Research On Control Strategy Of Driving System Of Horticultural Electric Tractor

Modern orchards and tea plantations have increasingly higher requirements for the standardization of crop growth environment,while horticultural tractors based on traditional tractor platforms are difficult to meet the needs of modern orchards or tea plantations in terms of emission performance.Taking horticultural electric tractor as the research object,this paper studies the method of parameter matching design,operation mode switching control strategy and drive system control strategy of the dual-motor dynamic coupling drive system respectively on the basis of the overall drive system structure scheme.The main research content is as follows:(1)According to the operating power demand of horticultural electric tractor,the driving system structure scheme of the whole machine suitable for a variety of operating conditions is developed,namely the structure scheme of dual-motor dynamic coupling driving system,and the working principle of the dynamic coupling mechanism and the working mode of the driving system are analyzed.(2)Based on the garden design index of the performance and fuel economy of electric tractor,firstly the article analyzed the gardening electric tractor performance evaluation index,and then put forward parameters matching design method for the dual-motor power coupling drive system,at the same time,completed selection of key parts for dual-motor power coupling drive system;Finally,the vehicle performance simulation software Cruise is used to simulate the tractor performance.(3)According to the multiple operation modes of the dual-motor dynamic coupling drive system,the control strategies suitable for each operation mode are developed respectively.Considering the power and economic demand of horticultural electric tractor,a reasonable and effective control strategy for operation mode switching is developed according to the selected operation mode switching point.(4)According to the control goal of the tractor,the control strategy of the driving system of horticultural electric tractor was developed.The control strategy framework of the whole drive system mainly consists of three modules:calculation module for demanded torque of the whole machine,operation mode selection andswitching module,and dual-motor torque optimal allocation module.In the calculation module for demanded torque of the whole machine,fuzzy PID algorithm is adopted to identify the demanded torque under a certain working condition.Simulation results show that the vehicle speed is basically maintained near the target speed.In the dual-motor torque optimal allocation module,the dual-motor efficiency optimization is taken as the control objective.Based on the dual-motor torque coupling operation mode,the dual-motor torque optimal allocation control strategy is developed and verified by simulation in MATLAB.The results show that the torque allocation control strategy based on the optimal dual-motor efficiency can effectively improve the overall drive efficiency.