无级变速和电传动农业作业机械现状研究

doi:10.13733/j.jcam.issn.20955553.2022.07.013

摘要/Abstract

摘要： 为把握农业作业机械无级变速与电传动技术的研究现状与行业走向，从农机无级传动技术的发展历程、应用现状、发展瓶颈及发展趋势四个方面对其进行分析与总结。首先，回顾农机无级变速与电传动的发展历程，同时也对典型农机无级变速与电传动系统的原理进行介绍；其次，概括农机无级变速与电传动的应用现状，并列举部分典型的农业作业机械；最后，针对动力与传动的协同发展、小功率无级传动系统的研发以及技术成本之间的平衡等方面存在的问题，对无级变速与电传动的后续研究提出建议，并对其发展趋势进行探讨。结果表明：电传动在可预见的未来尚不足以在农机领域取代无级变速，两者有相互融合的可能性；电传动在农机中的应用进程主要取决于电池和电机技术的持续变革；电传动的能源获取方式将是多样化的，太阳能、风能、再生能量等均有可能为农机提供动力；无级变速与电传动技术有可能在无人驾驶农机中取得广泛应用。

关键词: 无级变速, 电传动, 混合动力, 拖拉机, 无人驾驶

Abstract: In order to grasp the research status and industry trend of CVT and electric transmission technology in agricultural machinery, the development history, application status, development bottleneck, and development trend of CVT technology in agricultural machinery were analyzed and summarized. Firstly, the development history of CVT and electric drive in agricultural machinery was reviewed, and the principle of CVT and electric drive system in typical agricultural machinery was introduced. Secondly, the application status of CVT and electric transmission in agricultural machinery was summarized, and some typical agricultural machinery was listed. Finally, in view of the problems existing in the collaborative development of power and transmission, the research and development of lowpower continuously variable transmission systems, the balance between technology and cost, and suggestions for the followup research of CVT and electric drive are put forward. The development trend is discussed. The results show that electric transmission is not enough to replace CVT in the field of agricultural machinery in the foreseeable future. The application of electric drive in agricultural machinery mainly depends on the continuous change of battery and motor technology. The energy acquisition methods of the electric drive will be diversified, such as solar energy, wind energy, and regenerative energy, which may provide power for agricultural machinery. CVT and electric transmission technology may be widely used in unmanned agricultural machinery.

Key words: continuously variable transmission, electric drive, hybrid power, tractor, unmanned driving

中图分类号:

S219.032.1

薛丽君, 赵业慧, 宋悦, 邹方磊, 姜红花, 王光明, . 无级变速和电传动农业作业机械现状研究[J]. 中国农机化学报, 2022, 43(7): 81-89.

Xue Lijun, Zhao Yehui, Song Yue, Zou Fanglei, Jiang Honghua, Wang Guangming.. Research on the current situation of continuously variable transmission and electric drive technology[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(7): 81-89.

参考文献

［1］　
YY Hilal, AlRajabo S, Dahham G A. The effects of vibrating wings subsoiler plow on drivers seat of agricultural tractors and mechanization performance ［J］. Soil and Tillage Research, 2021, 205: 104806.

［2］　
Kondakov S V, Gorely E A, Savinovskich A G. Mathematic modeling of selfpropelled unmanned tracked platform with hydrostatic transmission ［J］. Procedia Engineering, 2017, 206: 1546-1551.

［3］　
Wang G, Song Y, Wang J, et al. Shift quality of tractors fitted with hydrostatic power split CVT during starting ［J］. Biosystems Engineering, 2020, 196(2): 183-201.

［4］　
Rossetti A, Macor A. Control strategies for a powertrain with hydromechanical transmission ［J］. Energy Procedia, 2018, 148: 978-985.

［5］　
Macor A, Rossetti A. Fuel consumption reduction in urban buses by using power split transmissions ［J］. Energy Conversion and Management, 2013, 71: 159-171.

［6］　
陈万强, 曹允莲, 倪向东, 等. 采棉机液压功率分流无级变速箱传动特性研究［J］. 中国农机化学报, 2020, 41(10): 118-124.

Chen Wanqiang, Cao Yinlian, Ni Xiangdong, et al. Study on transmission characteristics of hydrostatic power split CVT of cotton picker ［J］. Journal of Chinese Agricultural Mechanization, 2020, 41(10): 118-124.

［7］　
Jing R, Yuan C, Rezaei H, et al. Assessments on emergy and greenhouse gas emissions of internal combustion engine automobiles and electric automobiles in the USA ［J］. 2020, 90: 297-309.

［8］　
Hhv B, Rrdm C, Sd C, et al. Electric tractor system for family farming: Increased autonomy and economic feasibility for an energy transition ［J］. Journal of Energy Storage, 2021, 40: 102744.

［9］　
崔文夏, 张瑞亮, 张波. 无同步器式变速器啮合套与接合齿圈啮合性能研究［J］. 机械传动, 2019, 43(11): 150-155.

Cui Wenxia, Zhang Ruiliang, Zhang Bo. Studyon engagement performance of engagement sleeve and engagement gear ring of without synchronizer transmission ［J］. Journal of Mechanical Transmission, 2019, 43(11): 150-155.

［10］　
许志良. 16+8档同步器换挡拖拉机传动系开发及应用［D］. 济南: 山东大学, 2020.

Xu Zhiliang. Development and application of transmission system of 16+8 gear synchronizer shifting tractor ［D］. Jinan: Shandong University, 2020.

［11］　
Wu B, Qin D, J Hu, et al. Analysis of influencing factors and changing laws on friction behavior of wet clutch ［J］. Tribology International, 2021: 107125.

［12］　
Li B, Sun D, Hu M, et al. Automatic gearshifting strategy for fuel saving by tractors based on realtime identification of draught force characteristics ［J］. Biosystems Engineering, 2020, 193: 46-61.

［13］　
Li B, Sun D, Hu M, et al. Automatic starting control of tractor with a novel powershift transmission ［J］. Mechanism and Machine Theory, 2019, 131: 75-91.

［14］　
赵新, 倪向东, 鲍明喜, 等. 基于AMESimSimulink的新型采棉机采摘与行驶恒转速协同控制［J］. 液压与气动, 2020(5): 46-51.

Zhao Xin, Ni Xiangdong, Bao Mingxi, et al. Coordinated control of picking and walking constant speed of new cotton picker based on AMESimSimulink ［J］. Chinese Hydraulics & Pneumatics, 2020(5): 46-51.

［15］　
郑永军, 江世界, 陈炳太, 等. 丘陵山区果园机械化技术与装备研究进展［J］. 农业机械学报, 2020, 51(11): 1-20.

Zheng Yongjun, Jiang Shijie, Chen Bingtai, et al. Review on technology and equipment of mechanization in hilly orchard ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(11): 1-20.

［16］　
KT Renius. Neuere getriebekonzeptionen für landwirtschaftliche schlepper ［J］. Grundlagen der Landtechnik, 1974, 24(2): 41-46.

［17］　
Savant A, Karthik E, Baskar P. Numerical investigation of annoying CVT belt noise ［J］. Materials Today: Proceedings, 2021(11): 7980-7995.

［18］　
Fahdzyana C A, Hofman T. Integrated design for a CVT: Dynamical optimization of actuation and controlScienceDirect ［J］. IFACPapersOnLine, 2019, 52(5): 393-398.

［19］　
Verbelen F, Haemers M, Viaene J D, et al. Adaptive PIcontroller for slip controlled belt continuously variable transmission ［J］. IFACPapersOnLine, 2018, 51(4): 101-106.

［20］　
时元玲. 全液压顶驱电液比例容积调速系统研究［D］. 长春: 吉林大学, 2018.

Shi Yuanling. Development and investigation of electrohydraulic proportional volumetric speed control system of hydraulic top drive ［D］. Changchun: Jilin University, 2018.

［21］　
Renius K T. Stufenlose drehzahldrehmomentwandler in ackerschleppergetrieben ［J］. Grundlagen Landtech, 1969, 19(4): 109-118.

［22］　
刘琦. 装载机静液传动(HST)系统特性研究［D］. 长春:吉林大学, 2019.

Liu Qi. Research on characteristics of hydrostatic transmission (HST) system of loader ［D］. Changchun: Jilin University, 2019.

［23］　
朱思洪, 缪小红, 尹文庆, 等. 德国拖拉机发展现状与趋势［J］. 农业机械学报, 2002, 33(1): 111-114.

Zhu Sihong, Miao Xiaohong, Yin Wenqing, et al. Development trend of tire tractor in Germany ［J］. Transactions of the Chinese Society of Agricultural Machinery, 2002, 33(1): 111-114.

［24］　
Linares P, V Méndez, H Catalán. Design parameters for continuously variable powersplit transmissions using planetaries with 3 active shafts ［J］. Journal of Terramechanics, 2010, 47(5): 323-335.

［25］　
Liu F, Wu W, Hu J, et al. Design of multirange hydromechanical transmission using modular method ［J］. Mechanical Systems and Signal Processing, 2019, 126: 1-20.

［26］　
Shamshirband S, D Petkovi, Amini A, et al. Support vector regression methodology for wind turbine reaction torque prediction with powersplit hydrostatic continuous variable transmission ［J］. Energy, 2014, 67(1): 623-630.

［27］　
Renius K T. Fundamentals of tractor design ［M］. Cham, Switzerland: Springer Nature Switzerland AG, 2020.

［28］　
唐友名, 董坤, 张袁伟. ECVT型混合动力城市客车动力系统设计与验证［J］. 山东大学学报(工学版), 2019, 49(6): 98-106.

Tang Youming, Dong Kun, Zhang Yuanwei. Design and verification of power system for ECVT hybrid electric city bus ［J］. Journal of Shandong University (Engineering Science), 2019, 49(6): 98-106.

［29］　
Chung C T, Wu C H, Hung Y H. A design methodology for selecting energyefficient compound split eCVT hybrid systems with planetary gearsets based on electric circulation ［J］. Energy, 2021, 230(9): 120732.

［30］　
Chung C T, Wu C H, Hung Y H. Evaluation of driving performance and energy efficiency for a novel full hybrid system with dualmotor electric drive and integrated inputand outputsplit eCVT ［J］. Energy, 2020, 191: 116508.

［31］　
王炜翔. 湿烂田地稻茬麦旋耕灭茬施肥播种复式作业机的设计［D］. 南京: 南京农业大学, 2019.

Wang Weixiang. Design of compound machine for rotary tillage, fertilization and sowing of wheat following rice in wet and rotten fields ［D］. Nanjing: Nanjing Agricultural University, 2019.

［32］　
王光明. 拖拉机液压机械无级变速箱的特性、控制与故障诊断研究［D］. 南京: 南京农业大学, 2014.

Wang Guangming. Study on characteristics, control and fault diagnosis of tractor hydromechanical CVT ［D］. Nanjing: Nanjing Agricultural University, 2014.

［33］　
张超. 太阳能微耕机动力特性及其控制系统研究［D］. 南京: 南京农业大学, 2017.

Zhang Chao. Researches on dynamic characteristics and control system of solar microcultivator ［D］. Nanjing: Nanjing Agricultural University, 2017.

［34］　
漆海霞, 周靖康, 李承杰, 等. 基于网络RTK的离心式无人机变量施药可行性初探［J］. 农业工程学报, 2021, 37(9): 81-89.

Qi Haixia, Zhou Jingkang, Li Chengjie, et al. Feasibility of variable rate spraying of centrifugal UAV using network RTK ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(9): 81-89.

［35］　
Xu Y, Sun Z, Xue X, et al. A hybrid algorithm based on MOSFLA and GA for multiUAVs plant protection task assignment and sequencing optimization ［J］. Applied Soft Computing, 2020, 96(4): 106623.

［36］　
Lagnelv O, Dhillon S, Larsson G, et al. Cost analysis of autonomous battery electric field tractors in agriculture ［J］. Biosystems Engineering, 2021, 204(2038): 358-376.

［37］　
Chen Y, Xie B, Mao E. Electric tractor motor drive control based on FPGA ［J］. Ifac Papersonline, 2016, 49(16): 271-276.

［38］　
Pascaris A S, Schelly C, Burnham L, et al. Integrating solar energy with agriculture: Industry perspectives on the market, community, and sociopolitical dimensions of agrivoltaics ［J］. Energy Research & Social Science, 2021, 75(5): 102023.

［39］　
Morangueira Y, Pereira J. Energy harvesting assessment with a coupled full car and piezoelectric model ［J］. Energy, 2020, 210: 118668.

［40］　
Abdelkareem M, Xu L, Guo X, et al. Energy harvesting sensitivity analysis and assessment of the potential power and full car dynamics for different road modes ［J］. Mechanical Systems and Signal Processing, 2018, 110: 307-332.

［41］　
Kim D H, Choi C H, Kim Y J. Analysis of driving performance evaluation for an unmanned tractorscience direct ［J］. IFACPapers on Line, 2018, 51(17): 227-231.

［42］　
Jeon C W, Kim H J, Yun C, et al. Design and validation testing of a complete paddy fieldcoverage path planner for a fully autonomous tillage tractor ［J］. Biosystems Engineering, 2021, 208(2): 79-97.

[1]	张静, 刘昱, 郑德聪, 李志伟. 丘陵山地拖拉机机身自平衡机构稳定性分析[J]. 中国农机化学报, 2022, 43(9): 102-108.
[2]	孙德明, 朱晓岩, 马忠强, 李正宇, 李超. 欧盟拖拉机双管路气制动系统研究[J]. 中国农机化学报, 2022, 43(8): 114-118.
[3]	章新, 董荻, 睢志伟, 李占龙, 李建伟. 液压减振器节流孔与拖拉机减振特性研究[J]. 中国农机化学报, 2022, 43(7): 57-62.
[4]	徐广飞, , 陈美舟, 金诚谦, 苗河泉, 逄焕晓, 刁培松. 拖拉机自动驾驶关键技术综述[J]. 中国农机化学报, 2022, 43(6): 126-134.
[5]	李贤哲, 张辉, 徐立友, 刘孟楠, , 闫祥海, , 张明柱. 液力机械复合传动拖拉机动力系统匹配特性研究[J]. 中国农机化学报, 2022, 43(4): 46-52.
[6]	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.
[7]	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.
[8]	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.
[9]	张三强, 邹星, 陈源, 章桃娟. 船式拖拉机气层减阻影响因素分析与参数优化研究[J]. 中国农机化学报, 2022, 43(1): 20-26.
[10]	吐尔逊·买买提, 赵梦佳, 孔庆好. 新疆县域拖拉机排放清单及其时空格局[J]. 中国农机化学报, 2022, 43(1): 195-202.
[11]	扈凯, 张文毅, 李坤, 刘宏俊, 祁兵, 纪要, . 基于模态规划法的履带拖拉机车架振动分析与优化[J]. 中国农机化学报, 2021, 42(8): 121-126.
[12]	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.
[13]	毛智琳;蒋建东;章沈强;杨振兴;张奋飞;杨锦章;. 全架式履带拖拉机机架设计与优化[J]. 中国农机化学报, 2021, 42(7): 122-129.
[14]	冯叶陶;廖敏;张小军;张涛;潘群林;. 丘陵山地拖拉机前驱动桥壳组件轻量化设计与试验研究[J]. 中国农机化学报, 2021, 42(5): 107-113.
[15]	刘学峰;仪垂良;张德学;张成保;任冬梅;高强;. 拖拉机转向驱动桥自动限滑差速器液压系统设计[J]. 中国农机化学报, 2021, 42(3): 7-12.