增程式电动拖拉机研究进展

doi:10.13733/j.jcam.issn.2095-5553.2022.11.017

摘要/Abstract

摘要： 传统电动拖拉机存在续航里程低、难以满足大功率段作业需求等问题，增程式电动拖拉机是在传统电动拖拉机基础上增加一套附加动力驱动装置，较好地兼顾经济性与动力性需求，是未来电动拖拉机的主要发展方向之一。在综述增程式电动汽车动力系统研究、能量管理控制策略等主要技术基础上，重点阐述增程式电动拖拉机在动力系统设计、与传动系统的参数匹配与优化算法、转矩分配以及能量管理的研究等方面的研究进展，指出：精准化、智能化以及如何在电耗以及油耗间寻求一个更好的平衡点，提升电能利用率、降低油耗，是未来增程式电动拖拉机得以推广的关键以及主要发展方向；针对增程式电动拖拉机的建模应充分考虑到拖拉机的诸如运输、犁土、翻土、整地等不同的作业需要，未来可以在基于一定数据分析基础上，全面考虑实际作业需求，实施个性化、精准化建模与参数设计，提高准确性；在充分分析增程式电动拖拉机作业特性与能量需求的基础上，可开展适应增程电动拖拉机的电池及相关技术研发，提升续航里程。

关键词: 增程, 电动拖拉机, 能量管理, 控制策略

Abstract: Traditional electric tractors has some problems, such as low range, difficult to meet the operation demand of highpower section, etc., the incremental electric tractor is an additional power driving device based on the traditional electric tractor, which takes into account the economic and power requirements, and is one of the main development directions of the electric tractor in the future. On the basis of summarizing the main technologies such as power system research and energy management control strategy of incremental electric vehicle, this paper focuses on the research progress of incremental electric tractor in power system design, parameter matching and optimization algorithm with transmission system, torque distribution and energy management, and points out that precision, intelligence and how to find a better balance between power consumption and fuel consumption, improving the utilization rate of electric energy and reducing fuel consumption are the key and main development direction for the promotion of incremental electric tractors in the future. The modeling of the incremental electric tractor should fully consider the different operation needs of the tractor, such as transportation, soil ploughing, soil turning and land preparation. In the future, based on certain data analysis, the actual operation needs can be fully considered, and personalized and accurate modeling and parameter design can be implemented to improve accuracy. Based on the full analysis of the operating characteristics and energy demand of the extended range electric tractor, the research and development of batteries and related technologies suitable for the extended range electric tractor can be carried out to improve the endurance mileage.

Key words: extendedrange, electric tractor, energy management, control strategy

中图分类号:

S232

杨杭旭, 刘冬梅, 周俊, 汪珍珍, 王旭. 增程式电动拖拉机研究进展[J]. 中国农机化学报, 2022, 43(11): 118-125.

Yang Hangxu, Liu Dongmei, Zhou Jun, Wang Zhenzhen, Wang Xu.. Research progress of extendedrange electric tractor[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(11): 118-125.

参考文献

［1］　
Pukalskas S, Rimkus A, Melaika M, et al. Comparison of conventional and hybrid cars exploitation costs ［J］. Advances in Science and Technology Research Journal, 2018, 12(1): 221-227.

［2］　
谢斌, 武仲斌, 毛恩荣, 等. 农业拖拉机关键技术发展现状与展望［J］. 农业机械学报, 2018, 49(8): 1-17.

Xie Bin, Wu Zhongbin, Mao Enrong, et al. Development and prospect of key technologies on agricultural tractor ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(8): 1-17.

［3］　
Kim J Y, Park Y I. Analysis of agricultural working load experiments for reduction gear ratio design of an electric tractor powertrain ［J］. Transactions of the Korean Society of Automotive Engineers, 2012, 20(5): 138-144.

［4］　
Xu L, Liu M, Zhou Z. Design of drive system for series hybrid electric tractor ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2014, 30(9): 11-18.

［5］　
Shabbir W, Evangelou S A. Realtime control strategy to maximize hybrid electric vehicle powertrain efficiency ［J］. Applied Energy, 2014, 135: 512-522.

［6］　
张兵, 赵景波. 增程式电动汽车驱动系统关键技术研究综述［J］. 江苏理工学院学报, 2016, 22(2): 31-36, 44.

Zhang Bing, Zhao Jingbo. Research on key technologies for driving system of extendedrange electric vehicle ［J］. Journal of Jiangsu University of Technology, 2016, 22(2): 31-36, 44.

［7］　
董婷婷. 增程式电动车能量管理及电池寿命研究［D］. 长春: 吉林大学, 2013.

Dong Tingting. Study on energy management and battery life for extendedrange electric vehicle ［D］. Changchun: Jilin University, 2013.

［8］　
Ayad M Y, Becherif M, Henni A. Vehicle hybridization with fuel cell, supercapacitors and batteries by sliding mode control ［J］. Renewable Energy, 2011, 36(10): 2627-2634.

［9］　
张冰战. 插电式混合动力电动汽车能量管理策略研究［D］. 合肥: 合肥工业大学, 2011.

Zhang Bingzhan. A study on energy management control strategy for plugin hybrid electric vehicle ［D］. Hefei: Hefei University of Technology, 2011.

［10］　
Ishitani H. Introduction to plugin hybrid electric vehicles overview ［C］. Yokohama, Japan: EVS-22 PlugIn Hybrid Electric Vehicle Workshop. 2006, 34.

［11］　
李献菁, 孙永正, 邓俊, 等. 插电式串联混合动力汽车发动机起停控制策略的优化［J］. 汽车工程, 2011, 33(2): 112-117, 132.

Li Xianjing, Sun Yongzheng, Deng Jun, et al. Optimization of control strategy for engine startstop in a plugin series hybrid electric vehicle ［J］. Automotive Engineering, 2011, 33(2): 112-117, 132.

［12］　
Tie S F, Tan C W. A review of energy sources and energy management system in electric vehicles ［J］. Renewable and sustainable energy reviews, 2013, 20: 82-102.

［13］　
Ismail M S, Moghavvemi M, Mahlia T M I. Current utilization of microturbines as a part of a hybrid system in distributed generation technology ［J］. Renewable and Sustainable Energy Reviews, 2013, 21: 142-152.

［14］　
蒋建华, 范港, 张翀. 增程式电动车参数匹配与分析［J］. 机电工程, 2016, 33(3): 373-377.

Jiang Jianhua, Fan Gang, Zhang Chong. Match and analysis of rangeextended electric vehicles parameters ［J］. Mechanical & Electrical Engineering Magazine, 2016, 33(3): 373-377.

［15］　
黄欣, 陈凌珊, 程伟, 等．基于多目标遗传算法的增程式电动汽车动力系统参数匹配优化研究［J］. 计算机测量与控制, 2015, 23(10): 3539-3542.

Huang Xin, Chen Lingshan, Cheng Wei, et al. Optimal study on extendedrange electric vehicles powertrain parameter matching based on multiobjective genetic algorithm ［J］. Computer Measurement & Control, 2015, 23(10): 3539-3542.

［16］　
周苏, 牛继高, 陈凤祥, 等. 增程式电动汽车动力系统设计与仿真研究［J］. 汽车工程, 2011, 33(11): 924-929.

Zhou Su, Niu Jigao, Chen Fengxiang, et al. A study on powertrain design and simulation for rangeextended electric vehicle ［J］. Automotive Engineering, 2011, 33(11): 924-929.

［17］　
窦国伟, 马涛峰, 马先萌, 等. 基于模糊控制算法的增程式电动车能量分配策略［J］. 上海汽车, 2012(3): 10-14.

［18］　
盘朝奉, 韩福强, 陈燎, 等. 基于模糊控制的增程式电动汽车能量分配策略［J］. 重庆交通大学学报(自然科学版), 2014, 33(3): 140-144.

Pan Chaofeng, Han Fuqiang, Chen Liao, et al. Power distribution strategy of extend range electric vehicle based on fuzzy control ［J］. Journal of Chongqing Jiaotong University (Natural Sciences), 2014, 33(3): 140-144.

［19］　
贺俊杰, 王耀南, 申永鹏, 等. 电动汽车增程器能量管理策略研究［J］. 控制工程, 2015, 22(4): 632-638.

He Junjie, Wang Yaonan, Shen Yongpeng, et al. Research on energy management of rangeextended electric vehicles ［J］. Control Engineering of China, 2015, 22(4): 632-638.

［20］　
胡瑾瑜, 宋珂, 章桐. 基于神经网络的增程式电动汽车能量管理策略研究［J］. 佳木斯大学学报(自然科学版), 2011, 29(6): 829-832.

Hu Jinyu, Song Ke, Zhang Tong. Study on the energy management policy of extendedrange electric vehicle based on neutral network ［J］. Journal of Jiamusi University (Natural Science Edition), 2011, 29(6): 829-832.

［21］　
Chen B C, Wu Y Y, Tsai H C. Design and analysis of power management strategy for range extended electric vehicle using dynamic programming ［J］. Applied Energy, 2014, 113: 1764-1774.

［22］　
朱龙飞, 赵韩, 尹安东, 等. 增程式电动汽车能量管理策略优化研究［J］. 合肥工业大学学报(自然科学版), 2016, 39(10): 1322-1326.

Zhu Longfei, Zhao Han, Yin Andong, et al. Study of the optimization of energy management strategy for rangeextended electric vehicle ［J］. Journal of Hefei University of Technology (Natural Science), 2016, 39(10): 1322-1326.

［23］　
席利贺, 张欣, 吴建政, 等. 基于动态规划与神经网络的增程式电动汽车能量管理策略研究［J］. 公路交通科技, 2018, 35(9): 128-136.

Xi Lihe, Zhang Xin, Wu Jianzheng, et al. Study on the energy management strategy for extendedrange electric vehicle based on dynamic programming and neural network ［J］. Journal of Highway and Transportation Research and Development , 2018, 35(9): 128-136.

［24］　
张承宁, 周维, 李军求, 等. 基于极小值原理的增程式电动车辆在线能量管理控制策略［J］. 北京理工大学学报, 2015, 35(9): 931-935.

Zhang Chengning, Zhou Wei, Li Junqiu, et al. An online energy management strategy for extended range electric vehicles based on pontryagins minimum principle ［J］. Transactions of Beijing Institute of Technology, 2015, 35(9): 931-935.

［25］　
徐群群, 宋珂, 洪先建, 等. 基于自适应遗传算法的增程式电动汽车能量管理策略优化［J］. 汽车技术, 2012(10): 19-23.

Xu Qunqun, Song Ke, Hong Xianjian, et al. Optimization of energy management strategy for extendedrange electric vehicle based on adaptive genetic algorithm ［J］. Automobile Technology , 2012(10): 19-23.

［26］　
闵海涛, 叶冬金, 于远彬, 等. 增程式电动汽车控制策略的优化［J］. 汽车工程, 2014(8): 899-903, 943.

Min Haitao, Ye Dongjin, Yu Yuanbin, et al. Optimization of the control strategy for range extended electric vehicle ［J］. Automotive Engineering , 2014(8): 899-903, 943.

［27］　
牛继高, 司璐璐, 周苏, 等. 增程式电动汽车能量控制策略的仿真分析［J］. 上海交通大学学报, 2014, 48(1): 140-145.

［28］　
吴晓刚, 高明明, 杜玖玉, 等. 不同运行方式下增程式电动客车能量管理策略优化［J］. 电机与控制学报, 2018, 22(10): 93-102.

Wu Xiaogang, Gao Mingming, Du Jiuyu, et al. Energy management strategy optimization of extendedrange electric bus under different operating modes ［J］. Electric Machines and Control, 2018, 22(10): 93-101.

［29］　
刘孟楠, 徐立友, 周志立, 等. 增程式电动拖拉机及其旋耕机组仿真平台开发［J］. 中国机械工程, 2016(3): 413-419.

Liu Mangnan, Xu Liyou, Zhou Zhili, et al. Establishment of extended range electric tractor and its rotary cultivators simulative platforms ［J］. China Mechanical Engineering, 2016(3): 413-419.

［30］　
Chen Y, Xie B, Mao E. Electric tractor motor drive control based on FPGA ［J］. IFAC-PapersOnLine, 2016, 49(16): 271-276.

［31］　
Kim J Y, Park Y I. Analysis of agricultural working load experiments for reduction gear ratio design of an electric tractor powertrain ［J］. Transactions of the Korean Society of Automotive Engineers, 2012, 20(5): 138-144.

［32］　
Kim Y J, Song B, Kim J. Load torque estimation for a parallel hybrid agricultural tractor in field operations ［J］. International Journal of Precision Engineering and Manufacturing, 2013, 14(10): 1865-1868.

［33］　
Liu M, Xu L, Zhou Z. Design of a load torque based control strategy for improving electric tractor motor energy conversion efficiency ［J］. Mathematical Problems in Engineering, 2016, 1-13.

［34］　
王丽绵, 王书茂, 宋正河, 等. 增程式电动拖拉机控制策略与启动方法研究［J］. 农业机械学报, 2018, 49(s1): 486-491.

［35］　
Xu L, Zhang J, Liu M, et al. Control algorithm and energy management strategy for extended range electric tractors ［J］. Int. J. Agric. & Biol. Eng., 2017, 10(5): 35-44.

［36］　
Choi S, Song B, Kim Y. Torque assist strategy for hybrid agricultural tractor with consideration of field operations ［J］. Transactions of the Korean Society of Mechanical Engineers A, 2014, 38(6): 593-600.

［37］　
徐立友, 张俊江, 刘孟楠, 等. 增程式四轮驱动电动拖拉机转矩分配策略［J］. 河南科技大学学报(自然科学版), 2017, 38(3): 80-85.

［38］　
Lee H S, Kim J S, Park Y I, et al. Rulebased power distribution in the power train of a parallel hybrid tractor for fuel savings ［J］. International Journal of Precision Engineering and ManufacturingGreen Technology, 2016, 3(3): 231-237.

［39］　
Mocera F, Somà A. Analysis of a parallel hybrid electric tractor for agricultural applications ［J］. Energies, 2020, 13(12): 3055.

［40］　
Jia C, Qiao W, Qu L. Modeling and control of hybrid electric vehicles: a case study for agricultural tractors ［C］. 2018 IEEE Vehicle Power and Propulsion Conference (VPPC). IEEE, 2018: 1-6.

［41］　
Kumar L, Jain S. Electric propulsion system for electric vehicular technology: A review ［J］. Renewable and Sustainable Energy Reviews, 2014, 29: 924-940.

［42］　
Salmasi F R. Control strategies for hybrid electric vehicles: Evolution, classification, comparison, and future trends ［J］. IEEE Transactions on vehicular technology, 2007, 56(5): 2393-2404.

［43］　
Bayindir K , Gzüküük M A, Teke A. A comprehensive overview of hybrid electric vehicle: Powertrain configurations, powertrain control techniques and electronic control units ［J］. Energy conversion and Management, 2011, 52(2): 1305-1313.

［44］　
Sciarretta A, Guzzella L. Rulebased and optimal control strategies for energy management in parallel hybrid vehicles ［C］. Proc. of the 6th International Conference on Engines for Automobile (ICE 2003), Capri, September 14-19, 2003. ICE, 2003.

［45］　
Pisu P, Silani E, Rizzoni G, et al. A LMI-based supervisory robust control for hybrid vehicles ［C］. Proceedings of the 2003 American Control Conference, 2003. IEEE, 2003, 6: 4681-4686.

［46］　
Kleimaier A, Schroder D. Optimization strategy for design and control of a hybrid vehicle ［C］. 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No. 00TH8494). IEEE, 2000: 459-464.

［47］　
Lin C C, Peng H, Grizzle J W. A stochastic control strategy for hybrid electric vehicles ［C］. Proceedings of the 2004 American control conference. IEEE, 2004, 5: 4710-4715.

［48］　
辛昌然. 双电机驱动纯电动轻型客车动态建模与策略优化［D］. 聊城: 聊城大学, 2017.

Xin Changran. Dynamic modeling and strategy optimization of pure electric light bus driven by two motors ［D］. Liaocheng: Liaocheng University, 2017.

［49］　
Shen C, Xia C. Notice of Retraction: Optimal power split in a hybrid electric vehicle using improved dynamic programming ［C］. 2010 AsiaPacific Power and Energy Engineering Conference. IEEE, 2010: 1-4.

［50］　
Poursamad A, Montazeri M. Design of geneticfuzzy control strategy for parallel hybrid electric vehicles ［J］. Control engineering practice, 2008, 16(7): 861-873.

［51］　
Desai C, Williamson S S. Optimal design of a parallel hybrid electric vehicle using multiobjective genetic algorithms ［C］. 2009 IEEE vehicle power and propulsion conference. IEEE, 2009: 871-876.

［52］　
Musardo C, Rizzoni G, Guezennec Y, Staccia B. A-ECMS: An Adaptive Algorithm for Hybrid Electric Vehicle Energy Management［J］. European Journal of Control, 2005,11(4-5): 509-524.

［53］　
Kim N, Cha S W, Peng H. Optimal equivalent fuel consumption for hybrid electric vehicles ［J］. IEEE Transactions on Control Systems Technology, 2011, 20(3): 817-825.

［54］　
Liu M J. A fuzzy neural network control system based on improved learning algorithms ［C］. Zhongguo Dianji Gongcheng Xuebao (Proceedings of the Chinese Society of Electrical Engineering), 2007, 27(19): 87-92.

［55］　
Gong Q, Li Y, Peng Z. Power management of plugin hybrid electric vehicles using neural network based trip modeling ［C］. 2009 American control conference. IEEE, 2009: 4601-4606.

［56］　
Di Cairano S, Bernardini D, Bemporad A, et al. Stochastic MPC with learning for driverpredictive vehicle control and its application to HEV energy management ［J］. IEEE Transactions on Control Systems Technology, 2013, 22(3): 1018-1031.

［57］　
Borhan H, Vahidi A, Phillips A M, et al. MPC-based energy management of a powersplit hybrid electric vehicle ［J］. IEEE Transactions on Control Systems Technology, 2011, 20(3): 593-603.

[1]	胥文翔, 徐立友, 刘孟楠, 马可. 复合电源式电动拖拉机能量管理系统策略研究[J]. 中国农机化学报, 2023, 44(6): 135-142.
[2]	瞿济伟, 李鸿基, 张瑞宏, 郭康权, 丁钰洲, 汪斌. 农业轮式机器人底盘转向运动控制及试验[J]. 中国农机化学报, 2023, 44(5): 140-147.
[3]	代志伟, 程曼, 袁洪波, 蔡振江. 温室灌溉控制策略研究进展[J]. 中国农机化学报, 2022, 43(9): 63-72.
[4]	李雪峰, 李涛, 邱权, 樊正强, 孙娜. 果园移动机器人自主导航研究进展[J]. 中国农机化学报, 2022, 43(5): 156-164.
[5]	赵延鹏, 王峰, 杨永发, 李玮, 王应彪, 费建国. 基于作业工况和退役锂离子电池的电动拖拉机电源系统优化[J]. 中国农机化学报, 2022, 43(2): 104-111.
[6]	夏长高, 杨彦祥, 孙闫, 刘静. 复合电源电动拖拉机能量管理策略研究[J]. 中国农机化学报, 2022, 43(11): 126-132.
[7]	刘静;夏长高;孙闫;. 双能源电动拖拉机能量管理策略[J]. 中国农机化学报, 2021, 42(7): 115-121.
[8]	王晓阳;袁春元;吴鹤鹤;王传晓;. 附加气室容积可调式空气悬架分层控制研究[J]. 中国农机化学报, 2019, 40(8): 109-115.
[9]	胡卫;秦永法;曾励;张持;. 前驱式纯电动汽车制动能量回收控制策略研究[J]. 中国农机化学报, 2019, 40(8): 116-121.
[10]	毛鹏军;张家瑞;殷珊珊;黄传鹏;闵俊杰;. 电动拖拉机整车二阶动态方程建模仿真[J]. 中国农机化学报, 2019, 40(5): 111-116.
[11]	夏光;郭东云;唐希雯;汪韶杰;孙保群;. 基于滑磨功的大功率拖拉机动力升挡控制研究[J]. 中国农机化学报, 2019, 40(1): 77-84.