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CN111137121B - Trailer, tractor and control method thereof - Google Patents

Trailer, tractor and control method thereof Download PDF

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Publication number
CN111137121B
CN111137121B CN201911305746.2A CN201911305746A CN111137121B CN 111137121 B CN111137121 B CN 111137121B CN 201911305746 A CN201911305746 A CN 201911305746A CN 111137121 B CN111137121 B CN 111137121B
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CN
China
Prior art keywords
power
motor
opening degree
trailer
control system
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Application number
CN201911305746.2A
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Chinese (zh)
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CN111137121A (en
Inventor
高鑫
胡腾
刘金鑫
龚静怡
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongfeng Trucks Co ltd
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Dongfeng Trucks Co ltd
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Priority to CN201911305746.2A priority Critical patent/CN111137121B/en
Publication of CN111137121A publication Critical patent/CN111137121A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/06—Semi-trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
    • B60W2300/145—Semi-trailers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to the technical field of new energy automobiles, and particularly discloses a trailer, a tractor and a control method thereof, wherein the method comprises the following steps: s1: respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal; s2: judging whether to enter a hybrid mode or a braking mode according to the opening degree signals of the accelerator and the brake pedal and the opening degree change rate signal, if so, executing a step S3, and if not, executing a step S4; s3: adjusting the power assisting power of the motor through an electric control system according to the opening degree signal and the opening degree change rate signal of the accelerator and by combining the charge SOC state of the battery, the allowable discharge power and the state of the motor; s4: and regulating the braking power of the motor through an electric control system according to the opening degree signal and the opening degree change rate signal of the brake pedal and the SOC state of the battery. The problems of the increase of the power transmission chain of the whole vehicle and the increase of the rotational inertia of the engine can be solved.

Description

Trailer, tractor and control method thereof
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a trailer, a tractor and a control method thereof.
Background
A Hybrid vehicle, also called a Hybrid Power Automobile (Hybrid Power Automobile in english), is a vehicle equipped with two or more Power sources: the composite power automobile comprises a storage battery, a fuel cell, a solar cell and a generator set of the diesel locomotive, and the current composite power automobile generally refers to a diesel locomotive generator and an automobile with the storage battery. The characteristics of energy conservation, low emission and the like of the hybrid electric vehicle become one of important ways for relieving the problems of current energy crisis, environmental pollution and the like, and the hybrid electric vehicle is developed greatly in recent years.
Different from a traditional automobile, the hybrid electric vehicle is a complex electromechanical coupling system as shown in fig. 1, mechanical and electrical components such as a driving motor 22 and a control system, a power battery and a control system 25, a driving motor and a power battery cooling system 26 and the like are added on the basis of the traditional automobile, and a main vehicle and a trailer are connected through a saddle 24. This form of connection is used for example in patent CN 102795093B.
As shown in fig. 1, a parallel hybrid system is mainly adopted in the conventional hybrid system, and a driving motor 22 and an engine 21 are coaxially connected with a drive axle 23, so that the power transmission chain of the whole vehicle is increased, the rotational inertia of the engine is increased, the vibration of the whole vehicle is easily increased, the engine stop noise is increased, the suspension of a gearbox is cracked, and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a trailer, a tractor and a control method thereof, which can solve the problems of the increase of a power transmission chain of the whole vehicle and the increase of the rotational inertia of an engine.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the present invention provides a trailer comprising:
a trailer chassis;
at least one drive axle disposed at the bottom of the trailer chassis;
the motors are in one-to-one correspondence with the drive axles and are in transmission connection with the drive axles through transmission shafts;
the battery is arranged at the bottom of the trailer chassis, is electrically connected with the motor and is used for supplying power to the motor and storing electric energy generated by the motor;
and the electric control system is arranged at the bottom of the trailer chassis, is in signal connection with the motor and is used for controlling the motor to start and generate electricity.
On the basis of the technical scheme, the trailer comprises two batteries which are respectively arranged on two sides of the trailer chassis.
There is also provided a tractor comprising:
the main vehicle comprises a main control system, a main control system and a main control system, wherein the main control system is used for acquiring an opening degree signal and an opening degree change rate signal of an accelerator;
a trailer, comprising a plurality of trailer bodies,
-a trailer chassis connected to the main vehicle by a saddle;
-at least one drive axle arranged at the bottom of the trailer chassis;
-motors in one-to-one correspondence with said drive axles, each of said motors being drivingly connected to said drive axles by a drive shaft;
-a battery provided at the bottom of the trailer chassis and electrically connected to the electric motor for powering the electric motor and for storing electric energy generated by the electric motor;
the electric control system is arranged at the bottom of the trailer chassis, is in signal connection with the motor and the main control system, and is used for receiving control signals of the main control system and controlling the motor to start and generate electricity.
On the basis of the technical scheme, the trailer comprises two batteries which are respectively arranged on two sides of the trailer chassis.
The control method of the tractor is further characterized by comprising the following steps:
s1: respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal;
s2: judging whether to enter a hybrid mode or a braking mode according to the opening degree signals of the accelerator and the brake pedal and the opening degree change rate signal, if so, executing a step S3, and if not, executing a step S4;
s3: adjusting the power assisting power of the motor through an electric control system according to the opening degree signal and the opening degree change rate signal of the accelerator and by combining the charge SOC state of the battery, the allowable discharge power and the state of the motor;
s4: and regulating the braking power of the motor through an electric control system according to the opening degree signal and the opening degree change rate signal of the brake pedal and the SOC state of the battery.
On the basis of the technical scheme, before the step S2 is executed, the main control system is used for diagnosing and judging whether the battery and the motor have faults or not, if yes, the step of assisting the motor and braking the motor is directly quitted, and if not, the step S2 is executed.
On the basis of the above technical solution, the step S3 specifically includes:
when the opening range of the accelerator is 0-30%, if the SOC is more than 60%, the power-assisted power of the motor is 60-80% of the rated power; if the SOC is more than 40% and less than 60%, the power-assisted power of the motor is 40-50% of the rated power;
when the opening range of the accelerator is 30-75%, if the SOC is more than 70%, the power-assisted power of the motor is 30-50% of the rated power;
when the opening range of the accelerator is 75% -100%, if the SOC is greater than 40%, the power assisting power of the motor is 40-120% of the rated power.
On the basis of the technical scheme, when the opening degree of the accelerator is 75% -100% and the change rate of the opening degree of the accelerator is 400% -800%/s, if the SOC is greater than 45%, the power assisting power of the motor is 50-150% of the rated power.
On the basis of the above technical solution, the step S4 specifically includes:
when the opening change rate of the brake pedal is less than 400%/s, the SOC is less than 90% and the vehicle speed is more than 15km/h, the braking power of the motor is 120% of the rated power of the motor;
when the brake pedal opening change rate is larger than 400%/s, the motor braking power is zero.
On the basis of the technical scheme, when the step S3 is executed, the stress state of the saddle is obtained, whether the trailer pushes the trailer or not is judged according to the stress of the saddle, if yes, the boosting power of the motor is reduced, and if not, no adjustment is made;
and when the step S4 is executed, acquiring the stress state of the saddle, judging whether the trailer pushes the main trailer according to the stress of the saddle, if so, increasing the braking power of the motor, and if not, not adjusting.
Compared with the prior art, the invention has the advantages that: when the trailer, the tractor and the control method thereof are used, the control system is used for respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal; it is determined to enter a hybrid mode or a braking mode. If the hybrid power mode is entered, the power-assisted power of the motor is adjusted through the electric control system; and if the braking mode is adopted, the braking power of the motor is adjusted through the electric control system. When the motor converts the kinetic energy of the trailer into electric energy, a certain braking force can be provided to prevent the trailer from pushing the trailer. When the vehicle turns, the motor can provide certain driving force, and the minimum turning radius of the vehicle can be reduced by applying driving torque to the motor during low-speed turning. In addition, when the vehicle runs normally, the motor can provide certain electric power assistance, and the fuel economy can be improved. The motor battery and the electric control system are arranged at the bottom of the trailer chassis, so that the space of the main trailer can be saved, the length of a transmission chain is reduced, the rotational inertia of an engine is reduced, and the vibration is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a prior art primary vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a trailer in an embodiment of the present invention;
in the figure: 21. an engine; 22. a drive motor; 23. a drive axle; 24. a saddle; 25. a control system; 26. a cooling system; 1. a trailer chassis; 2. a drive axle; 3. a driven axle; 4. a motor; 5. a drive shaft; 6. a battery; 7. an electric control system.
Detailed Description
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Example one
Fig. 2 is a schematic structural diagram of a trailer according to an embodiment of the present invention, and as shown in fig. 2, the present invention provides a trailer including: a trailer chassis 1; at least one drive axle 2, which is arranged at the bottom of the trailer chassis 1; the motor driving device further comprises motors 4 which correspond to the drive axle 2 one by one, and each motor 4 is in transmission connection with the drive axle 2 through a transmission shaft 5; the electric vehicle further comprises at least one battery 6, wherein the battery 6 is arranged at the bottom of the trailer chassis 1, is electrically connected with the motor 4 and is used for supplying power to the motor 4 and storing electric energy generated by the motor 4; the electric control system 7 is arranged at the bottom of the trailer chassis 1, is in signal connection with the motor 4 and is used for controlling the motor 4 to start and generate electricity.
When the trailer is used, the electric control system 7 is used for controlling the motor 4 to convert the kinetic energy of the trailer into electric energy and storing the electric energy in the battery 6 when braking, and when the motor 4 converts the kinetic energy of the trailer into the electric energy, a certain braking force can be provided to prevent the trailer from pushing the trailer. During turning, the motor 4 can provide certain driving force, and the minimum turning radius of the vehicle can be reduced by applying driving torque to the motor during low-speed turning. In addition, during normal running, the motor 4 can also provide certain electric power assistance, so that the fuel economy can be improved. The motor 4, the battery 6 and the electric control system 7 are arranged at the bottom of the trailer chassis 1, so that the space of the main tractor can be saved, the length of a transmission chain can be reduced, the rotational inertia of an engine can be reduced, and the vibration can be reduced.
In the embodiment, the bottom of the trailer chassis 1 is provided with one driving axle 2 and two driven axles 3, the driven axles 3 can be replaced by the driving axles 2, and each driving axle 2 is provided with one motor 4, so that more electric energy can be generated for electric power assistance.
Preferably, the trailer comprises two batteries 6, one on each side of the trailer chassis 1. In this embodiment, the battery 6 is arranged at the bottom of the trailer chassis 1, the space of the trailer chassis 1 is large, two batteries can be arranged for storing electric energy, and two batteries 6 are arranged at two sides of the trailer chassis 1, so that the stress balance can be maintained.
Example two
With continued reference to fig. 2, the present invention also provides a tractor comprising: the main vehicle comprises a main control system which is used for obtaining an opening degree signal and an opening degree change rate signal of an accelerator.
The trailer comprises a trailer chassis 1 which is connected with the main vehicle through a saddle; at least one drive axle 2, which is arranged at the bottom of the trailer chassis 1; the motor driving device further comprises motors 4 which correspond to the drive axle 2 one by one, and each motor 4 is in transmission connection with the drive axle 2 through a transmission shaft 5; the electric trailer further comprises a battery 6, wherein the battery 6 is arranged at the bottom of the trailer chassis 1, is electrically connected with the motor 4 and is used for supplying power to the motor 4 and storing electric energy generated by the motor 4; the electric control system 7 is arranged at the bottom of the trailer chassis 1, is in signal connection with the motor 4 and the main control system, and is used for receiving a control signal of the main control system and controlling the motor 4 to start and generate electricity.
When the tractor is used, the control system is used for respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal; and judging whether to enter a hybrid power mode or a braking mode according to the opening degree signals of the accelerator and the brake pedal and the opening degree change rate signal. If the hybrid power mode is entered, the power-assisted power of the motor 4 is adjusted through the electric control system 7; if the braking mode is selected, the braking power of the electric motor 4 is regulated by the electric control system 7. When the motor 4 converts the kinetic energy of the trailer into electric energy, a certain braking force can be provided to prevent the trailer from pushing the trailer. During turning, the motor 4 can provide certain driving force, and the minimum turning radius of the vehicle can be reduced by applying driving torque to the motor during low-speed turning. In addition, during normal running, the motor 4 can also provide certain electric power assistance, so that the fuel economy can be improved. The motor 4, the battery 6 and the electric control system 7 are arranged at the bottom of the trailer chassis 1, so that the space of the main tractor can be saved, the length of a transmission chain can be reduced, the rotational inertia of an engine can be reduced, and the vibration can be reduced.
In this embodiment, the main control system is further configured to determine whether to enter the hybrid mode or the braking mode based on the opening degree signals of the accelerator and brake pedals and the opening degree change rate signal.
Preferably, the trailer comprises two batteries 6, one on each side of the trailer chassis 1. In this embodiment, the battery 6 is arranged at the bottom of the trailer chassis 1, the space of the trailer chassis 1 is large, two batteries can be arranged for storing electric energy, and two batteries 6 are arranged at two sides of the trailer chassis 1, so that the stress balance can be maintained.
In addition, a stress sensor is arranged at the saddle, so that the stress state of the saddle can be acquired, and a stress state signal is transmitted to the main control system.
EXAMPLE III
The invention also provides a control method of the tractor, which comprises the following steps:
s1: and respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal.
S2: and judging whether to enter a hybrid mode or a braking mode according to the opening degree signals of the accelerator and the brake pedal and the opening degree change rate signal, executing a step S3 if the hybrid mode is entered, and executing a step S4 if the hybrid mode is entered.
S3: and adjusting the boosting power of the motor 4 through the electric control system 7 according to the opening degree signal and the opening degree change rate signal of the accelerator and by combining the SOC state of the battery, the allowable discharge power and the state of the motor.
S4: and regulating the braking power of the motor 4 through the electric control system 7 according to the opening degree signal and the opening degree change rate signal of the brake pedal and the SOC state of the battery.
When the control method of the tractor is used, the control system is used for respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal; it is determined to enter a hybrid mode or a braking mode. If the hybrid power mode is entered, the power-assisted power of the motor 4 is adjusted through the electric control system 7; if the braking mode is selected, the braking power of the electric motor 4 is regulated by the electric control system 7. When the motor 4 converts the kinetic energy of the trailer into electric energy, a certain braking force can be provided to prevent the trailer from pushing the trailer. During turning, the motor 4 can provide certain driving force, and the minimum turning radius of the vehicle can be reduced by applying driving torque to the motor during low-speed turning. In addition, during normal running, the motor 4 can also provide certain electric power assistance, so that the fuel economy can be improved.
Example four
On the basis of the third embodiment, before the step S2 is executed, the main control system diagnoses to determine whether the battery or the motor has a fault, if so, the motor assisting and braking step is directly exited, and if not, the step S2 is executed.
In this embodiment, before executing step S2, it is determined whether there is a fault in the battery or the motor, so as to improve the stability of the system and avoid irrecoverable loss caused by the step of electric power assistance or motor braking when there is a fault in the battery 6 or the motor 4.
EXAMPLE five
On the basis of the third embodiment, the step S3 specifically includes:
when the opening range of the accelerator is 0-30%, if the SOC is more than 60%, the power-assisted power of the motor is 60-80% of the rated power; if the SOC is more than 40% and less than 60%, the power-assisted power of the motor is 40-50% of the rated power. The stage is a low-throttle stage, namely a starting stage of the tractor.
When the opening range of the accelerator is 30-75%, if the SOC is more than 70%, the power-assisted power of the motor is 30-50% of the rated power. The stage is a middle throttle stage, namely the engine works in an economic region.
When the opening degree of the accelerator is 75% -100%, if the SOC is greater than 40%, the power assisting power of the motor is 40-120% of the rated power. The stage is a high-throttle stage, namely a high-load power stage such as vehicle climbing.
In the embodiment, the power of the motor assistance is adjusted according to different accelerator opening degrees and the electric quantity of the battery, namely the SOC, so that the electric quantity of the battery and the efficiency of the motor can be reasonably utilized, and a certain assistance can be provided for the whole tractor. In addition, when the electric quantity SOC of the battery does not meet the requirement, the power assisted by the motor is zero, namely the motor does not intervene, so that the battery can be protected, and the feeding of the battery is avoided.
Preferably, when the throttle opening range is 75% -100% and the throttle opening change rate is 400% -800%/s, if the SOC is greater than 45%, the motor boosting power is 50-150% of the rated power.
In this embodiment, when the throttle opening change rate is 400% -800%/s, which is the overtaking acceleration stage of the tractor, a motor is required to assist in intervention to increase power.
EXAMPLE six
On the basis of the third embodiment, the step S4 specifically includes:
when the opening change rate of the brake pedal is less than 400%/s, the SOC is less than 90% and the vehicle speed is more than 15km/h, the braking power of the motor is 120% of the rated power of the motor;
when the brake pedal opening change rate is larger than 400%/s, the motor braking power is zero.
In this embodiment, when the brake pedal opening change rate is less than 400%/s, the kinetic energy of the whole tractor can be converted into electric energy for storage through the motor as much as possible in the braking stage. When the opening change rate of the brake pedal is greater than 400%/s, an emergency braking stage may be performed, and the braking power of the motor is adjusted to zero to prevent wheels from being locked in order to avoid affecting the locking prevention system of the whole vehicle to lock the whole vehicle.
EXAMPLE seven
On the basis of the third embodiment, when the step S3 is executed, the stress state of the saddle is obtained, whether the trailer pushes the trailer is judged according to the stress of the saddle, if yes, the boosting power of the motor is reduced, and if not, no adjustment is made.
And when the step S4 is executed, acquiring the stress state of the saddle, judging whether the trailer pushes the main trailer according to the stress of the saddle, if so, increasing the braking power of the motor, and if not, not adjusting.
In this embodiment, whether the trailer pushes the main vehicle or not is judged through the stress of the saddle, and if so, the force of the trailer pushing the main vehicle is reduced and the risk that the trailer extrudes the main vehicle is reduced by adjusting the boosting power of the motor and the braking power of the motor.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone with the teaching of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present invention, are within the protection scope.

Claims (7)

1. A tractor, comprising:
the main vehicle comprises a main control system, a main control system and a main control system, wherein the main control system is used for acquiring an opening degree signal and an opening degree change rate signal of an accelerator;
a trailer, comprising a plurality of trailer bodies,
-a trailer chassis (1) connected to the host vehicle by a saddle;
-at least one drive axle (2) arranged at the bottom of the trailer chassis (1);
-motors (4) in one-to-one correspondence with said drive axles (2), each motor (4) being in driving connection with said drive axle (2) through a drive shaft (5);
-a battery (6) arranged at the bottom of the trailer chassis (1) and electrically connected to the electric motor (4) for powering the electric motor (4) and for storing electric energy generated by the electric motor (4);
-an electric control system (7) arranged at the bottom of the trailer chassis (1), in signal connection with both the motor (4) and the main control system, for receiving control signals of the main control system and controlling the motor (4) to start and generate electricity;
the step of receiving a control signal of a main control system and controlling the motor (4) to start and generate power specifically comprises the following steps: the power assisting power of the motor (4) is adjusted through the electric control system (7) according to the opening degree signal and the opening degree change rate signal of the accelerator and by combining the SOC state of the battery, the allowable discharge power and the state of the motor;
when the opening range of the accelerator is 0-30%, if the SOC is more than 60%, the power-assisted power of the motor is 60-80% of the rated power; if the SOC is more than 40% and less than 60%, the power-assisted power of the motor is 40-50% of the rated power;
when the opening range of the accelerator is 30-75%, if the SOC is more than 70%, the power-assisted power of the motor is 30-50% of the rated power;
when the opening range of the accelerator is 75% -100%, if the SOC is greater than 40%, the power assisting power of the motor is 40-120% of the rated power.
2. The tractor of claim 1, wherein: the trailer comprises two batteries (6) which are respectively arranged on two sides of the trailer chassis (1).
3. A control method for a tractor according to claim 1, characterized by comprising the steps of:
s1: respectively acquiring opening degree signals and opening degree change rate signals of an accelerator and a brake pedal;
s2: judging whether to enter a hybrid mode or a braking mode according to the opening degree signals of the accelerator and the brake pedal and the opening degree change rate signal, if so, executing a step S3, and if not, executing a step S4;
s3: the power assisting power of the motor (4) is adjusted through the electric control system (7) according to the opening degree signal and the opening degree change rate signal of the accelerator and by combining the SOC state of the battery, the allowable discharge power and the state of the motor;
s4: according to the opening degree signal and the opening degree change rate signal of the brake pedal and the SOC state of the battery, the braking power of the motor (4) is adjusted through the electric control system (7);
the step S3 specifically includes:
when the opening range of the accelerator is 0-30%, if the SOC is more than 60%, the power-assisted power of the motor is 60-80% of the rated power; if the SOC is more than 40% and less than 60%, the power-assisted power of the motor is 40-50% of the rated power;
when the opening range of the accelerator is 30-75%, if the SOC is more than 70%, the power-assisted power of the motor is 30-50% of the rated power;
when the opening range of the accelerator is 75% -100%, if the SOC is greater than 40%, the power assisting power of the motor is 40-120% of the rated power.
4. The tractor control method according to claim 3, wherein before the step S2, the main control system diagnoses and judges whether the battery and the motor have faults, if yes, the motor boosting and braking step is directly exited, and if not, the step S2 is executed.
5. The tractor vehicle control method according to claim 3, wherein when the throttle opening degree is 75% to 100% and the throttle opening degree change rate is 400% to 800%/s, if the SOC is greater than 45%, the motor boosting power is 50% to 150% of the rated power.
6. The tractor control method according to claim 3, wherein the step S4 specifically includes:
when the opening change rate of the brake pedal is less than 400%/s, the SOC is less than 90% and the vehicle speed is more than 15km/h, the braking power of the motor is 120% of the rated power of the motor;
when the brake pedal opening change rate is larger than 400%/s, the motor braking power is zero.
7. The control method for the tractor according to claim 3,
when the step S3 is executed, the stress state of the saddle is obtained, whether the trailer pushes the main trailer or not is judged according to the stress of the saddle, if yes, the boosting power of the motor is reduced, and if not, no adjustment is made;
and when the step S4 is executed, acquiring the stress state of the saddle, judging whether the trailer pushes the main trailer according to the stress of the saddle, if so, increasing the braking power of the motor, and if not, not adjusting.
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