107715130000111
As shown in fig. 5 and table 2, the control program flow of the loading and walking hybrid driving sanitation operation vehicle and the control method thereof in the operation mode specifically comprises the following steps:
after power-on, initializing a whole vehicle controller of the sanitation operation vehicle, completing a self-checking process, reading mode switching control parameters, and comprising the following steps: lower limit SOC of battery SOC min And upper limit SOC max The values are shown in Table 3. Engine universal characteristic curve, driving torque lower limit T of optimum working interval of engine given rotating speed e_min And an upper drive torque limit T e_max 。
A Vehicle Control Unit (VCU) acquires control signals in real time through a sensor, wherein the mode switching control strategy is stored in the vehicle control unit, and the sensor comprises: pedal displacement sensor, vehicle speed sensor, battery energy management system. The pedal displacement sensor is respectively arranged at an accelerator pedal and a brake pedal, the vehicle speed sensor is arranged at a wheel, the battery energy management system is arranged near a battery, a battery SOC estimation module is arranged in the battery energy management system, the pedal displacement sensor, the vehicle speed sensor and the battery energy management system respectively transmit pedal displacement signals, vehicle speed signals and estimated battery SOC values to the VCU through a CAN bus, and the VCU calculates total required torque T according to the pedal displacement signals and the vehicle speed signals t And transmitting the processed signals to a mode switching device controller through a CAN bus, wherein the mode switching device controller completes control of a mode switching device I and a mode switching device II according to VCU signals.
And deciding a power distribution mode of the power system under the current working condition according to a control signal obtained by the whole vehicle controller, and completing mode switching operation through the mode switching device controller and the corresponding mode switching devices I and II. The method comprises the following steps:
1)SOC min ＜SOC≤SOC max . The first coupling sleeve 203 of the first mode switching device 200 moves left and the second coupling sleeve 303 of the second mode switching device 300 moves left. Part of the power of the engine 100 drives the sanitation work vehicle to run through the clutch 101, the transmission 103, the drive axle 104 and the drive wheels 105, and the torque provided by the engine 100 for chassis running is T t . At the same time, another part of engine 100 drives generator 401 to generate electric energy and battery 403 is used for drivingThe upper bound motor 402 operates to power the upper bound. At this time, the engine 100 outputs torque T e_min Engine 100 is lifted for generator 401
The power supplied is: p (P) e-g ＝(T e-min -T t )n e 。
2)SOC≤SOC min . The first coupling sleeve 203 of the first mode switching device 200 moves left and the second coupling sleeve 303 of the second mode switching device 300 moves left. Part of the power of the engine 100 drives the sanitation work vehicle to run through the clutch 101, the transmission 103, the drive axle 104 and the drive wheels 105, and the torque provided by the engine for chassis running is T t . Meanwhile, the other part of the engine 100 drives the generator 401 to generate electric energy to charge the battery 403, and simultaneously drives the upper motor 402 to supply power for the fan 602 and the gear pump 603 to operate, and at the moment, the high-pressure water pump 606 needs to be turned off, so that the engine 100 can still work in a high-efficiency interval range. At this time, the output torque of the engine 100 is T e_max The power provided by engine 100 to generator 401 is: p (P) e_g ＝(T e-max -T t )n e 。
In another embodiment SOC min Has a value of 0.3, SOC max The value of (2) is 0.9.
Table 2 control strategy in operation mode
SOC min ＜SOC≤SOC max T e ＝T e_o ；P e_g ＝(T e-o -T t )n e ；T t ＝T w-n
SOC≤SOC min T e ＝T e-max ；P e-g ＝(T e-max -T t )n e ；T t ＝T w-n
TABLE 3 design of reference values for variable thresholds
Variable threshold Reference value
SOC min 0.3
SOC max 0.9
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims (8)

1. The utility model provides a facial make-up and walking hybrid drive sanitation operation car which characterized in that includes:
an engine having an output shaft on which a gear is fixed;
the driving axle is connected with the output shaft, and two ends of the driving axle are connected with driving wheels;
a generator having a drive shaft;
a first spline hub coaxially fixed to the drive shaft;
the first idler gear is sleeved on the transmission shaft and meshed with the gear;
the first outer gear ring is fixedly arranged in the first idler gear;
a first engagement sleeve slidably connected to the first spline hub, the first engagement sleeve being axially movable into and out of selective engagement with the first outer gear ring;
a top-mounted motor electrically connected to the generator;
a battery electrically connected to the upper motor;
the input end of the planetary gear reduction mechanism is fixedly connected with the output end of the upper motor, and the planetary gear reduction mechanism comprises a planet carrier gear;
a second spline hub fixed to a middle portion of the output shaft;
the second idler gear is sleeved on the output shaft and meshed with the planet carrier gear;
the second outer gear ring is fixedly arranged in the second idler gear;
a second engagement sleeve slidably connected to the second spline hub, the second engagement sleeve being axially movable into and out of selective engagement with the second external gear ring;
a working device fixed to an output end of the planetary gear reduction mechanism;
a clutch provided between an output end of the engine and the gear;
a transmission disposed between the second idler gear and the transaxle;
a centrifugal automatic clutch provided between the planetary gear reduction mechanism and the working device;
the planetary gear reduction mechanism further includes:
housing body
The outer part of the planet carrier is fixedly connected with the planet carrier gear, and one end of the planet carrier is fixedly connected with the centrifugal automatic clutch;
the center of the sun gear is connected with the output end of the upper motor;
an inner gear ring fixed on the housing;
and the planet gears are rotatably supported at the other end of the planet carrier, uniformly arranged between the sun gear and the annular gear and meshed with the sun gear and the annular gear respectively.
2. The hybrid loading and walking sanitation truck of claim 1, wherein,
the working device includes: the device comprises a fan, a high-pressure water pump and a sweeping device;
wherein, the sweeping device includes:
the input end of the gear pump is connected with the output end of the planetary gear reduction mechanism;
the input end of the cycloid motor is connected with the output end of the gear pump;
and the input end of the brushing mechanism is connected with the output end of the cycloid motor.
3. The hybrid on-board and walk-behind sanitation vehicle of claim 2, further comprising:
and a hydraulic line connecting the gear pump and the gerotor motor.
4. A control method of a loading and walking hybrid drive sanitation work vehicle, comprising the loading and walking hybrid drive sanitation work vehicle according to claim 1; characterized by comprising the following steps:
when T is t <0，SOC<SOC max When the engine and the generator do not work, the upper motor generates electricity; wherein T is t The SOC is the residual electric quantity of the battery, and is the total driving torque; SOC (State of Charge) max The maximum residual capacity of the battery;
T t <T e-min ，SOC av <SOC≤SOC max when the engine is in operation, the engine is driven by the battery to operate, and the upper motor is driven by the engine; wherein,,T e-min lower drive torque limit for optimal operating range of engine given rotational speed, SOC av Setting a charge-discharge limit;
when T is t <T e-min ，SOC min <SOC≤SOC av When the engine and the generator work, the upper motor does not work; SOC (State of Charge) min The minimum residual capacity of the battery is set;
when T is t <T e-min ，SOC≤SOC min When the engine and the generator work, the upper motor does not work;
when T is e-min ≤T t ≤T e-max ，SOC av ≤SOC≤SOC max When the engine and the generator work, the upper motor does not work; wherein T is e-max An upper drive torque limit for an optimal operating range for a given engine speed;
when T is t >T e-max ，SOC min <SOC≤SOC max When the engine is started, the first connecting sleeve is connected with the first external gear ring, the second connecting sleeve is connected with the second external gear ring, the engine and the upper motor work, and the generator does not work;
when T is t >T e-max ，SOC<SOC min When the engine is started, the first joint sleeve is disconnected with the first outer gear ring, the second joint sleeve is disconnected with the second outer gear ring, the engine works, and the generator and the upper motor do not work.
5. The method for controlling a hybrid loading and traveling sanitation truck according to claim 4, wherein the charge-discharge limit SOC av The method meets the following conditions:
Figure FDA0004176096860000031
6. the method for controlling the loading and walking hybrid drive sanitation vehicle according to claim 5, wherein the residual electric quantity of the battery is measured in real time based on a Kalman filtering method.
7. The method for controlling a hybrid loading and traveling driven sanitation truck as claimed in claim 6, wherein,
when T is t <T e-min ，SOC min <SOC≤SOC av Or T t <T e-min ，SOC≤SOC min Or T e-min ≤T t ≤T e-max ，SOC<SOC av When the engine supplies power P to the generator e-g The method comprises the following steps:
P e-g ＝(T e-max -T t )n e
wherein T is e-max N is the output torque of the engine e Is the output rotational speed of the engine.
8. The method for controlling a hybrid loading and traveling driven sanitation truck as claimed in claim 7, wherein,
when T is t >T e-max ，SOC min ＜SOC≤SOC max At the time, the output torque T of the upper motor m The method comprises the following steps:
T m ＝T t -T e_max 。
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