混合动力拖拉机动力特性的研究
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摘要
近年来,农用车辆对环境和资源造成的压力逐年增加,开展新型节能拖拉机的研发已成为迫在眉睫的重要课题。而在我国,几乎没有关于混合动力拖拉机方面的研究。因此,深入研究混合动力驱动系统的动力耦合装置、驱动系统设计理论以及混合动力驱动特性和能耗,对混合动力拖拉机的研究与开发具有重要的意义。
本文基于拖拉机的工作和传动特性要求,结合当前国内外在混合动力驱动系统方面的研究现状,设计并制造了适用于并联式混合动力拖拉机的动力耦合装置,在此基础上,研制了一种单缸柴油机和串励直流电动机为输入动力的混合动力拖拉机驱动系统。所完成的工作和取得的结论归纳如下：
1、动力耦合装置的设计与仿真。通过分析各类动力耦合装置的原理和特点,结合拖拉机的工作和传动特性要求,从传动比、特征参数和齿数匹配等方面,研制了适用于并联式混合动力拖拉机的行星差动轮系式动力耦合装置。在SimulationX中建立了仿真模型,对发动机单独工作、电动机单独工作和混合动力模式时的工作情况进行了仿真研究。结果表明,在各模式下,太阳轮、外齿圈和行星架三者间的转速和转矩关系与行星差动轮系间转速和转矩关系均一致；在启动和停机瞬间,以及加速或减速过程中,行星差动轮系会产生内部转矩和功率损失；太阳轮和外齿圈的转矩方向与起主要作用的发动机或电动机转速方向一致,而行星架转矩方向相反。
2、混合动力驱动系统设计计算方法研究。根据混合动力拖拉机的作业特点,设计了一种发动机和电动机为输入动力,动力耦合装置和变速箱协同调速的并联式混合动力拖拉机传动系统,提出了混合动力拖拉机的动力性和经济性评价指标及计算公式,并对其动力传动系统主要参数的设计计算方法进行了探讨,建立了传动系各部件理论模型,提出了发动机和电动机动力匹配原则。以某型号混合动力拖拉机为设计实例,计算分析了不同档位和发动机负荷下的驱动力、爬坡度和发动机与电动机的转速匹配范围、发动机与电动机同向或反向转动时的总传动效率和犁耕作业下的等效能耗等。研究结果表明,驱动力和爬坡度大小与发动机提供的负荷成正比,与变速箱档位的高低成反比,而转速匹配范围随着发动机负荷的增大相应减小,与档位变化无关。发动机和电动机转速相同时,同向转动时的总传动效率大于反向转动时的总传动效率。在发动机与电动机同向转动和反向转动时,总传动效率随着发动机和电动机转速的增大而增大。档位越低,发动机和电动机动力匹配范围越大；且在相同的发动机和电动机转速下,等效能耗越低。在某一档位下,随着发动机和电动机转速的增加,等效能耗逐渐增高。当作业速度相同时,混合动力拖拉机的等效能耗低于同功率燃油拖拉机,其最高节能率可达24%。
3、混合动力拖拉机动态特性仿真研究。在SimulationX中对混合动力拖拉机各部件分别进行建模和参数设置,开发了混合动力拖拉机仿真系统。并对发动机单独工作、电动机单独工作和混合动力模式工作三种工作模式下,进行空载运输作业和播种作业时的动态特性进行了仿真研究。研究结果表明,档位和外部载荷一定时,混合动力模式下行驶速度范围最大,最大行驶速度最高；发动机单独工作模式次之,电动机单独工作模式行驶速度范围最小,最大行驶速度最低。随着档位的增高,三种模式下的行驶速度均增大。三种模式下,发动机、电动机、动力耦合装置中太阳轮、齿圈和行星架的转矩会随着档位和外部载荷的增大而增大,且在匀速行驶时,转矩恒定,在加速或减速行驶时,转矩会产生波动。驱动轮转矩仅随外部载荷的增大而增大,而与档位无关。当档位和外部载荷不变时,发动机的小时燃油消耗量随着发动机转速的增大而增大；蓄电池输出功率和电动机输入电压随着电动机转速的增大而增大,电动机输入电流几乎保持不变；1h等效能耗随着发动机和电动机转速的增大而增大。随着档位和外部载荷的增大,发动机的小时燃油消耗量、蓄电池输出功率、电动机输入电压和电流,以及1h等效能耗均增大。发动机单独工作模式时,其总传动效率随着档位和外部载荷的增大而增大。电动机单独工作模式时,其总传动效率和电动机效率随着电动机转速、档位和外部载荷的增大而增大。混合动力模式工作时,总传动效率随着发动机转速、电动机转速、档位和外部载荷的增大而增大；电动机效率随着电动机转速、档位和外部载荷的增大而增大。档位一定时,行驶速度范围在电动机单独工作时的范围内,电动机单独工作时的等效能耗最低；而当行驶速度范围在发动机单独工作时的范围内,混合动力模式时的等效能耗较低。当外部载荷不变,档位增大时,各模式下的行驶速度均增大,其相应的等效能耗增大。当档位不变,外部载荷增大时,在相同的行驶速度下,等效能耗增大。混合动力模式时,根据发动机转速和电动机转速的不同,会出现相同行驶速度下,等效能耗的不同。说明在混合动力模式下,混合动力拖拉机进行某项作业时的动力选择范围较大。
4、混合动力拖拉机试验台构建和测控系统开发。基于模块化思想构建了混合动力拖拉机试验台,在LabVIEW中开发了试验台测控系统,并对试验台所用传感器进行了标定。
5、混合动力拖拉机动力特性试验研究。试验研究了混合动力拖拉机的行驶速度、发动机和电动机功率配比、驱动轮输出功率、发动机、电动机和驱动轮输出转矩、蓄电池和电动机输出特性以及牵引效率、总传动效率和等效能耗等特性。研究结果表明,当档位不变,发动机和电动机转速相同时,行驶速度随着加载转矩变化几乎保持不变。但随着加载转矩的增大,电动机最高转速和转速匹配范围均减小,相应的行驶速度范围减小。档位一定时,发动机、电动机和驱动轮功率大小与加载转矩成正比,加载转矩越大,发动机和电动机发挥的功率就越大。当档位和加载转矩不变时,发动机功率随发动机转速的变化规律与发动机负荷特性曲线变化相似,随电动机转速增大而略有减小；电动机功率随电动机转速的增大而增大；驱动轮功率随着发动机和电动机转速的增大均增大,且随电动机转速的变化更为敏感。电动机转速较低时,发动机功率大于电动机功率；随着电动机转速的增大,电动机功率会大于发动机功率。随着发动机转速和加载转矩的增大,电动机大于发动机的功率范围逐渐减小。档位一定时,发动机转矩随着电动机转速的增大而略有减小,随发动机转速的增大呈现先增大后减小的趋势；电动机转矩随着电动机转速和发动机转速的增大几乎保持不变。加载转矩一定时,电动机的转矩几乎是发动机转矩的2倍左右,加载转矩越大越明显。加载转矩一定时,蓄电池电压随着电动机电压的减小而增大,蓄电池电流随着电动机电压的增大而增大。电动机电压一定时,蓄电池电压随着加载转矩的增大而减小；加载转矩越大,随着电动机电压的增大,蓄电池压降就越大；而蓄电池电流随着加载转矩的增大而增大,且电动机电压的控制范围随着加载转矩的增大而减小；电动机电流随着加载转矩的增大而增大。当档位不变时,牵引效率、总传动效率和等效能耗随着加载转矩的增大而增大。当档位和加载转矩不变时,牵引效率、总传动效率和等效能耗随着电动机和发动机转速的增大而增大。混合动力拖拉机需要根据牵引效率、总传动效率和等效能耗选择最佳工作点。加载转矩为780N·m时,为模拟播种作业工况,与仿真结果相比较,等效能耗的误差不超过3%,说明仿真结果可靠。
通过本课题的研究,可以为混合动力拖拉机其他类型耦合器的开发、其他类型电动机和发动机的匹配研究以及控制系统开发提供理论依据和技术支持,对节能减排拖拉机的进一步研发具有重要的理论意义和实用价值。
In recent years, the pressure of agricultural vehicles on the environment and resources is increasing year by year, so carrying out the research and development of new energy-conservation tractors has become the imminent important subject. However, in our country, there are few researches about the hybrid electric tractor. Therefore, carrying on an in-depth study on power coupler, design theory of drive system, hybrid electric drive characteristics and energy consumption of hybrid electric tractor have great significance to the development of hybrid electric tractor.
Based on the requirements of the work and transmission characteristics for the hybrid electric drive system, and the nowadays study actualities of hybrid electric drive system home and abroad, designed and manufactured a power coupler for parallel hybrid electric tractor. Then a new type of hybrid electric tractor drive system based on a single-cylinder diesel engine and series DC motor was developed. The finished work and achieved results are generalized as follows:
1. Design and simulation of the power coupler. Through the analysis of principles and characteristics of various types of power couplers and in combination with the requirements the work and transmission characteristics of tractors, deigned the transmission ratio, characteristic parameters and matching number of gear teeth of the power coupler, then a differential planetary gear transmission power coupler for parallel hybrid electric tractor was developed. On the basis of the establishment of the simulation model of the power coupler in SimulationX, three operation modes that the engine working only, motor working only and hybrid mode working were researched. Results show that, in each mode, the speed and torque relationships of sun gear, ring gear and planet carrier were in consistent with the speed and torque relationships of general differential planetary gear transmission; in the instant of start and stop, and in the process of acceleration and deceleration, the loss of internal torque and power of differential planetary gear transmission were produced; the torque direction of sun gear and ring gear was consistent with the rotation direction of engine or motor when which played a major role, while planet carrier torque was in the opposite direction with the rotation direction of engine or motor when which played a major role.
2. Researches of the design theory and calculation method of hybrid electric tractor drive system. Based on the working condition of the tractor, a new type of electric tractor drive system was designed, which contained a single-cylinder diesel engine and series DC motor as input power, and the power coupler cooperated with the gearbox to control speed, then suggested the evaluation indicator and calculation model of dynamic and economic performance and the parameter design methods of each component of drive train of hybrid electric tractor, established the theory model of each component of drive train, and proposed the match principle of engine and motor power. Taking a hybrid electric tractor as design object, the driving force, climbing property and speed matching range of engine and motor on different load of engine and different shift, the total transmission efficiency of engine and motor in the same or reverse rotation and equivalent energy were calculation analyzed. Results show that the driving force and climbing property is proportional to the load of engine and is inversely proportional to the shift of gearbox, while speed matching range of engine and motor decreases when the load of engine increases, but has nothing to do with the shift changes. The total transmission efficiency on engine and motor in the same rotation is greater than on engine and motor in the reverse rotation, when engine and motor are the same speed. And the total transmission efficiency increases when the speed of engine or motor increases on engine and motor in the same of inverse rotation. When the level of shifts is lower, the power matching range of engine and motor is greater, and equivalent energy consumption is lower on the same speed of engine and motor. On certain shift, equivalent energy consumption increases when the speed of engine and motor increases. The equivalent energy consumption of hybrid electric tractor is less than the fuel tractor on the same power, and the highest energy conservation is up to24%.
3. Simulation research on dynamic characteristics of hybrid electric tractor. The model establishment and parameters set of each component of hybrid electric have been processed in SimulationX, then developed the simulation system of hybrid electric tractor. Simulation analysis of dynamic characteristics of hybrid electric tractor in three operation modes-engine working only, motor working only and hybrid mode and in two different working conditions including no-load transport and sowing shows that, when the shift and external load is constant, the speed range and the maximum driving speed are the biggest in hybrid mode, second biggest in engine working only mode, the lowest speed range and minimum driving speed in motor working only mode. With the increase of the shift, the driving speed increases in three modes. The torque of engine, motor and some power coupling devices including sun gear, ring gear and planet carrier increases with the increase of the shift and external load. Torque is constant on the constant driving speed condition and will wave on acceleration or deceleration conditions. Driving wheel torque increases only with the external load increases, and has nothing with the shift. When the shift and external load is constant, the fuel consumption per hour of engine increases with the increase of engine speed; the battery output power and motor input voltage increases with the increase of motor speed and the motor input current remains almost unchanged;1h equivalent energy consumption increases with the increase of the engine and motor speed. With the increase of the shift and external load, the fuel consumption per hour of engine, the battery output power, the motor input voltage and current and1h equivalent energy consumption all increase. On the engine working only mode, the total transmission efficiency increases with the increase of the shift and external load. On the motor working only mode, the total transmission efficiency and motor efficiency increase with the increase of the speed of the motor, the shift and external load. On hybrid mode, the total transmission efficiency increases with the increase of the engine speed, motor speed, the shift and external load; and the motor efficiency increases with the increase of motor speed, the shift and external load. On certain shift, when driving speed is in the range of motor working only mode, the equivalent energy consumption of motor working only mode is the minimum; when driving speed is in the range of engine working only mode, the equivalent energy consumption of hybrid mode is lower. When the external load is constant, the driving speed and the corresponding equivalent energy consumption increase with the increase of the shift in all modes. At the constant shift and the same driving speed, the equivalent energy consumption increases with the increase of external load. In various engine speed and motor speed, the equivalent energy consumption will be different in the same driving speed in hybrid mode. That is to say, the hybrid electric tractor has the greater range of power selecting on some working condition in hybrid mode.
4. Construction of the test platform and development of measuring and controlling system for hybrid electric tractor. Constructed the test platform for hybrid electric tractor, based on the modularization notion, developed measuring and controlling system in LabVIEW, and calibrated all sensors used for test platform.
5. Experiment on dynamic characteristics of hybrid electric tractor. The experiments include these characteristics-the driving speed of hybrid electric tractor, power match of engine and motor, output power of driving wheel, output torque of engine, motor and driving wheel, the output properties of the battery and the motor, traction efficiency, total transmission efficiency, equivalent energy consumption and so on. Results show that on certain shift and the same speed of engine and motor, the driving speed remains almost unchanged with the change of load torque. But with the increase of the load torque, the highest motor speed and the speed matching range of engine and motor are reduced, so that the corresponding driving speed range is reduced. On certain shift, the power of engine, motor and drive wheel are direct proportion to the load torque, and the efficient power of engine and the motor increase with the increase of the load torque. When the shift and load torque are constant, the trend of the changing of engine power with the speed changing of engine was similar with the load characteristic of engine, and the engine power slightly decreases with the increase of the motor speed; the motor power increases with the increase of the motor rotation speed; the driving wheel power increases with the increase of the speed of motor and engine, and is more sensitive with the changing of motor speed. When the motor speed is lower, the engine power is greater than the motor power; when the motor speed increases, the motor power will be greater than the engine. As the engine speed and load torque increase, the range in which the motor power is greater than the engine power decreases gradually. On certain shift, the engine torque slightly decreases as the motor speed increases, and increases first and then decreases with the increase of engine speed; the motor torque remains almost unchanged as the increase of the speed of motor and engine. When the load torque is constant, the motor torque is almost twice of the engine torque, and the greater the torque loads, the more obvious it is. On constant load torque, the battery voltage decreases with the increase of motor voltage, and the battery current increases with the increase of motor voltage. The battery voltage decreases with the increase of load torque on constant motor voltage; the greater the load torque, the greater the battery voltage drop with the increase of the motor voltage; the battery current increases with the increase of load torque, and the control range of motor voltage decreases with the increase of load torque; the motor current increases with the increase of load torque. When the shift is constant, the traction efficiency, total transmission efficiency and equivalent energy consumption increase with the increase of load torque. When the shift and load torque are constant, the traction efficiency, total transmission efficiency and equivalent energy consumption increase with the increase of the motor and engine speed. Hybrid electric tractor needs to select the best operating point according to the traction efficiency, total transmission efficiency and equivalent energy consumption. When the load torque is780N-m, which simulates the sowing operation condition, the equivalent energy consumption error is less than3%compared with simulation results, that is to say, the simulation results are reliable.
The research on this project is expected to provide theoretical basis and technical support for the development of other types of coupler, the power match research of other types of engine and motor and development of control system of hybrid electric tractor, and is of important theoretical significance and practical value to promote the development of energy conservation and emission reduction tractor.
本文基于拖拉机的工作和传动特性要求,结合当前国内外在混合动力驱动系统方面的研究现状,设计并制造了适用于并联式混合动力拖拉机的动力耦合装置,在此基础上,研制了一种单缸柴油机和串励直流电动机为输入动力的混合动力拖拉机驱动系统。所完成的工作和取得的结论归纳如下：
1、动力耦合装置的设计与仿真。通过分析各类动力耦合装置的原理和特点,结合拖拉机的工作和传动特性要求,从传动比、特征参数和齿数匹配等方面,研制了适用于并联式混合动力拖拉机的行星差动轮系式动力耦合装置。在SimulationX中建立了仿真模型,对发动机单独工作、电动机单独工作和混合动力模式时的工作情况进行了仿真研究。结果表明,在各模式下,太阳轮、外齿圈和行星架三者间的转速和转矩关系与行星差动轮系间转速和转矩关系均一致；在启动和停机瞬间,以及加速或减速过程中,行星差动轮系会产生内部转矩和功率损失；太阳轮和外齿圈的转矩方向与起主要作用的发动机或电动机转速方向一致,而行星架转矩方向相反。
2、混合动力驱动系统设计计算方法研究。根据混合动力拖拉机的作业特点,设计了一种发动机和电动机为输入动力,动力耦合装置和变速箱协同调速的并联式混合动力拖拉机传动系统,提出了混合动力拖拉机的动力性和经济性评价指标及计算公式,并对其动力传动系统主要参数的设计计算方法进行了探讨,建立了传动系各部件理论模型,提出了发动机和电动机动力匹配原则。以某型号混合动力拖拉机为设计实例,计算分析了不同档位和发动机负荷下的驱动力、爬坡度和发动机与电动机的转速匹配范围、发动机与电动机同向或反向转动时的总传动效率和犁耕作业下的等效能耗等。研究结果表明,驱动力和爬坡度大小与发动机提供的负荷成正比,与变速箱档位的高低成反比,而转速匹配范围随着发动机负荷的增大相应减小,与档位变化无关。发动机和电动机转速相同时,同向转动时的总传动效率大于反向转动时的总传动效率。在发动机与电动机同向转动和反向转动时,总传动效率随着发动机和电动机转速的增大而增大。档位越低,发动机和电动机动力匹配范围越大；且在相同的发动机和电动机转速下,等效能耗越低。在某一档位下,随着发动机和电动机转速的增加,等效能耗逐渐增高。当作业速度相同时,混合动力拖拉机的等效能耗低于同功率燃油拖拉机,其最高节能率可达24%。
3、混合动力拖拉机动态特性仿真研究。在SimulationX中对混合动力拖拉机各部件分别进行建模和参数设置,开发了混合动力拖拉机仿真系统。并对发动机单独工作、电动机单独工作和混合动力模式工作三种工作模式下,进行空载运输作业和播种作业时的动态特性进行了仿真研究。研究结果表明,档位和外部载荷一定时,混合动力模式下行驶速度范围最大,最大行驶速度最高；发动机单独工作模式次之,电动机单独工作模式行驶速度范围最小,最大行驶速度最低。随着档位的增高,三种模式下的行驶速度均增大。三种模式下,发动机、电动机、动力耦合装置中太阳轮、齿圈和行星架的转矩会随着档位和外部载荷的增大而增大,且在匀速行驶时,转矩恒定,在加速或减速行驶时,转矩会产生波动。驱动轮转矩仅随外部载荷的增大而增大,而与档位无关。当档位和外部载荷不变时,发动机的小时燃油消耗量随着发动机转速的增大而增大；蓄电池输出功率和电动机输入电压随着电动机转速的增大而增大,电动机输入电流几乎保持不变；1h等效能耗随着发动机和电动机转速的增大而增大。随着档位和外部载荷的增大,发动机的小时燃油消耗量、蓄电池输出功率、电动机输入电压和电流,以及1h等效能耗均增大。发动机单独工作模式时,其总传动效率随着档位和外部载荷的增大而增大。电动机单独工作模式时,其总传动效率和电动机效率随着电动机转速、档位和外部载荷的增大而增大。混合动力模式工作时,总传动效率随着发动机转速、电动机转速、档位和外部载荷的增大而增大；电动机效率随着电动机转速、档位和外部载荷的增大而增大。档位一定时,行驶速度范围在电动机单独工作时的范围内,电动机单独工作时的等效能耗最低；而当行驶速度范围在发动机单独工作时的范围内,混合动力模式时的等效能耗较低。当外部载荷不变,档位增大时,各模式下的行驶速度均增大,其相应的等效能耗增大。当档位不变,外部载荷增大时,在相同的行驶速度下,等效能耗增大。混合动力模式时,根据发动机转速和电动机转速的不同,会出现相同行驶速度下,等效能耗的不同。说明在混合动力模式下,混合动力拖拉机进行某项作业时的动力选择范围较大。
4、混合动力拖拉机试验台构建和测控系统开发。基于模块化思想构建了混合动力拖拉机试验台,在LabVIEW中开发了试验台测控系统,并对试验台所用传感器进行了标定。
5、混合动力拖拉机动力特性试验研究。试验研究了混合动力拖拉机的行驶速度、发动机和电动机功率配比、驱动轮输出功率、发动机、电动机和驱动轮输出转矩、蓄电池和电动机输出特性以及牵引效率、总传动效率和等效能耗等特性。研究结果表明,当档位不变,发动机和电动机转速相同时,行驶速度随着加载转矩变化几乎保持不变。但随着加载转矩的增大,电动机最高转速和转速匹配范围均减小,相应的行驶速度范围减小。档位一定时,发动机、电动机和驱动轮功率大小与加载转矩成正比,加载转矩越大,发动机和电动机发挥的功率就越大。当档位和加载转矩不变时,发动机功率随发动机转速的变化规律与发动机负荷特性曲线变化相似,随电动机转速增大而略有减小；电动机功率随电动机转速的增大而增大；驱动轮功率随着发动机和电动机转速的增大均增大,且随电动机转速的变化更为敏感。电动机转速较低时,发动机功率大于电动机功率；随着电动机转速的增大,电动机功率会大于发动机功率。随着发动机转速和加载转矩的增大,电动机大于发动机的功率范围逐渐减小。档位一定时,发动机转矩随着电动机转速的增大而略有减小,随发动机转速的增大呈现先增大后减小的趋势；电动机转矩随着电动机转速和发动机转速的增大几乎保持不变。加载转矩一定时,电动机的转矩几乎是发动机转矩的2倍左右,加载转矩越大越明显。加载转矩一定时,蓄电池电压随着电动机电压的减小而增大,蓄电池电流随着电动机电压的增大而增大。电动机电压一定时,蓄电池电压随着加载转矩的增大而减小；加载转矩越大,随着电动机电压的增大,蓄电池压降就越大；而蓄电池电流随着加载转矩的增大而增大,且电动机电压的控制范围随着加载转矩的增大而减小；电动机电流随着加载转矩的增大而增大。当档位不变时,牵引效率、总传动效率和等效能耗随着加载转矩的增大而增大。当档位和加载转矩不变时,牵引效率、总传动效率和等效能耗随着电动机和发动机转速的增大而增大。混合动力拖拉机需要根据牵引效率、总传动效率和等效能耗选择最佳工作点。加载转矩为780N·m时,为模拟播种作业工况,与仿真结果相比较,等效能耗的误差不超过3%,说明仿真结果可靠。
通过本课题的研究,可以为混合动力拖拉机其他类型耦合器的开发、其他类型电动机和发动机的匹配研究以及控制系统开发提供理论依据和技术支持,对节能减排拖拉机的进一步研发具有重要的理论意义和实用价值。
In recent years, the pressure of agricultural vehicles on the environment and resources is increasing year by year, so carrying out the research and development of new energy-conservation tractors has become the imminent important subject. However, in our country, there are few researches about the hybrid electric tractor. Therefore, carrying on an in-depth study on power coupler, design theory of drive system, hybrid electric drive characteristics and energy consumption of hybrid electric tractor have great significance to the development of hybrid electric tractor.
Based on the requirements of the work and transmission characteristics for the hybrid electric drive system, and the nowadays study actualities of hybrid electric drive system home and abroad, designed and manufactured a power coupler for parallel hybrid electric tractor. Then a new type of hybrid electric tractor drive system based on a single-cylinder diesel engine and series DC motor was developed. The finished work and achieved results are generalized as follows:
1. Design and simulation of the power coupler. Through the analysis of principles and characteristics of various types of power couplers and in combination with the requirements the work and transmission characteristics of tractors, deigned the transmission ratio, characteristic parameters and matching number of gear teeth of the power coupler, then a differential planetary gear transmission power coupler for parallel hybrid electric tractor was developed. On the basis of the establishment of the simulation model of the power coupler in SimulationX, three operation modes that the engine working only, motor working only and hybrid mode working were researched. Results show that, in each mode, the speed and torque relationships of sun gear, ring gear and planet carrier were in consistent with the speed and torque relationships of general differential planetary gear transmission; in the instant of start and stop, and in the process of acceleration and deceleration, the loss of internal torque and power of differential planetary gear transmission were produced; the torque direction of sun gear and ring gear was consistent with the rotation direction of engine or motor when which played a major role, while planet carrier torque was in the opposite direction with the rotation direction of engine or motor when which played a major role.
2. Researches of the design theory and calculation method of hybrid electric tractor drive system. Based on the working condition of the tractor, a new type of electric tractor drive system was designed, which contained a single-cylinder diesel engine and series DC motor as input power, and the power coupler cooperated with the gearbox to control speed, then suggested the evaluation indicator and calculation model of dynamic and economic performance and the parameter design methods of each component of drive train of hybrid electric tractor, established the theory model of each component of drive train, and proposed the match principle of engine and motor power. Taking a hybrid electric tractor as design object, the driving force, climbing property and speed matching range of engine and motor on different load of engine and different shift, the total transmission efficiency of engine and motor in the same or reverse rotation and equivalent energy were calculation analyzed. Results show that the driving force and climbing property is proportional to the load of engine and is inversely proportional to the shift of gearbox, while speed matching range of engine and motor decreases when the load of engine increases, but has nothing to do with the shift changes. The total transmission efficiency on engine and motor in the same rotation is greater than on engine and motor in the reverse rotation, when engine and motor are the same speed. And the total transmission efficiency increases when the speed of engine or motor increases on engine and motor in the same of inverse rotation. When the level of shifts is lower, the power matching range of engine and motor is greater, and equivalent energy consumption is lower on the same speed of engine and motor. On certain shift, equivalent energy consumption increases when the speed of engine and motor increases. The equivalent energy consumption of hybrid electric tractor is less than the fuel tractor on the same power, and the highest energy conservation is up to24%.
3. Simulation research on dynamic characteristics of hybrid electric tractor. The model establishment and parameters set of each component of hybrid electric have been processed in SimulationX, then developed the simulation system of hybrid electric tractor. Simulation analysis of dynamic characteristics of hybrid electric tractor in three operation modes-engine working only, motor working only and hybrid mode and in two different working conditions including no-load transport and sowing shows that, when the shift and external load is constant, the speed range and the maximum driving speed are the biggest in hybrid mode, second biggest in engine working only mode, the lowest speed range and minimum driving speed in motor working only mode. With the increase of the shift, the driving speed increases in three modes. The torque of engine, motor and some power coupling devices including sun gear, ring gear and planet carrier increases with the increase of the shift and external load. Torque is constant on the constant driving speed condition and will wave on acceleration or deceleration conditions. Driving wheel torque increases only with the external load increases, and has nothing with the shift. When the shift and external load is constant, the fuel consumption per hour of engine increases with the increase of engine speed; the battery output power and motor input voltage increases with the increase of motor speed and the motor input current remains almost unchanged;1h equivalent energy consumption increases with the increase of the engine and motor speed. With the increase of the shift and external load, the fuel consumption per hour of engine, the battery output power, the motor input voltage and current and1h equivalent energy consumption all increase. On the engine working only mode, the total transmission efficiency increases with the increase of the shift and external load. On the motor working only mode, the total transmission efficiency and motor efficiency increase with the increase of the speed of the motor, the shift and external load. On hybrid mode, the total transmission efficiency increases with the increase of the engine speed, motor speed, the shift and external load; and the motor efficiency increases with the increase of motor speed, the shift and external load. On certain shift, when driving speed is in the range of motor working only mode, the equivalent energy consumption of motor working only mode is the minimum; when driving speed is in the range of engine working only mode, the equivalent energy consumption of hybrid mode is lower. When the external load is constant, the driving speed and the corresponding equivalent energy consumption increase with the increase of the shift in all modes. At the constant shift and the same driving speed, the equivalent energy consumption increases with the increase of external load. In various engine speed and motor speed, the equivalent energy consumption will be different in the same driving speed in hybrid mode. That is to say, the hybrid electric tractor has the greater range of power selecting on some working condition in hybrid mode.
4. Construction of the test platform and development of measuring and controlling system for hybrid electric tractor. Constructed the test platform for hybrid electric tractor, based on the modularization notion, developed measuring and controlling system in LabVIEW, and calibrated all sensors used for test platform.
5. Experiment on dynamic characteristics of hybrid electric tractor. The experiments include these characteristics-the driving speed of hybrid electric tractor, power match of engine and motor, output power of driving wheel, output torque of engine, motor and driving wheel, the output properties of the battery and the motor, traction efficiency, total transmission efficiency, equivalent energy consumption and so on. Results show that on certain shift and the same speed of engine and motor, the driving speed remains almost unchanged with the change of load torque. But with the increase of the load torque, the highest motor speed and the speed matching range of engine and motor are reduced, so that the corresponding driving speed range is reduced. On certain shift, the power of engine, motor and drive wheel are direct proportion to the load torque, and the efficient power of engine and the motor increase with the increase of the load torque. When the shift and load torque are constant, the trend of the changing of engine power with the speed changing of engine was similar with the load characteristic of engine, and the engine power slightly decreases with the increase of the motor speed; the motor power increases with the increase of the motor rotation speed; the driving wheel power increases with the increase of the speed of motor and engine, and is more sensitive with the changing of motor speed. When the motor speed is lower, the engine power is greater than the motor power; when the motor speed increases, the motor power will be greater than the engine. As the engine speed and load torque increase, the range in which the motor power is greater than the engine power decreases gradually. On certain shift, the engine torque slightly decreases as the motor speed increases, and increases first and then decreases with the increase of engine speed; the motor torque remains almost unchanged as the increase of the speed of motor and engine. When the load torque is constant, the motor torque is almost twice of the engine torque, and the greater the torque loads, the more obvious it is. On constant load torque, the battery voltage decreases with the increase of motor voltage, and the battery current increases with the increase of motor voltage. The battery voltage decreases with the increase of load torque on constant motor voltage; the greater the load torque, the greater the battery voltage drop with the increase of the motor voltage; the battery current increases with the increase of load torque, and the control range of motor voltage decreases with the increase of load torque; the motor current increases with the increase of load torque. When the shift is constant, the traction efficiency, total transmission efficiency and equivalent energy consumption increase with the increase of load torque. When the shift and load torque are constant, the traction efficiency, total transmission efficiency and equivalent energy consumption increase with the increase of the motor and engine speed. Hybrid electric tractor needs to select the best operating point according to the traction efficiency, total transmission efficiency and equivalent energy consumption. When the load torque is780N-m, which simulates the sowing operation condition, the equivalent energy consumption error is less than3%compared with simulation results, that is to say, the simulation results are reliable.
The research on this project is expected to provide theoretical basis and technical support for the development of other types of coupler, the power match research of other types of engine and motor and development of control system of hybrid electric tractor, and is of important theoretical significance and practical value to promote the development of energy conservation and emission reduction tractor.
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