CN-122009145-A - Transmission system of double-clutch hybrid power tractor and control method

CN122009145ACN 122009145 ACN122009145 ACN 122009145ACN-122009145-A

Abstract

The invention discloses a transmission system and a control method of a double-clutch hybrid power tractor, which relate to the technical field of agricultural vehicle control, and the technical scheme is characterized by comprising an engine and a driving motor, wherein the output end of the driving motor is connected with an even-numbered gear input shaft of a double-clutch automatic transmission, and the output end of the engine is connected with an odd-numbered gear input shaft of the double-clutch automatic transmission; the power system comprises a driving motor, an inverter, a storage battery, a double-clutch automatic transmission, a motor control unit, an engine, a power system, a whole vehicle controller, a power system and a control system, wherein the input end of the driving motor is connected with the output end of the inverter, the input end of the inverter is connected with the storage battery, the double-clutch automatic transmission, the driving motor and the engine are respectively controlled by a battery energy management unit, a double-clutch automatic transmission control unit, the motor control unit and the engine control unit.

Inventors

XU LIYOU
WANG LIN
ZHOU PEILONG
LIU MENGNAN
YAN XIANGHAI
LI XIANZHE
ZHAO SIXIA
WU YIWEI
ZHANG JUNJIANG
JIA FANG

Assignees

河南科技大学

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. The double-clutch hybrid power tractor transmission system is characterized by comprising an engine and a driving motor, wherein the output end of the driving motor is connected with an even-numbered gear input shaft of a double-clutch automatic transmission; The storage battery, the double-clutch automatic transmission, the driving motor and the engine are respectively controlled by a battery energy management unit, a double-clutch automatic transmission control unit, a motor control unit and an engine control unit, and the control units are connected to the whole vehicle controller through a controller local area network bus; The whole vehicle controller is also connected with a model prediction management unit through a controller local area network bus, the whole vehicle controller uploads the collected tractor operation data information to the model prediction management unit, and the model prediction management unit feeds back the control strategy after real-time optimization to the whole vehicle controller, so that data interaction is realized, and the control of a tractor transmission system is realized.
2. The transmission system of the dual-clutch hybrid power tractor according to claim 1, wherein the data processing unit in the model prediction management unit eliminates invalid data, cleans noise and filters operation data uploaded by the whole vehicle controller, extracts kinematic features of the hybrid power tractor, reduces the dimension of data fragments of a plurality of kinematic features into a parameter set, and matches the parameter set with samples in a loading working condition library through the model judgment unit to obtain optimal control parameters under corresponding working conditions.
3. The dual clutch hybrid tractor driveline of claim 1, wherein the dual clutch automatic transmission includes odd and even speed shafts, an odd speed clutch, an even speed clutch, a reverse intermediate shaft and a power sink device connected to the engine and the drive motor for transmitting power of the engine and the drive motor to the rear axle and the burst output shaft.
4. The dual clutch hybrid tractor driveline of claim 1, wherein the drive modes of the dual clutch hybrid tractor driveline further comprise a hybrid drive mode, an engine independent drive mode, a motor independent drive mode, a ride charge mode, and an energy recovery mode.
5. The dual clutch hybrid tractor driveline of claim 4, wherein the hybrid drive mode is used when the tractor is under a heavy load condition, and the power provided by the engine and the motor is coupled via the transmission shaft and provided to the tractor; The engine independent driving mode is used for medium and low load operation of the tractor in the process of intertillage and harrowing, the engine efficiently provides operation traction force, and the engine independently drives the tractor; The motor independent driving mode is used for the tractor to be in a low-load working condition of starting running and transportation, the motor efficiently provides operation traction force, and the output power of the motor is transmitted to the driving wheel through the transmission system so as to drive the tractor to run; in the driving charging mode, when the tractor is in independent driving of the engine and the electric quantity of the storage battery is insufficient, the engine drives the tractor to normally operate, and the residual power charges the storage battery through the generator; In the energy recovery mode, when the tractor is in a deceleration braking working condition of high-speed operation, the motor is converted into a generator, and the mechanical energy fed back by the tractor is converted into electric energy to charge the storage battery.
6. A control method applied to the transmission system of the double clutch hybrid power tractor as described in claims 1-5, characterized in that the model judgment unit establishes a judgment model, comprising the steps of: Establishing a judgment model, and constructing a model judgment controller based on the judgment model, wherein the model judgment controller judges future working condition information to obtain a working condition information value by taking the current estimated value of a system state variable as an initial state in each control period, and inputs the working condition information value into the judgment model to output a control instruction set of a finite time domain optimization problem; The control instruction set comprises an engine optimal torque instruction, a motor optimal torque instruction, a double clutch optimal pressure instruction and an optimal target gear; and comparing and feeding back the actual measured value output by the system with the working condition information value, and correcting to realize rolling optimization control.
7. The method of claim 6, wherein the model judgment controller is of a layered structure, and comprises: the upper energy management model judging controller has a control period of T1 and judges a time domain as Np1, wherein T1 is more than or equal to 100ms and less than or equal to 500ms, np1×T1 is more than or equal to 5s and less than or equal to 30s; The upper controller takes the total equivalent fuel consumption in the judging time domain as a core target, and solves an engine reference torque command and a motor reference torque command; The lower dynamic coordination model judgment controller has a control period of T2 and judges a time domain as Np2, wherein T2 is more than or equal to 10ms and less than or equal to 50ms, np2×T2 is more than or equal to 0.2s and less than or equal to 2s; the lower controller receives the output instruction of the upper controller to track the reference instruction, maintain the driving torque, clutch sliding friction work and ensure that the actuator action is smooth and optimized for multiple targets to obtain a final actuator instruction.
8. The control method of the dual clutch hybrid tractor transmission system according to claim 7, wherein the optimization objective function J of the lower dynamic coordination model judgment controller is specifically: ; Wherein, the T total is the actual driving torque of the whole vehicle, and T req is the total required torque; T motor and T eng are actual engine and driving motor torques, and T engref and T motorref are reference torques given by an upper controller; Δω 1 and Δω 2 are slip speeds of the odd-numbered stage clutch and the even-numbered stage shaft clutch, respectively, and Δt motor is a rate of change of motor torque; Phi (gear) is a penalty function related to gear selection for avoiding cyclic shifts and exciting economical gears according to judgment working conditions, and a 1 to a 6 are weight coefficients of various optimization items.
9. The method for controlling a transmission system of a dual clutch hybrid tractor according to claim 7, wherein the lower dynamic coordination model determining controller adopts an enumeration-based optimization method when processing discrete control variables, and specifically comprises: Generating a candidate gear sequence set according to the current speed, the driver demand and the upper instruction; calculating a candidate gear sequence and a fixed gear variable in the candidate gear sequence set to obtain a candidate sequence target value; And comparing candidate sequence target values corresponding to all candidate gear sequences, judging the candidate gear sequence with the smallest target function value as an optimal sequence, and outputting a first gear instruction in the optimal sequence as an optimal target gear at the current moment.
10. The control method of a dual clutch hybrid tractor driveline of claim 6, wherein determining future operating condition information to obtain an operating condition information value using a current estimate of a system state variable as an initial state, comprises the steps of: acquiring a road gradient change sequence in a judging time domain through a vehicle-mounted global positioning system receiver and pre-stored high-precision map data; obtaining a multidimensional time sequence data set through the GPS positioning track and gradient information; acquiring soil humidity and surface hardness through a meteorological sensor, and acquiring geological feature parameters by combining a vehicle dynamics data synchronous time stamp; Acquiring soil resistance parameters and farm tool working depth of a current working field from a farm management server through a vehicle-mounted communication module, and judging a working resistance change sequence of a road gradient change sequence to obtain a working resistance value; Based on the current accelerator pedal opening and the change history, a multi-dimensional time series data set, geological feature parameters and an operation resistance value are combined, and a driver demand torque sequence in a short period is judged to obtain a working condition information value.

Description

Transmission system of double-clutch hybrid power tractor and control method Technical Field The invention relates to the technical field of agricultural vehicle control, in particular to a transmission system of a double-clutch hybrid power tractor and a control method. Background The tractor is an important component of agricultural production equipment, and can realize various operations such as plowing, rotary tillage, seeding, pesticide spraying and the like. The traditional tractor generally uses an internal combustion engine to provide power, and in a rough working mode, the traction efficiency is low, the energy consumption is high, the exhaust particulate matter emission is large, and the environment is seriously polluted, so that the development of a new energy tractor with low energy consumption, low emission and high efficiency is urgent, and in recent years, along with the development and maturity of the hybrid electric vehicle technology, the hybrid electric vehicle gradually enters the field of agricultural machinery. However, the existing parallel hybrid power tractor power system cannot be matched with the applicability of working conditions in real time, so that the energy consumption is high, the economic benefit is poor, and the traditional parallel hybrid power needs a power coupling device and a manual transmission at the same time, so that the transmission efficiency is low, the gear shifting speed is low, the driving experience is poor, and the dual-clutch automatic transmission parallel hybrid power tractor power system and the control method are provided to solve the problems. Disclosure of Invention Aiming at the defects existing in the prior art, the invention aims to provide a control method of a transmission system of a double-clutch hybrid power tractor. In order to achieve the above purpose, the present invention provides the following technical solutions: The dual-clutch hybrid power tractor transmission system comprises an engine and a driving motor, wherein the output end of the driving motor is connected with an even-numbered gear input shaft of a dual-clutch automatic transmission, the output end of the engine is connected with an odd-numbered gear input shaft of the dual-clutch automatic transmission, the input end of the driving motor is connected with the output end of an inverter, the input end of the inverter is connected with a storage battery, the dual-clutch automatic transmission, the driving motor and the engine are respectively controlled by a battery energy management unit, a dual-clutch automatic transmission control unit, a motor control unit and an engine control unit, the control units are connected to a whole vehicle controller through a controller local area network bus, the whole vehicle controller acquires data information of tractor operation through the controller local area network bus and sends related control instructions, the whole vehicle controller is further connected with a model prediction management unit through the controller local area network bus, the whole vehicle controller uploads the acquired data information of the tractor to the model prediction management unit, and the model prediction management unit feeds back a control strategy after real-time optimization to the whole vehicle controller to realize data interaction, and control of the whole vehicle controller. The model prediction management unit comprises a model prediction management unit, a data processing unit, a model judging unit and a loading working condition library, wherein the model prediction management unit is used for carrying out elimination of invalid data, noise cleaning and filtering on operation data uploaded by a whole vehicle controller, extracting kinematic characteristics of a hybrid power tractor, carrying out dimension reduction processing on data fragments with a plurality of kinematic characteristics to obtain a parameter set, and carrying out matching on the parameter set and samples in the loading working condition library through the model judging unit to obtain optimal control parameters under corresponding working conditions. Preferably, the dual clutch automatic transmission includes an odd-numbered gear shaft and an even-numbered gear shaft connected with the engine and the driving motor, an odd-numbered gear clutch, an even-numbered gear clutch, a reverse intermediate shaft, and a power confluence device for transmitting power of the engine and the driving motor to the rear axle and the burst output shaft. The dual-clutch hybrid power tractor transmission system comprises a hybrid driving mode, an engine independent driving mode, a motor independent driving mode, a driving charging mode and an energy recovery mode, wherein the hybrid driving mode is used for the tractor to be in a working condition with a large load, power provided by an engine and a motor is coupled through a transmission shaft and then provided for the tractor, the engine i