KR102336159B1 - Agricultural Torque Support System for Electrically Driven Tractor Motor - Google Patents

Agricultural Torque Support System for Electrically Driven Tractor Motor Download PDF

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KR102336159B1
KR102336159B1 KR1020210106514A KR20210106514A KR102336159B1 KR 102336159 B1 KR102336159 B1 KR 102336159B1 KR 1020210106514 A KR1020210106514 A KR 1020210106514A KR 20210106514 A KR20210106514 A KR 20210106514A KR 102336159 B1 KR102336159 B1 KR 102336159B1
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South Korea
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motor
tractor
driving
drive motor
electrically driven
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KR1020210106514A
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Korean (ko)
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김용주
백승민
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충남대학교산학협력단
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Priority to KR1020210106514A priority Critical patent/KR102336159B1/en
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Priority to PCT/KR2022/012088 priority patent/WO2023018278A1/en

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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/12—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by an electric motor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/28—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of power take-off
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • 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
    • B60L2240/421—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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B60Y2200/221—Tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric 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
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S180/00—Motor vehicles
    • Y10S180/90—Argicultural-type tractors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Environmental Sciences (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Soil Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The present invention relates to an electric driving tractor and, more specifically, to an agricultural torque support system of an electric driving tractor motor capable of improving the performance of an electric driving tractor in a soil environment in which a slip occurs, in other words, a situation when there is difficulty in escaping from a rough area due to a decrease in the rotation speed of a motor and a drop in the output of the motor in case of a motor slip. The agricultural torque support system of an electric driving tractor motor includes: a main driving motor (M1) driving a PTO shaft connected with a working machine while driving an electric driving tractor; and a sub driving motor (M2) driving a hydraulic pump connected with a hydraulic system of the working machine, or driving the electric driving tractor. The sub driving motor (M2) supports torque only for a rear axle of the electric driving tractor when the electric driving tractor has a slip rate (S) of no less than a predetermined speed.

Description

전기구동 트랙터 모터의 농작업 토크 지원 시스템{Agricultural Torque Support System for Electrically Driven Tractor Motor}Agricultural Torque Support System for Electrically Driven Tractor Motor

본 발명은, 전기구동 트랙터에 있어서, 모터 슬립이 발생하는 경우에 모터의 회전 속도가 줄어들고, 동시에 모터의 출력이 낮아지게 되어 험지 탈출이 어렵게 되는 경우에, 즉 슬립이 발생하는 토양 환경에서 전기구동 트랙터의 성능 향상을 위한, 전기구동 트랙터 모터의 농작업 토크 지원 시스템에 관한 것이다.The present invention, in the case of an electric drive tractor, when the motor slip occurs, the rotation speed of the motor is reduced, and at the same time the output of the motor is lowered to make it difficult to escape from rough terrain, that is, electric drive in a soil environment in which slip occurs To improve the performance of a tractor, it relates to an agricultural work torque support system of an electrically driven tractor motor.

전기구동 차량의 구동시스템에 관한 선행기술로, 등록특허공보 제10-1188044호(2012. 9. 26. 등록)에는, 전기자동차체 내의 프레임부에 연결된 제 1 지지부재; 상기 전기자동차체에 내장된 쇼크업소버하우징에 연결되되, 상기 제 1 지지부재와 폐단면을 이루도록 상기 제 1지지부재에 연결되어, 상기 전기자동차체의 비틀림 강성을 증대시키도록 제공된 제 2 지지부재; 및 상기 제 1 지지부재에 연계된 모터로 이루어지는 전기자동차 모터 장착 구조에 관한 기술이 개시되어 있다.As a prior art related to a drive system of an electric driven vehicle, Korean Patent Publication No. 10-1188044 (registered on September 26, 2012) includes a first support member connected to a frame in an electric vehicle body; a second support member connected to the shock absorber housing built into the electric vehicle body and connected to the first support member to form a closed cross-section with the first support member to increase torsional rigidity of the electric vehicle body; and a motor mounted structure for an electric vehicle comprising a motor connected to the first support member.

또한, 등록특허공보 제10-1260751호(2013. 4. 29. 등록)에는, (a) 전기 트랙터의 현재 상태를 확인하는 트랙터 상태 판단 단계; (b) 상기 전기 트랙터에 구비된 가속페달의 경사각도를 감지하는 가속페달 경사각 판단 단계; 및 (c) 상기 감지된 가속페달의 경사각에 따라 구동모터의 출력을 비선형 상태로 제어하는 단계를 포함하되, 상기 (c) 단계는, 상기 가속페달이 제1 경사각도에 위치된 상태에서 상기 구동모터에 제어 신호를 출력하는 제1 제어 단계; 상기 가속페달이 제2 경사각도에 위치된 상태에서 트랙터의 저속 이동을 위해 구동모터에 제어 신호를 출력하는 제2 제어 단계;를 포함하는 전기 트랙터의 구동모터 제어방법에 관한 기술이 개시되어 있다.In addition, Patent Publication No. 10-1260751 (Registered on April 29, 2013), (a) a tractor state determination step to check the current state of the electric tractor; (b) an accelerator pedal inclination angle determination step of sensing an inclination angle of the accelerator pedal provided in the electric tractor; and (c) controlling the output of the driving motor in a non-linear state according to the detected inclination angle of the accelerator pedal, wherein the step (c) includes the driving in a state where the accelerator pedal is positioned at a first inclination angle. a first control step of outputting a control signal to the motor; A second control step of outputting a control signal to the driving motor for low-speed movement of the tractor in a state in which the accelerator pedal is positioned at a second inclination angle is disclosed.

또한, 등록특허공보 제10-2133767호(2020. 7. 8. 등록)에는, 전기 차량에 구동력을 전달하기 위해 전기에 의해 구동하는 메인구동모터와, 상기 메인구동모터와 함께 상기 전기 차량의 구동력을 제공하는 보조구동모터와, 상기 전기차량이 주행하도록 바퀴에 구동력을 전달하는 메인샤프트와, 상기 메인구동모터의 구동력을 상기 메인샤프트로 전달하는 메인동력전달부와, 상기 보조구동모터의 구동력을 상기 메인샤프트로 전달하는 보조동력전달부와, 차량의 주행조건에 따라 또는 운전자의 선택신호에 따라 상기 보조구동모터의 구동을 제한하는 제어부와, 상기 보조구동모터의 구동여부에 따라 상기 메인샤프트와 보조동력전달부의 동력 연결을 허용하거나 차단하는 클러치부를 포함하는 전기 차량용 유얼모터 구동 시스템에 관한 기술이 개시되어 있다.In addition, in Registered Patent Publication No. 10-2133767 (registered on July 8, 2020), a main driving motor driven by electricity to transmit driving force to an electric vehicle, and a driving force of the electric vehicle together with the main driving motor an auxiliary drive motor providing An auxiliary power transmission unit for transmitting to the main shaft; a control unit for limiting driving of the auxiliary drive motor according to a driving condition of a vehicle or a driver's selection signal; Disclosed is a technology related to an electric vehicle driving system including a clutch unit for allowing or blocking power connection of an auxiliary power transmission unit.

또한, 등록특허공보 제10-2120174호(2020. 6. 2. 등록)에는, 전기구동 트랙터에 장착되는 전기구동 플랫폼 전용 작업기의 동력 보조 시스템에 있어서, 상기 동력 보조 시스템은, 트랙터의 배터리에 연결되는 구동에 필요한 전력을 공급받고 작업기의 휠에 연결되는 보조 주행 모터; 및 상기 보조 주행 모터의 동작을 제어하기 위한 제어부를 포함하고, 상기 제어부는 트랙터의 슬립율을 계산하고 계산된 슬립율에 기반하여 보조 주행 모터를 온 또는 오프하도록 구성되되, 상기 전기구동 트랙터는, 트랙터의 복수의 휠의 각각에 연결되고 배터리로부터 구동 전력을 공급받는 복수의 주행모터; 및 복수의 주행 모터의 회전 속도를 제어하기 위한 제어 유닛을 포함하고; 상기 동력 보조 시스템은 GPS 수신기를 포함하고, 상기 동력 보조 시스템의 제어부는 GPS 수신기로부터 트랙터의 주행 속도를 수신하고, 또한 트랙터의 제어유닛으로부터 CAN 통신을 통해 복수의 주행모터의 회전 속도를 수신하고, 수신된 트랙터의 주행 속도와 수신된 복수의 주행 모터의 회전 속도에 기반하여 트랙터의 슬립율을 계산하는 것을 특징으로 하는 전기 구동 플랫폼 전용 작업기의 동력 보조 시스템에 과한 기술이 개시되어 있다.In addition, in Patent Registration No. 10-2120174 (registered on June 2, 2020), in the power assist system of a work machine dedicated to an electric drive platform mounted on an electric drive tractor, the power assist system is connected to the tractor's battery an auxiliary driving motor that receives power required for driving and is connected to the wheel of the working machine; and a control unit for controlling the operation of the auxiliary traveling motor, wherein the control unit is configured to calculate a slip rate of the tractor and turn on or off the auxiliary traveling motor based on the calculated slip rate, the electrically driven tractor comprising: a plurality of driving motors connected to each of the plurality of wheels of the tractor and receiving driving power from a battery; and a control unit for controlling rotational speeds of the plurality of travel motors; The power assistance system includes a GPS receiver, and the control unit of the power assistance system receives the traveling speed of the tractor from the GPS receiver, and receives the rotation speed of the plurality of driving motors through CAN communication from the control unit of the tractor, A technology is disclosed for a power assistance system for a working machine dedicated to an electric drive platform, characterized in that the slip ratio of the tractor is calculated based on the received traveling speed of the tractor and the received rotational speed of a plurality of traveling motors.

특허문헌 1 : 등록특허공보 제10-1188044호(2012. 9. 26. 등록)Patent Document 1: Registered Patent Publication No. 10-1188044 (Registered on September 26, 2012) 특허문헌 2 : 등록특허공보 제10-1260751호(2013. 4. 29. 등록)Patent Document 2: Registered Patent Publication No. 10-1260751 (Registered on April 29, 2013) 특허문헌 3 : 등록특허공보 제10-2133767호(2020. 7. 8. 등록)Patent Document 3: Registered Patent Publication No. 10-2133767 (Registered on July 8, 2020) 특허문헌 4 : 등록특허공보 제10-2120174호(2020. 6. 2. 등록)Patent Document 4: Registered Patent Publication No. 10-2120174 (Registered on June 2, 2020)

본 발명은, 전기구동 트랙터의 농작업시에 작업 효율을 증대시키기 위한 것으로 슬립이 발생하는 경우에, 모터 구동에 의하여 신속하게 슬립 상황으로부터 벗어날 수 있게 하는 것을 목적으로 한다.An object of the present invention is to increase work efficiency during agricultural work of an electrically driven tractor, and when slip occurs, it is an object of the present invention to quickly get out of the slip situation by driving a motor.

또한, 본 발명은 전기구동 트랙터의 메인 구동 모터에 더하여 보조 구동 모터를 부가하고 제어하는 것에 의하여, 트랙터의 농작업 효율을 증대시키고자 하는 것을 목적으로 하는 것이다.In addition, an object of the present invention is to increase the agricultural work efficiency of the tractor by adding and controlling an auxiliary drive motor in addition to the main drive motor of the electric drive tractor.

또한, 본 발명은 GPS와 메인구동 모터의 회전속도를 이용하여 전기구동 트랙터의 슬립률을 쉽게 계산하고, 슬립 정도에 따라 보조 구동 모터를 제어하는 것에 의하여, 트랙터의 농작업 효율을 증대시키고자 하는 것을 목적으로 하는 것이다.In addition, the present invention is to increase the agricultural work efficiency of the tractor by easily calculating the slip rate of the electric drive tractor using the GPS and the rotation speed of the main drive motor, and controlling the auxiliary drive motor according to the degree of slip. is intended to

또한, 본 발명은 보조 구동 모터를 유압펌프의 구동과 트랙처 후차축만의 구동에 사용하는 것에 의하여, 전기구동 트랙터의 슬립 상황이 발생하는 경우에 쉽게 슬립 상황으로부터 탈출이 가능하게 하는 것을 목적으로 한다.In addition, the present invention is to enable easy escape from the slip situation when the slip situation of the electric driven tractor occurs by using the auxiliary drive motor to drive the hydraulic pump and drive only the rear axle of the tractor. do.

본 발명은 상기와 같은 과제를 해결하고자 하는 것으로, [1] 전기구동 트랙터를 구동하면서 작업기와 연결되는 PTO축을 구동하는 메인 구동 모터(M1)와, 작업기의 유압시스템에 연결된 유압펌프를 구동하거나, 전기구동 트랙터를 구동하는 보조 구동 모터(M2)를 가지며, 상기 보조 구동 모터(M2)는 상기 전기구동 트랙터가 일정 속도 이상의 슬립률(S)을 갖는 경우에, 전기구동 트랙터의 후차축에만 토크를 지원하는 것을 특징으로 하는, 전기구동 트랙터 모터의 농작업 토크 지원 시스템에 관한 것이다.The present invention is to solve the above problems, [1] driving the main drive motor (M1) for driving the PTO shaft connected to the work machine while driving the electric driven tractor, and the hydraulic pump connected to the hydraulic system of the work machine, It has an auxiliary drive motor M2 for driving the electric drive tractor, and the auxiliary drive motor M2 applies torque only to the rear axle of the electric drive tractor when the electric drive tractor has a slip ratio S of a certain speed or more. It relates to an agricultural work torque support system of an electrically driven tractor motor, characterized in that it supports.

또한, 본 발명은 [2] 상기 [1]에 있어서, 상기 보조 구동 모터(M2)는, MCU(Motor Control Unit)에 의하여 제어되며, 상기 MCU는 슬립률 판단모듈, 모터 제어부 및 배터리 제어부로 구성되고, 상기 슬립률 판단 모듈은, GPS와 메인 구동 모터에 의하여 슬립률을 계산하고, 상기 모터 제어부는 상기 계산된 슬립률에 의하여 보조 구동 모터(M2)의 구동을 제어하는 것을 특징으로 하는, 전기구동 트랙터 모터의 농작업 토크 지원 시스템에 관한 것이다.[2] The present invention also provides [2] as described in [1], wherein the auxiliary driving motor M2 is controlled by an MCU (Motor Control Unit), and the MCU includes a slip rate determination module, a motor control unit, and a battery control unit. and the slip rate determination module calculates the slip rate by the GPS and the main drive motor, and the motor control unit controls the driving of the auxiliary drive motor M2 according to the calculated slip rate. It relates to an agricultural torque support system of a driving tractor motor.

또한, 본 발명은 [3] 상기 [2]에 있어서, 상기 슬립률(s)은, 아래 식에 의하여 계산되는 것을 특징으로 하는,In addition, the present invention is [3] in the above [2], wherein the slip rate (s) is calculated by the following formula,

Figure 112021093070837-pat00001
Figure 112021093070837-pat00001

Vo : 이론 속도(theoretical speed), Va : 실제 속도(travel speed), Vo : theoretical speed, Va : travel speed,

전기구동 트랙터 모터의 농작업 토크 지원 시스템에 관한 것이다.It relates to an agricultural work torque support system of an electrically driven tractor motor.

또한, 본 발명은 [4] 상기 [3]에 있어서, 상기 실제 속도(Va)는 아래 식에 의하여 계산되는 것을 특징으로 하는,In addition, the present invention is [4] in the above [3], wherein the actual speed (Va) is calculated by the following formula,

Figure 112021093070837-pat00002
Figure 112021093070837-pat00002

Va : 실제속도 (km/h), r : radius of rear tire (m) Va : Actual speed (km/h), r : radius of rear tire (m)

Nm : rotational speed of M1 (rpm), γ : Gear reduction ratio Nm : rotational speed of M1 (rpm), γ : Gear reduction ratio

전기구동 트랙터 모터의 농작업 토크 지원 시스템에 관한 것이다.It relates to an agricultural work torque support system of an electrically driven tractor motor.

본 발명은, 상기와 같은 구성으로 이루어지는 것에 의하여, 전기구동 트랙터의 농작업시에 작업 효율을 증대시키기 위한 것으로 슬립이 발생하는 경우에, 모터 구동에 의하여 신속하게 슬립 상황으로부터 벗어날 수 있게 할 수 있다.The present invention is to increase the working efficiency during agricultural work of an electric driven tractor by having the configuration as described above. .

또한, 본 발명은 전기구동 트랙터의 메인 구동 모터에 더하여 보조 구동 모터를 부가하고 제어하는 것에 의하여, 트랙터의 농작업 효율을 증대시킬 수 있다.In addition, the present invention can increase the agricultural work efficiency of the tractor by adding and controlling the auxiliary drive motor in addition to the main drive motor of the electric drive tractor.

또한, 본 발명은 GPS와 메인구동 모터의 회전속도를 이용하여 전기구동 트랙터의 슬립률을 쉽게 계산하고, 슬립 정도에 따라 보조 구동 모터를 제어하는 것에 의하여, 트랙터의 농작업 효율을 증대시킬 수 있다.In addition, the present invention can increase the agricultural work efficiency of the tractor by easily calculating the slip rate of the electric drive tractor using the GPS and the rotation speed of the main drive motor and controlling the auxiliary drive motor according to the slip level. .

또한, 본 발명은 보조 구동 모터를 유압펌프의 구동과 트랙처 후차축만의 구동에 사용하는 것에 의하여, 전기구동 트랙터의 슬립 상황이 발생하는 경우에 쉽게 슬립 상황으로부터 탈출이 가능해진다.In addition, according to the present invention, by using the auxiliary drive motor to drive the hydraulic pump and drive only the rear axle of the tractor, it is possible to easily escape from the slip condition when the slip condition of the electric drive tractor occurs.

도 1은 본 발명의 메인 구동 모터와 보조 구동 모터를 포함하는 전기 구동 트랙터의 구성도
도 2는 본 발명의 전기구동 트랙터의 모터 농작업 토크 지원 시스템의 개념도
도 3은 본 발명의 보조 구동 모터의 구동 제어 흐름도1 is a block diagram of an electric driving tractor including a main driving motor and an auxiliary driving motor of the present invention;
Figure 2 is a conceptual diagram of the motor agricultural work torque support system of the electric drive tractor of the present invention
3 is a driving control flowchart of an auxiliary driving motor of the present invention;

본 발명을 설명함에 있어 종래기술과 동일한 기술 구성에 대하여는 동일한 명칭을 그대로 부여하여 설명한다.In the description of the present invention, the same technical configuration as in the prior art will be described by giving the same name as it is.

본 발명은 듀얼 모터를 사용하고, 전기 구동 트랙터의 모터 제어장치(MCU)에서 슬립률을 계산하고 판단하여, 듀얼 모터의 동력을 제어하여 농작업 효율을 향상시키고자 하는 것이다.The present invention uses a dual motor, calculates and determines a slip rate in a motor control unit (MCU) of an electrically driven tractor, and controls the power of the dual motor to improve agricultural work efficiency.

본 발명의 듀얼 모터(M)는 도 1 및 도 2에 나타내고 있는 것과 같이, 메인 구동 모터(M1)와 보조 구동 모터(M2)로 이루어진다. 상기 메인 구동 모터(M1)와 보조 구동 모터(M2)는, 트랙터에 별도로 설치되는 배터리(B)와 상기 배터리에 연결되는 인버터에 의하여 전력을 공급받는다.The dual motor M of the present invention includes a main driving motor M1 and an auxiliary driving motor M2 as shown in FIGS. 1 and 2 . The main driving motor M1 and the auxiliary driving motor M2 are supplied with power by a battery B separately installed in the tractor and an inverter connected to the battery.

상기 메인 구동 모터(M1)는, 감속기를 통해서 차축을 회전시키는 것에 의하여 트랙터를 구동하게 된다. 또한, 상기 메인 구동 모터(M1)는, PTO축을 구동시키는 것으로 트랙터에 연결된 작업기를 구동하게 된다.The main driving motor M1 drives the tractor by rotating the axle through the speed reducer. In addition, the main driving motor M1 drives the work machine connected to the tractor by driving the PTO shaft.

상기 보조 구동 모터(M2)는, 상기 메인 구동 모터(M1)와 함께 감속기를 통해서 차축을 회전시키는 것에 의하여 트랙터를 구동하게 된다. 이때 상기 보조 구동 모터(M2)는 메인 구동 모터(M2)와 달리 보조적으로만 트랙터를 구동하게 된다.The auxiliary drive motor M2 drives the tractor by rotating the axle through a speed reducer together with the main drive motor M1. At this time, the auxiliary drive motor M2 drives the tractor only auxiliary, unlike the main drive motor M2.

또한, 상기 보조 구동 모터(M2)는, 작업기의 유압시스템을 조작할 수 있는 유압펌프에 동력을 전달한다. 상기 유압펌프에의 동력 전달은 메인 구동 모터(M2)에 의해서는 이루어지지 않으며, 보조 구동 모터(M2)에 의해서만 이루어진다.In addition, the auxiliary driving motor M2 transmits power to a hydraulic pump capable of operating the hydraulic system of the working machine. Power transmission to the hydraulic pump is not performed by the main driving motor M2, but only by the auxiliary driving motor M2.

본 발명의 전기구동 트랙터 모터의 농작업 토크 지원 시스템은, GPS, 메인 구동 모터(M1), MCU, 배터리(B) 및 보조 구동 모터(M2)로 이루어지는 것으로, 아래에서는 도 2를 살펴보면서 구체적으로 설명한다.The agricultural work torque support system of the electric drive tractor motor of the present invention is composed of a GPS, a main drive motor (M1), an MCU, a battery (B), and an auxiliary drive motor (M2). do.

상기 GPS는, 트랙터의 현재 위치를 실시간으로 파악하는 것에 의하여 트랙터의 속도를 측정하여 MCU로 트랙터의 속도를 제공한다. 또한, 메인 구동 모터(M1)의 회전속도도 MCU로 제공한다.The GPS measures the speed of the tractor by grasping the current position of the tractor in real time, and provides the speed of the tractor to the MCU. In addition, the rotation speed of the main driving motor M1 is also provided to the MCU.

상기 MCU(Motor Control Unit)는, 슬립률 판단모듈, 모터 제어부 및 배터리 제어부로 구성된다.The MCU (Motor Control Unit) includes a slip rate determination module, a motor control unit, and a battery control unit.

상기 슬립율 판단 모듈(10)은, 아래와 같은 식에 의하여 슬립율(s)을 계산한다.The slip rate determination module 10 calculates the slip rate (s) by the following equation.

Figure 112021093070837-pat00003
Figure 112021093070837-pat00003

상기 슬립율(s)은, 상기 이론 속도(theoretical speed, Vo)와 실제 속도(travel speed, Va)에 의하여 계산된다. 즉 상기 슬립율 판단 모듈(10)은, 트랙터의 차속(Va)과 메인 구동 모터의 회전 속도(Vc)를 이용하여 계산된다. The slip rate (s) is calculated by the theoretical speed (Vo ) and the actual speed (travel speed, Va). That is, the slip rate determination module 10 is calculated using the vehicle speed Va of the tractor and the rotation speed Vc of the main driving motor.

이때 상기 슬립율 계산을 위한 이론 속도(Vo)와 실제 속도(Va)는, GPS와 메인 구동 모터(M1)에서 CAN 통신을 통해 트랙터 속도와 모터 회전 속도를 전달받아 적용한다.At this time, the theoretical speed Vo and the actual speed Va for calculating the slip rate are applied by receiving the tractor speed and the motor rotation speed through CAN communication from the GPS and the main driving motor M1.

상기 실제 속도(Va)는 아래와 같은 식에 의하여 계산될 수 있다,The actual speed Va can be calculated by the following formula,

Figure 112021093070837-pat00004
Figure 112021093070837-pat00004

Va : 실제속도 (km/h)Va : Actual speed (km/h)

r : radius of rear tire (m) r : radius of rear tire (m)

Nm : rotational speed of M1 (rpm) Nm : rotational speed of M1 (rpm)

γ : Gear reduction ratio γ : Gear reduction ratio

상기 모터 제어부(20)는, 상기 슬립율(s)에 따라 보조 구동 모터(M2)를 구동할 것인가 여부를 결정하게 된다. 즉, 슬립률이 설정값 이상으로 나타나게 되면, 보조 구동 모터(M2)는 후차축에 토크를 전달하며, 슬립률이 다시 설정값 미만으로 나타나게 되면, 토크 지원을 중단하도록 제어한다.The motor control unit 20 determines whether to drive the auxiliary driving motor M2 according to the slip rate s. That is, when the slip rate appears above the set value, the auxiliary drive motor M2 transmits the torque to the rear axle, and when the slip rate appears again below the set value, the auxiliary drive motor M2 controls to stop the torque support.

상기 배터리 제어부(30)는, 배터리(B)의 충전 상태 등을 확인하여 사용자에게 배터리 충전 상태를 알려주는 기능을 하게 된다.The battery control unit 30 has a function of notifying the user of the state of charge of the battery by checking the state of charge of the battery (B).

상기와 같이 이루어지는 구성에 의하여, 본 발명의 전기구동 트랙터 모터의 농작업 토크 지원 시스템의 작동 원리에 대해서, 도 3을 살펴보면서 구체적으로 설명한다.By the configuration made as described above, the operating principle of the agricultural work torque support system of the electric drive tractor motor of the present invention will be described in detail with reference to FIG. 3 .

먼저, 본 발명의 시스템을 작동시키기 위해서는 먼저 트랙터의 실제 속도(Va)와 이론 속도(Vc)를 계산하여야 한다. 상기 실제 속도(Va)와 이론 속도(Vc)는 앞에서 살펴본 것과 같은 방법에 의하여 계산한다.First, in order to operate the system of the present invention, the actual speed ( Va ) and the theoretical speed ( Vc ) of the tractor must first be calculated. The actual velocity Va and the theoretical velocity Vc are calculated by the same method as described above.

상기 실제 속도(Va)와 이론 속도(Vc)가 계산되면, 상기 실제 속도(Va)와 이론 속도(Vc) 값을 기초로 슬립률(s)을 계산하여야 한다. 마찬가지로 슬립률(s)은 앞에서 살펴본 것과 같은 방법에 의하여 계산한다.When the actual velocity Va and the theoretical velocity Vc are calculated, the slip rate s must be calculated based on the actual velocity Va and the theoretical velocity Vc. Similarly, the slip rate (s) is calculated by the same method as described above.

다음으로, 상기 계산된 슬립률(s)이 20% 미만이면, 본 발명의 전기구동 트랙터는 이상이 없는 것으로 판단하여, 계속적으로 슬립률(s)을 계산할 수 있도록 한다. 그렇지만, 슬립률(s)이 20% 이상이면, 본 발명의 전기구동 트랙터는 슬립이 발생하는 것으로 판단하여, 보조 구동 모터(M2)를 구동시킨다.Next, if the calculated slip ratio (s) is less than 20%, the electrically driven tractor of the present invention is determined to be normal, so that the slip ratio (s) can be continuously calculated. However, if the slip ratio s is 20% or more, the electric drive tractor of the present invention determines that slip occurs, and drives the auxiliary drive motor M2.

이때 상기 보조 구동 모터(M2)는, MCU에 의하여 전기구동 트랙터의 후차축에만 동력을 전달하도록 제어된다. 즉, 슬립률(s)이 20% 미만인 상태에서는 상기 보조 구동 모터(M2)의 동력을 작업기의 유압펌프용으로만 사용하지만, 슬립률(s)이 20% 이상인 상태에서는 상기 보조 구동 모터(M2)의 동력을 후차축에 전달하는 것으로 제한한다.At this time, the auxiliary driving motor M2 is controlled to transmit power only to the rear axle of the electrically driven tractor by the MCU. That is, in the state where the slip rate (s) is less than 20%, the power of the auxiliary drive motor (M2) is used only for the hydraulic pump of the work machine, but when the slip rate (s) is 20% or more, the auxiliary drive motor (M2) ) to transmit the power to the rear axle.

다음으로, 상기와 같이 보조 구동 모터(M2)의 구동력을 후차축에만 전달하는 것에 의하여 후차축에의 전달 토크를 증가시킨 상태에서, 다시 슬립률(s)을 측정한다. 이때 측정된 슬립률(s)이 20% 미만이면, 본 발명의 전기구동 트랙터는 슬립으로부터 해제된 것으로 판단하고 보조 구동 모터(M2)에의 토크 지원을 중단한다. 그렇지만, 여전히 슬립률(s)이 20% 이상인 것으로 나타나면, 본 발명의 전기구동 트랙터는 슬립이 발생하는 것으로 판단하여, 보조 구동 모터(M2)를 계속해서 구동시킨다.Next, in a state in which the torque transmitted to the rear axle is increased by transmitting the driving force of the auxiliary drive motor M2 only to the rear axle as described above, the slip ratio s is measured again. At this time, if the measured slip ratio (s) is less than 20%, the electric drive tractor of the present invention is determined to be released from the slip and stops the torque support to the auxiliary drive motor (M2). However, when the slip ratio s still appears to be 20% or more, the electric drive tractor of the present invention determines that slip has occurred, and continues to drive the auxiliary drive motor M2.

이상의 설명은 본 발명을 예시적으로 설명한 것이고, 명세서에 게시된 실시예는 본 발명의 기술사상을 한정하기 위한 것이 아니라 설명하기 위한 것이므로 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자라면 본 발명의 기술사상을 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. The above description is illustrative of the present invention, and the embodiments published in the specification are for explanation rather than limiting the technical idea of the present invention, so those of ordinary skill in the art to which the present invention pertains Various modifications and variations will be possible without departing from the technical idea of

예를들어 본 발명의 실시예에서는 슬립률(s)의 기준을 20%로 하였으나, 농지 상태에 따라서 20% 이상으로 또는 20% 이하로 조정 가능하다.For example, in the embodiment of the present invention, the standard of the slip rate (s) is 20%, but it can be adjusted to 20% or more or 20% or less depending on the condition of farmland.

그러므로 본 발명의 보호범위는 청구범위에 기재된 사항에 의해 해석되고, 그와 균등한 범위 내에 있는 기술적 사항도 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.Therefore, the protection scope of the present invention is to be interpreted by the matters described in the claims, and technical matters within the scope equivalent thereto should be construed as being included in the scope of the present invention.

M1 : 메인 구동 모터
M2 : 보조 구동 모터
10 : 슬립률 판단 모듈
20 : 모터 제어부
30 : 배터리 제어부M1: main drive motor
M2: auxiliary drive motor
10: slip rate determination module
20: motor control unit
30: battery control

Claims (4)

삭제delete 전기구동 트랙터를 구동하면서, 작업기와 연결되는 PTO축을 구동하는 메인 구동 모터(M1)와 보조 구동 모터(M2)를 가지며,
상기 보조 구동 모터(M2)는, 작업기의 유압시스템에 연결된 유압펌프를 구동하거나, 전기구동 트랙터를 구동하며,
상기 보조 구동 모터(M2)는, 상기 전기구동 트랙터가 일정 속도 이상의 슬립률(S)을 갖는 경우에, 전기구동 트랙터의 후차축에만 토크를 전달하며,
상기 보조 구동 모터(M2)는, MCU(Motor Control Unit)에 의하여 제어되며,
상기 MCU는 슬립률 판단모듈, 모터 제어부 및 배터리 제어부로 구성되고,
상기 슬립률 판단 모듈은, GPS와 메인 구동 모터(M1)에 의하여 슬립률을 계산하고,
상기 모터 제어부에 의한 보조 구동 모터(M2)의 제어는,
상기 계산된 슬립률이 20% 미만이면, 상기 보조 구동 모터(M2)의 동력은 작업기의 유압펌프용으로만 사용되고,
상기 계산된 슬립률이 20% 이상이면, 상기 보조 구동 모터(M2)의 동력은 후차축의 구동에만 사용되는 것을 특징으로 하는,
전기구동 트랙터 모터의 농작업 토크 지원 시스템.
It has a main drive motor (M1) and an auxiliary drive motor (M2) that drive the PTO shaft connected to the work machine while driving the electric drive tractor,
The auxiliary drive motor (M2) drives a hydraulic pump connected to the hydraulic system of the working machine, or drives an electrically driven tractor,
The auxiliary drive motor M2 transmits torque only to the rear axle of the electrically driven tractor when the electrically driven tractor has a slip ratio S of a certain speed or more,
The auxiliary driving motor M2 is controlled by an MCU (Motor Control Unit),
The MCU is composed of a slip rate determination module, a motor control unit and a battery control unit,
The slip rate determination module calculates the slip rate by GPS and the main driving motor M1,
The control of the auxiliary drive motor (M2) by the motor control unit,
If the calculated slip ratio is less than 20%, the power of the auxiliary drive motor M2 is used only for the hydraulic pump of the working machine,
When the calculated slip ratio is 20% or more, the power of the auxiliary drive motor M2 is used only for driving the rear axle,
Agricultural torque support system for electrically driven tractor motors.
 제2항에 있어서,
상기 슬립률(s)은,
아래 식에 의하여 계산되는 것을 특징으로 하는,
Figure 112021093070837-pat00005

Vo : 이론 속도(theoretical speed)
Va : 실제 속도(travel speed)
전기구동 트랙터 모터의 농작업 토크 지원 시스템.
3. The method of claim 2,
The slip rate (s) is,
Characterized in that it is calculated by the formula below,
Figure 112021093070837-pat00005

Vo : theoretical speed
Va : travel speed
Agricultural torque support system for electrically driven tractor motors.
 제3항에 있어서,
상기 실제 속도(Va)는
아래 식에 의하여 계산되는 것을 특징으로 하는,
Figure 112021093070837-pat00006

Va : 실제속도 (km/h)
r : radius of rear tire (m)
Nm : rotational speed of M1 (rpm)
γ : Gear reduction ratio
전기구동 트랙터 모터의 농작업 토크 지원 시스템.
4. The method of claim 3,
The actual speed Va is
Characterized in that it is calculated by the formula below,
Figure 112021093070837-pat00006

Va : Actual speed (km/h)
r : radius of rear tire (m)
Nm : rotational speed of M1 (rpm)
γ : Gear reduction ratio
Agricultural torque support system for electrically driven tractor motors.
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