CN111890950A - Tractor driving device and tractor driving method - Google Patents

Tractor driving device and tractor driving method Download PDF

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Publication number
CN111890950A
CN111890950A CN202010774451.6A CN202010774451A CN111890950A CN 111890950 A CN111890950 A CN 111890950A CN 202010774451 A CN202010774451 A CN 202010774451A CN 111890950 A CN111890950 A CN 111890950A
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China
Prior art keywords
motor
power output
clutch
tractor
controls
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CN202010774451.6A
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Chinese (zh)
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CN111890950B (en
Inventor
洪智
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Nanjing Sikaiqi Automobile Technology Co ltd
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Nanjing Sikaiqi Automobile Technology Co ltd
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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
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • 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
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The embodiment of the invention discloses a tractor driving device and a tractor driving method. The driving device comprises a walking motor, a clutch, a power output motor, a motor controller and a vehicle control unit, wherein a first output shaft of the walking motor is connected with a first end of the clutch, a second output shaft of the power output motor is connected with a second end of the clutch, the walking motor is used for providing driving torque for a walking mechanism of a tractor, the power output motor is used for providing driving torque for a power output transmission mechanism of the tractor, the vehicle control unit is respectively connected with the motor controller and the clutch, the motor controller is respectively connected with the walking motor and the power output motor, the vehicle control unit is used for receiving working mode signals, the working state of the clutch is controlled according to the working mode signals, and the working states of the walking motor and the power output motor are controlled through the motor controller. The technical scheme provided by the embodiment of the invention meets the requirements of the tractor on cleanness, no pollution and large torque.

Description

Tractor driving device and tractor driving method
Technical Field
The embodiment of the invention relates to the technical field of new energy, in particular to a tractor driving device and a tractor driving method.
Background
The traditional tractor generally adopts diesel power, and air pollution and oil consumption caused by working are more and more serious, and especially when the tractor works in scenes such as an orchard, a greenhouse and the like, the pollution to fruits and vegetables is more prominent. The driving motor of the existing new energy tractor is difficult to meet the requirement of the tractor for large torque due to insufficient power.
The problem that the existing driving motor of the new energy tractor is difficult to meet the requirement of the tractor for large torque becomes urgent need to be solved in the industry.
Disclosure of Invention
The embodiment of the invention provides a tractor driving device and a tractor driving method, and aims to solve the problem that a driving motor of an existing new energy tractor cannot meet the requirement of the tractor on large torque.
In order to realize the technical problem, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a tractor driving device, including: the system comprises a walking motor, a clutch, a power output motor, a motor controller and a whole vehicle controller;
the walking motor comprises a first output shaft; the clutch includes a first end and a second end; the power output motor comprises a second output shaft; the first output shaft of the walking motor is connected with the first end of the clutch; a second output shaft of the power output motor is connected with a second end of the clutch; the walking motor is used for providing driving torque for a walking mechanism of the tractor, and the power output motor is used for providing driving torque for a power output transmission mechanism of the tractor;
the vehicle control unit is respectively connected with the motor controller and the clutch, the motor controller is respectively connected with the walking motor and the power output motor, and the vehicle control unit is used for receiving the working mode signal, controlling the working state of the clutch according to the working mode signal and controlling the working states of the walking motor and the power output motor through the motor controller.
Further, when the working mode signal is a normal running mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to stop acting through the motor controller, and controls the running motor to provide driving torque for the running mechanism of the tractor;
when the working mode signal is a rotary tillage mode signal or a weeding mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to provide driving torque for the power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to provide driving torque for the walking mechanism of the tractor;
when the working mode signal is a goods traction mode signal or a plowing mode signal, the vehicle control unit controls the clutch to be attracted, controls the power output motor to output the coupling torque of the power output motor and the walking motor to the power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to output the coupling torque of the power output motor and the walking motor to the walking mechanism of the tractor;
when the working mode signal is a first parking fixed output mode signal, the vehicle control unit controls the clutch to suck, and controls the power output motor to output the coupling torque of the power output motor and the walking motor to the power output transmission mechanism of the tractor through the motor controller;
when the working mode signal is a second parking fixed output mode signal, the vehicle control unit controls the clutch to be separated, and controls the power output motor to provide driving torque for the power output transmission mechanism of the tractor through the motor controller.
Furthermore, the traveling motor also comprises a third output shaft, and the third output shaft of the traveling motor is connected with a traveling mechanism of the tractor;
the power output motor also comprises a fourth output shaft, and the fourth output shaft of the power output motor is connected with a power output transmission mechanism of the tractor.
Further, the driving device further comprises: a first spline, a second spline, a third spline, and a fourth spline;
a third output shaft of the traveling motor is connected with a traveling mechanism of the tractor through a first spline; a first output shaft of the walking motor is connected with the first end of the clutch through a second spline;
a second output shaft of the power output motor is connected with the second end of the clutch through a third spline; and a fourth output shaft of the power output motor is connected with a power output transmission mechanism of the tractor through a fourth spline.
Furthermore, the walking motor and the power output motor are both disc motors.
Further, the clutch comprises a pneumatic clutch, and the vehicle control unit is used for controlling the pneumatic clutch to be engaged or disengaged by controlling the working state of an air pump matched with the pneumatic clutch.
Furthermore, the clutch comprises an electromagnetic clutch, and the vehicle control unit is used for sending an electric signal to the electromagnetic clutch to control the electromagnetic clutch to be closed or separated.
In a second aspect, an embodiment of the present invention further provides a driving method of a tractor, where the tractor includes: the system comprises a walking motor, a clutch, a power output motor, a motor controller and a whole vehicle controller;
the walking motor comprises a first output shaft; the clutch includes a first end and a second end; the power output motor comprises a second output shaft; a first output shaft of the walking motor is connected with a first end of the clutch; a second output shaft of the power output motor is connected with a second end of the clutch; the walking motor is used for providing driving torque for a walking mechanism of the tractor, and the power output motor is used for providing driving torque for a power output transmission mechanism of the tractor; the whole vehicle controller is respectively connected with the motor controller and the clutch, and the motor controller is respectively connected with the walking motor and the power output motor;
the method comprises the following steps:
the vehicle control unit receives the working mode signal, controls the working state of the clutch according to the working mode signal, and controls the working states of the walking motor and the power output motor through the motor controller;
the working modes comprise a normal driving mode, a goods traction mode, a ploughing mode, a rotary tillage mode, a weeding mode and a parking fixed output mode.
Further, vehicle control unit receives the mode signal, according to the mode signal, controls the operating condition of clutch to through the operating condition of motor controller control walking motor and power take off motor, include:
when the working mode signal is a normal running mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor not to act, and controls the running motor to provide driving torque for the running mechanism of the tractor through the motor controller;
when the working mode signal is a rotary tillage mode signal or a weeding mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to provide driving torque for the power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to provide driving torque for the walking mechanism of the tractor;
when the working mode signal is a goods traction mode signal or a plowing mode signal, the vehicle control unit controls the clutch to be attracted, controls the power output motor to output the coupling torque of the power output motor and the walking motor to the power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to output the coupling torque of the power output motor and the walking motor to the walking mechanism of the tractor;
when the working mode signal is a first parking fixed output mode signal, the vehicle control unit controls the clutch to suck, and controls the power output motor to output the coupling torque of the power output motor and the walking motor to the power output transmission mechanism of the tractor through the motor controller;
when the working mode signal is a second parking fixed output mode signal, the vehicle control unit controls the clutch to be separated, and controls the power output motor to provide driving torque for the power output transmission mechanism of the tractor through the motor controller.
The tractor driving device provided by the embodiment of the invention comprises a walking motor, a clutch, a power output motor, a motor controller and a whole vehicle controller; the walking motor comprises a first output shaft; the clutch includes a first end and a second end; the power output motor comprises a second output shaft; the first output shaft of the walking motor is connected with the first end of the clutch; a second output shaft of the power output motor is connected with a second end of the clutch; the walking motor is used for providing driving torque for a walking mechanism of the tractor, and the power output motor is used for providing driving torque for a power output transmission mechanism of the tractor; the vehicle control unit is respectively connected with the motor controller and the clutch, the motor controller is respectively connected with the walking motor and the power output motor, and the vehicle control unit is used for receiving the working mode signal, controlling the working state of the clutch according to the working mode signal and controlling the working states of the walking motor and the power output motor through the motor controller; the tractor comprises a tractor body, a working mode, a power supply control module and a power supply control module, wherein the working mode comprises a normal running mode, a goods traction mode, a ploughing mode, a rotary tillage mode, a weeding mode and a parking fixed output mode, a.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural view of a tractor driving apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of another tractor drive unit provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another tractor driving device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
As described in the background art, the tractor requires a clean and pollution-free working environment, the tractor has a small turning radius, the tractor has a complex and various driving paths, and the tractor can draw cargo containers, plough fields, weed weeds and other functions under various conditions, wherein the tractor is required to have a low speed and a large torque.
Fig. 1 is a schematic structural diagram of a tractor driving device according to an embodiment of the present invention. Referring to fig. 1, a tractor driving device 100 according to an embodiment of the present invention includes a traveling motor 1, a clutch 2, a power output motor 3, a motor controller 4, and a vehicle control unit 40, where the traveling motor 1 includes a first output shaft 11, the clutch 2 includes a first end 21 and a second end 22, the power output motor 3 includes a second output shaft 31, and the first output shaft 11 of the traveling motor 1 is connected to the first end 21 of the clutch 2; the second output shaft 31 of the power output motor 3 is connected with the second end 22 of the clutch 2, the walking motor 1 is used for providing driving torque for a walking mechanism of the tractor, the power output motor 3 is used for providing driving torque for a power output transmission mechanism of the tractor, the vehicle control unit 40 is respectively connected with the motor controller 4 and the clutch 2, the motor controller 4 is respectively connected with the walking motor 1 and the power output motor 3, the vehicle control unit 40 is used for receiving working mode signals, controlling the working state of the clutch 2 according to the working mode signals, and controlling the working states of the walking motor 1 and the power output motor 3 through the motor controller. The working modes comprise a normal driving mode, a goods traction mode, a ploughing mode, a rotary tillage mode, a weeding mode and a parking fixed output mode.
Specifically, the working states of the walking motor 1 and the power output motor 3 include output torque and non-output torque, and the working state of the clutch includes engagement and disengagement. The different operating modes of the tractor require different torques. The power output transmission mechanism can comprise a traction bearing shaft, a ploughing mechanism, a rotary tillage mechanism, a weeding mechanism and the like, the walking motor 1 provides driving torques required by the tractor in different working modes for the walking mechanism of the tractor, the power output motor 3 provides driving torques required by the tractor in different working modes for the power output transmission mechanism of the tractor, and the torques required by the tractor in different modes can be output by the walking motor 1 or the power output motor 3 independently or output by the walking motor 1 and the power output motor 3 in a coupling manner.
The vehicle control unit 40 may control the clutch 2 to be disengaged according to the received working mode signal, and then control the walking motor 1 to provide driving torque to the walking mechanism of the tractor alone by controlling the motor controller 4, and the power output motor 3 to provide driving torque to the power output transmission mechanism of the tractor alone, or the vehicle control unit 40 may control the clutch 2 to be engaged according to the received working mode signal, and then control the walking motor 1 to output the coupling torque of the walking motor 1 and the power output motor 3 to the walking mechanism of the tractor by controlling the motor controller 4, and the power output motor 3 outputs the coupling torque of the walking motor 1 and the power output motor 3 to the power output transmission mechanism.
The tractor driving device provided by the embodiment comprises a walking motor, a clutch, a power output motor, a motor controller and a whole vehicle controller, wherein a first output shaft of the walking motor is connected with a first end of the clutch, a second output shaft of the power output motor is connected with a second end of the clutch, the whole vehicle controller can control the clutch to separate according to working mode signals, and further respectively outputs driving torques by controlling the walking motor and the power output motor through the control motor controller, or controls the clutch to pull in, and further controls the walking motor and the power output motor to couple and output the driving torques through the control motor controller, so that the pure electric driving device is provided for the tractor, torques under different working modes of the tractor are output, and the requirements of the tractor on cleanness, no pollution and large driving torques are met.
Optionally, the vehicle control unit 40 and the motor controller 4 are specifically configured to, when the working mode signal is the normal running mode signal, control the clutch 2 to be disengaged by the vehicle control unit 40, control the power output motor 3 to stop acting through the motor controller 4, and control the running motor 1 to provide the driving torque to the running mechanism of the tractor through the motor controller 4.
Specifically, when a normal travel switch of the tractor is turned on and a shift button is pressed, the signal detected by the vehicle control unit 40 is a normal travel signal, and the vehicle travels normally. The whole vehicle controller 40 controls the clutch 2 to be separated according to a normal running signal, the whole vehicle controller 40 sends a normal running signal to the motor controller 4, after the motor controller 4 receives the normal running signal, the motor controller 4 controls the power output motor 3 not to act, the whole vehicle controller 40 receives an accelerator pedal stepping signal, the whole vehicle controller 40 controls the motor controller 4 to act according to the accelerator pedal stepping signal, the motor controller 4 controls the running motor 1 to output a driving torque to a running mechanism of a tractor, and the tractor runs normally under the action of the driving torque.
Optionally, when the working mode signal is a rotary tillage mode signal or a weeding mode signal, the vehicle control unit 40 controls the clutch 2 to be disengaged, controls the power output motor 3 to provide driving torque for the power output transmission mechanism of the tractor through the motor controller 4, and controls the walking motor 1 to provide driving torque for the walking mechanism of the tractor.
Specifically, when the weeding switch is turned on and the shift position button is pressed, the signal detected by the vehicle control unit 40 is a weeding mode signal, and the tractor performs weeding operation. When the rotary tillage switch is turned on and the gear button is pressed, the signal detected by the vehicle control unit 40 is a rotary tillage mode signal, and at the moment, the tractor carries out rotary tillage operation. The whole vehicle controller 40 controls the clutch 2 to be separated according to the rotary tillage mode signal or the weeding mode signal, the whole vehicle controller 40 sends the rotary tillage mode signal or the weeding mode signal to the motor controller 4, the whole vehicle controller 40 receives the accelerator pedal stepping signal, the whole vehicle controller 40 controls the motor controller 4 to act according to the accelerator pedal stepping signal, after the motor controller 4 receives the rotary tillage mode signal or the weeding mode signal, the motor controller 4 controls the walking motor 1 to output driving torque to a walking mechanism of the tractor, and the tractor normally runs under the action of the driving torque. The motor controller 4 controls the power output motor 3 to provide driving torque for the power output transmission mechanism of the tractor, and weeding equipment at the front end of the tractor or rotary tillage equipment at the tail part of the tractor carries out rotary tillage.
Optionally, when the working mode signal is a cargo towing mode signal or a plowing mode signal, the vehicle control unit 40 controls the clutch 2 to be attracted, and controls the power output motor 3 to output the coupling torque of the power output motor 3 and the traveling motor 1 to the power output transmission mechanism of the tractor through the motor controller 4, and controls the traveling motor 1 to output the coupling torque of the power output motor 3 and the traveling motor 1 to the traveling mechanism of the tractor.
Specifically, when the towing cargo switch is turned on and the shift position button is pressed, the signal detected by the vehicle control unit 40 is a towing cargo mode signal, and the tractor performs a towing cargo operation. When the plowing switch is turned on and the shift button is pressed, the signal detected by the vehicle control unit 40 is a plowing mode signal, and the tractor plows. The whole vehicle controller 40 controls the clutch 2 to be attracted according to a goods traction mode signal or a plowing mode signal, the whole vehicle controller 40 sends a goods traction mode signal or a plowing mode signal to the motor controller 4, after the motor controller 4 receives the goods traction mode signal or the plowing mode signal, the whole vehicle controller 40 receives an accelerator pedal treading signal, the whole vehicle controller 40 controls the motor controller 4 to act according to the accelerator pedal treading signal, the motor controller 4 controls the walking motor 1 to output coupling torque of the power output motor 3 and the walking motor 1 to a walking mechanism of the tractor, and the tractor pulls goods to run or pulls plowing equipment to run under the action of driving torque. The motor controller 4 controls the power output motor 3 to output the coupling torque of the power output motor 3 and the walking motor 1 to a power output transmission mechanism of the tractor, and the tail part of the tractor drives and pulls goods or plowing equipment.
Optionally, when the working mode signal is the first parking fixed output mode signal, the vehicle control unit 40 controls the clutch 2 to pull in, and controls the power output motor 3 to output the coupling torque of the power output motor 3 and the walking motor 1 to the power output transmission mechanism of the tractor through the motor controller 4.
Specifically, when the first gear switch of the parking fixed output knob is turned on, the signal detected by the vehicle control unit 40 may be a first parking fixed output mode signal, and at this time, the tractor does not run on site, and a large power output is required for grass-tying operation or crop straw smashing operation at a fixed position. The walking transmission mechanism can be set to be in a neutral gear, the tractor does not run on site at the moment, the whole vehicle controller 40 controls the clutch to be attracted, the walking motor 1 is controlled to work through the motor controller 4, and the power output motor 3 and the walking motor 1 are controlled to be coupled through the motor controller 4 to output the driving torque. The whole vehicle controller 40 controls the clutch 2 to be attracted according to the first parking fixed output mode signal, the whole vehicle controller 40 sends the first parking fixed output mode signal to the motor controller 4, after the motor controller 4 receives the first parking fixed output mode signal, the motor controller 4 controls the walking motor 1 to act to control the tractor not to run in place, the whole vehicle controller 40 receives an accelerator pedal stepping signal, the whole vehicle controller 40 controls the motor controller 4 to act according to the accelerator pedal stepping signal, and the motor controller 4 controls the power output motor 3 to output the coupling torque of the power output motor 3 and the walking motor 1 to a power output transmission mechanism of the tractor so as to drive front end or tail driving equipment of the tractor.
Optionally, when the working mode signal is the second parking fixed output mode signal, the vehicle control unit 40 controls the clutch 2 to be disengaged, and controls the power output motor 3 to provide driving torque to the power output transmission mechanism of the tractor through the motor controller 4.
Specifically, when the second gear switch of the parking fixed output knob is turned on, the signal detected by the vehicle control unit 40 may be a second parking fixed output mode signal, and at this time, the tractor does not travel on site, and a smaller power output is required for threshing operation or grain grinding operation at a fixed position. The walking transmission mechanism can be set to be in a neutral gear, the tractor does not run on site at the moment, the whole vehicle controller 40 controls the clutch to be separated, the walking motor 1 is controlled to be not operated through the motor controller 4, and the power output motor 3 is controlled to output driving torque through the motor controller 4. The vehicle control unit 40 controls the clutch 2 to be separated according to the second parking fixed output mode signal, the vehicle control unit 40 sends the second parking fixed output mode signal to the motor controller 4, after the motor controller 4 receives the second parking fixed output mode signal, the motor controller 4 controls the walking motor 1 to stop moving, the tractor does not run in place, the vehicle control unit 40 receives an accelerator pedal stepping signal, the vehicle control unit 40 controls the motor controller 4 to act according to the accelerator pedal stepping signal, and the motor controller 4 controls the power output motor 3 to output driving torque to a power output transmission mechanism of the tractor and drive front end or tail driving equipment of the tractor.
Alternatively, fig. 2 is a schematic structural diagram of another tractor driving device provided by the embodiment of the invention. On the basis of the above embodiment, referring to fig. 2, the traveling motor 1 further includes a third output shaft 12, the third output shaft 12 of the traveling motor 1 is connected with the traveling mechanism 5 of the tractor, the power output motor 3 further includes a fourth output shaft 32, and the fourth output shaft 32 of the power output motor 3 is connected with the power output transmission mechanism 6 of the tractor.
Specifically, the third output shaft 12 transmits the driving torque output by the running motor 1 to the running mechanism 5, the running mechanism 5 of the tractor moves forward or backward by the driving of the driving torque, the fourth output shaft 32 transmits the driving torque output by the power output motor 3 to the power output transmission mechanism 6, and the power output transmission mechanism 6 of the tractor operates by the driving of the driving torque.
Alternatively, fig. 3 is a schematic structural diagram of another tractor driving device provided by the embodiment of the invention. On the basis of the above embodiment, referring to fig. 3, the driving device 100 further includes a first spline 7, a second spline 8, a third spline 9 and a fourth spline 10, and a third output shaft 12 of the traveling motor 1 is connected with the traveling mechanism 5 of the tractor through the first spline 7; a first output shaft 11 of the walking motor 1 is connected with a first end 21 of the clutch 2 through a second spline 8; the second output shaft 31 of the power output motor 3 is connected with the second end 22 of the clutch 2 through the third spline 9; the fourth output shaft 32 of the power output motor 3 is connected with the power output transmission mechanism 6 of the tractor through the fourth spline 10.
Specifically, the first spline 7, the second spline 8, the third spline 9 and the fourth spline 10 are in mechanical connection, the third output shaft 12 of the walking motor 1 outputs the driving torque output by the walking motor 1 to the walking mechanism 5 of the tractor through the first spline 7, the first output shaft 11 of the walking motor 1 outputs the driving torque output by the walking motor 1 to the first end 21 of the clutch 2 through the second spline 8, the second output shaft 31 of the power output motor 3 outputs the driving torque output by the power output motor 3 to the second end 22 of the clutch 2 through the third spline 9, when the clutch 2 is closed, the clutch 2 outputs the driving torque output by the walking motor 1 to the power output motor 3 side through the clutch 2 or transmits the driving torque output by the power output motor 3 to the driving motor side through the clutch 2, and the fourth output shaft 32 of the power output motor 3 transmits the driving torque output by the power output motor 3 to the tractor through the fourth spline 10 The power output transmission mechanism 6 of the drawing machine.
Optionally, the walking motor and the power output motor are both disc motors.
Specifically, the size of the disc type motor is short, and the requirements that the overall size of the tractor is small and the mounting position of the driving device is small can be met. The requirement for drive torque in the limited space of the tractor is achieved.
Alternatively, with continued reference to fig. 3, the clutch 2 may include a pneumatic clutch 2, and the vehicle control unit 40 is configured to control the engagement or disengagement of the pneumatic clutch 2 by controlling an operating state of an air pump cooperating with the pneumatic clutch 2.
Specifically, when the vehicle control unit 40 controls the pneumatic clutch 2 to be engaged, the walking motor 1 and the power output motor 3 output coupling driving torque to provide a larger driving torque for the tractor, so as to meet the requirements of the working mode of the tractor. When the vehicle control unit 40 controls the pneumatic clutch 2 to be separated, the walking motor 1 and the power output motor 3 respectively and independently output driving torques.
Optionally, with continued reference to fig. 3, the clutch 2 may include an electromagnetic clutch 2, and the vehicle control unit 40 is configured to send an electric signal to the electromagnetic clutch 2 to control the electromagnetic clutch 2 to engage or disengage.
Specifically, when the vehicle control unit 40 controls the electromagnetic clutch 2 to be engaged, the traveling motor 1 and the power output motor 3 output coupling driving torque to provide a larger driving torque for the tractor, so as to meet the requirements of the working mode of the tractor. When the vehicle control unit 40 controls the electromagnetic clutch 2 to be separated, the traveling motor 1 and the power output motor 3 respectively and independently output driving torques.
The embodiment of the invention also provides a driving method of the tractor, and with continued reference to fig. 1, the tractor can comprise a walking motor 1, a clutch 2, a power output motor 3, a motor controller 4 and a vehicle control unit 40; the traveling motor 1 includes a first output shaft 11; the clutch 2 comprises a first end 21 and a second end 22; the power output motor 3 includes a second output shaft 31; a first output shaft 11 of the walking motor 1 is connected with a first end 21 of the clutch 2; the second output shaft 31 of the power output motor 3 is connected with the second end 22 of the clutch 2; the walking motor 1 is used for providing driving torque for a walking mechanism 5 of the tractor, and the power output motor 3 is used for providing driving torque for a power output transmission mechanism 6 of the tractor; the vehicle control unit 40 is respectively connected with the motor controller 4 and the clutch 2, and the motor controller 4 is respectively connected with the walking motor 1 and the power output motor 3.
The driving method of the tractor comprises the following steps: the vehicle control unit 40 receives the working mode signal, controls the working state of the clutch 2 according to the working mode signal, and controls the working states of the walking motor 1 and the power output motor 3 through the motor controller 4; the working modes comprise a normal driving mode, a goods traction mode, a ploughing mode, a rotary tillage mode, a weeding mode and a parking fixed output mode.
Alternatively, on the basis of the above embodiment, with continued reference to fig. 1 to 3, the vehicle control unit 40 receives the working mode signal, controls the working state of the clutch 2 according to the working mode signal, and controls the working states of the walking motor 1 and the power output motor 3 through the motor controller 4, including:
when the working mode signal is a normal running mode signal, the vehicle control unit 40 controls the clutch 2 to be separated, controls the power output motor 3 to stop acting through the motor controller 4, and controls the running motor 1 to provide driving torque for the running mechanism 5 of the tractor.
When the working mode signal is a rotary tillage mode signal or a weeding mode signal, the vehicle control unit 40 controls the clutch 2 to be separated, controls the power output motor 3 to provide driving torque for the power output transmission mechanism 6 of the tractor through the motor controller 4, and controls the walking motor 1 to provide driving torque for the walking mechanism 5 of the tractor.
When the working mode signal is a goods traction mode signal or a plowing mode signal, the vehicle control unit 40 controls the clutch 2 to be attracted, controls the power output motor 3 to output the coupling torque of the power output motor 3 and the walking motor 1 to the power output transmission mechanism 6 of the tractor through the motor controller 4, and controls the walking motor 1 to output the coupling torque of the power output motor 3 and the walking motor 1 to the walking mechanism 5 of the tractor.
When the working mode signal is the first parking fixed output mode signal, the vehicle control unit 40 controls the clutch 2 to suck, and controls the power output motor 3 to output the coupling torque of the power output motor 3 and the walking motor 1 to the power output transmission mechanism 6 of the tractor through the motor controller 4.
When the working mode signal is the second parking fixed output mode signal, the vehicle control unit 40 controls the clutch 2 to be separated, and controls the power output motor 3 to provide driving torque for the power output transmission mechanism 6 of the tractor through the motor controller 4.
The driving method of the tractor provided by the embodiment comprises the steps that the vehicle control unit receives a working mode signal, controls the working state of the clutch according to the working mode signal, and controls the working states of the walking motor and the power output motor through the motor controller; the tractor driving device comprises a tractor body, a working mode, a power supply control module and a power supply control module, wherein the working mode comprises a normal driving mode, a goods traction mode, a ploughing mode, a rotary tillage mode, a weeding mode and a parking fixed output mode.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. A tractor drive, comprising: the system comprises a walking motor, a clutch, a power output motor, a motor controller and a whole vehicle controller;
the walking motor comprises a first output shaft; the clutch includes a first end and a second end; the power output motor comprises a second output shaft; the first output shaft of the walking motor is connected with the first end of the clutch; the second output shaft of the power output motor is connected with the second end of the clutch; the walking motor is used for providing driving torque for a walking mechanism of the tractor, and the power output motor is used for providing driving torque for a power output transmission mechanism of the tractor;
the vehicle control unit is respectively connected with the motor controller and the clutch, the motor controller is respectively connected with the walking motor and the power output motor, and the vehicle control unit is used for receiving working mode signals, controlling the working state of the clutch according to the working mode signals and controlling the working states of the walking motor and the power output motor through the motor controller.
2. The drive device according to claim 1,
when the working mode signal is a normal running mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to stop acting through the motor controller, and controls the running motor to provide driving torque for the running mechanism of the tractor;
when the working mode signal is a rotary tillage mode signal or a weeding mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to provide driving torque for a power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to provide driving torque for the walking mechanism of the tractor;
when the working mode signal is a goods traction mode signal or a ploughing mode signal, the vehicle controller controls the clutch to be attracted, controls the power output motor to output the coupling torque of the power output motor and the walking motor to a power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to output the coupling torque of the power output motor and the walking motor to the walking mechanism of the tractor;
when the working mode signal is a first parking fixed output mode signal, the vehicle controller controls the clutch to be attracted, and controls the power output motor to output the coupling torque of the power output motor and the walking motor to a power output transmission mechanism of the tractor through the motor controller;
when the working mode signal is a second parking fixed output mode signal, the vehicle control unit controls the clutch to be separated, and controls the power output motor to provide driving torque for the power output transmission mechanism of the tractor through the motor controller.
3. The drive device according to claim 1, characterized in that:
the traveling motor further comprises a third output shaft, and the third output shaft of the traveling motor is connected with the traveling mechanism of the tractor;
the power output motor further comprises a fourth output shaft, and the fourth output shaft of the power output motor is connected with the power output transmission mechanism of the tractor.
4. The drive device according to claim 3, further comprising: a first spline, a second spline, a third spline, and a fourth spline;
a third output shaft of the walking motor is connected with the walking mechanism of the tractor through the first spline; the first output shaft of the walking motor is connected with the first end of the clutch through the second spline;
the second output shaft of the power output motor is connected with the second end of the clutch through the third spline; and the fourth output shaft of the power output motor is connected with the power output transmission mechanism of the tractor through the fourth spline.
5. The drive device according to claim 1,
the walking motor and the power output motor are both disc motors.
6. The drive device according to claim 1,
the clutch comprises a pneumatic clutch, and the vehicle control unit is used for controlling the pneumatic clutch to be attracted or separated by controlling the working state of an air pump matched with the pneumatic clutch.
7. The drive device according to claim 1,
the clutch comprises an electromagnetic clutch, and the vehicle control unit is used for sending an electric signal to the electromagnetic clutch to control the electromagnetic clutch to be attracted or separated.
8. A driving method of a tractor is characterized in that,
the tractor comprises: the system comprises a walking motor, a clutch, a power output motor, a motor controller and a whole vehicle controller;
the walking motor comprises a first output shaft; the clutch includes a first end and a second end; the power output motor comprises a second output shaft; the first output shaft of the walking motor is connected with the first end of the clutch; the second output shaft of the power output motor is connected with the second end of the clutch; the walking motor is used for providing driving torque for a walking mechanism of the tractor, and the power output motor is used for providing driving torque for a power output transmission mechanism of the tractor; the vehicle control unit is respectively connected with the motor controller and the clutch, and the motor controller is respectively connected with the walking motor and the power output motor;
the method comprises the following steps:
the vehicle control unit receives a working mode signal, controls the working state of the clutch according to the working mode signal, and controls the working states of the walking motor and the power output motor through the motor controller;
wherein the working modes comprise a normal driving mode, a goods towing mode, a ploughing mode, a rotary tillage mode, a weeding mode and a parking fixed output mode.
9. The method of claim 8, wherein the vehicle control unit receives an operating mode signal, controls an operating state of the clutch according to the operating mode signal, and controls operating states of the travel motor and the power take-off motor through the motor controller, comprising:
when the working mode signal is a normal running mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to stop acting through the motor controller, and controls the running motor to provide driving torque for the running mechanism of the tractor;
when the working mode signal is a rotary tillage mode signal or a weeding mode signal, the vehicle control unit controls the clutch to be separated, controls the power output motor to provide driving torque for a power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to provide driving torque for the walking mechanism of the tractor;
when the working mode signal is a goods traction mode signal or a ploughing mode signal, the vehicle controller controls the clutch to be attracted, controls the power output motor to output the coupling torque of the power output motor and the walking motor to a power output transmission mechanism of the tractor through the motor controller, and controls the walking motor to output the coupling torque of the power output motor and the walking motor to the walking mechanism of the tractor;
when the working mode signal is a first parking fixed output mode signal, the vehicle controller controls the clutch to be attracted, and controls the power output motor to output the coupling torque of the power output motor and the walking motor to a power output transmission mechanism of the tractor through the motor controller;
when the working mode signal is a second parking fixed output mode signal, the vehicle control unit controls the clutch to be separated, and controls the power output motor to provide driving torque for the power output transmission mechanism of the tractor through the motor controller.
CN202010774451.6A 2020-08-04 2020-08-04 Tractor driving device and tractor driving method Active CN111890950B (en)

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