基于牵引作业负载匹配的四电机双耦合电动拖拉机多驱动模式节能控制研究

Adaptive Energy-saving Control for Four-motor Dual-coupled Drive Electric Tractors in Load Traction

摘要:

针对电动拖拉机牵引作业能量利用率低、速度稳定性不足等问题，本文提出一种基于四电机双耦合动力系统（Four-motor dual-coupled power system，FDPS）的节能控制方法。FDPS兼具前后桥分布式驱动与单桥轴耦合驱动特点，支持单电机、双电机、三电机及四电机多驱动模式。建立作业机组纵向动力学模型和轮胎-土壤互作模型，以及能够表征FDPS效率特性与动力特性的电机模型与传动系统模型。提出一种与牵引作业负载匹配的多驱动模式节能控制架构，上层基于混合罚函数粒子群算法，针对不同需求驱动力与作业速度，离线生成FDPS驱动模式切换与多电机最优转矩分配规则；下层结合模糊PID算法在线精准识别整机需求驱动力，并跟踪目标作业速度。基于田间实测牵引阻力数据开展900s的节能控制台架试验。试验结果表明，所提方法较平均转矩分配控制策略电能消耗降低3.76%，速度均方根误差减少11.1%，提高了整机作业经济性和速度稳定性。本文所提动力系统可作为通用动力平台，所提节能控制方法可为电动拖拉机多动力源驱动控制研究提供参考。

Abstract:

Aiming to address issues such as low energy utilization efficiency and insufficient speed stability in electric tractor traction operations, an energy-saving control method was proposed based on a four-motor dual-coupled power system (FDPS). The FDPS combined the characteristics of distributed drive for front and rear axles with coupled drive for single axles, supporting single-motor, dual-motor, triple-motor, and quad-motor drive modes. A longitudinal dynamics model for the working unit and a tire-soil interaction model were established, along with motor and transmission system models that characterized the efficiency and dynamic properties of the FDPS. A multi-drive-mode energy-saving control architecture matching traction workload was proposed. The upper layer employed a hybrid penalty function particle swarm algorithm to offline generate FDPS drive mode switching and multi-motor optimal torque distribution rules based on varying demand driving forces and operating speeds. The lower layer integrated a fuzzy PID algorithm to online identify the machine’s demand driving force with precision while tracking target operating speeds. A 900-second energy-saving control bench test was conducted by using field-measured traction resistance data. Test results demonstrated that the proposed method reduced energy consumption by 3.76% and lowered the root mean square speed error by 11.1% compared with the average torque distribution control strategy, enhancing the machine’s operational economy and speed stability. The proposed power system can serve as a universal power platform, and the energy-saving control method can provide a reference for multi-power-source drive control research in electric tractors.