农业机械学报2025，Vol.56Issue(12)：87-98,12.DOI:10.6041/j.issn.1000-1298.2025.12.007
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
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.关键词
电动拖拉机/节能控制/牵引作业/多驱动模式Key words
electric tractor/energy-saving control/traction operation/multi-drive mode分类
农业科技引用本文复制引用
ZHAO Zihao,XIE Bin,WEN Changkai,NIU Zezhong,ZHAO Junjie,LIU Mengnan,JIA Fang,MEI Hebo..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[J].农业机械学报,2025,56(12):87-98,12.基金项目
国家重点研发计划项目(2022YFD2001202)和智能农业动力装备全国重点实验室开放课题(SKLIAPE2025019) （2022YFD2001202）
