Dynamic Performance Simulation And Control Strategy Of Dual-motor Coupling Drive Electric Tractor Based On Cruise

In today’s social background of "carbon peaking,carbon neutrality" and green environmental protection,traditional fuel tractors have been unable to adapt to the new requirements of modern agriculture due to the consumption of non-renewable resources,emission of harmful gases,bulky machinery,and low efficiency..The electric tractor does not emit toxic gas or produce hazardous waste,the sound when starting and working is very low,and it has a large torque when starting,and can always work in the high-efficiency range,which greatly improves the battery life of the whole machine.The dual motor drive design can effectively solve the problem of low efficiency of the tractor.After the battery technology breaks through the bottleneck in the future,electric tractors will usher in a broad market.Based on the CRUISE dynamic simulation software,this paper mainly carries out the following researches on the dual-motor coupling drive electric tractor:(1)According to the operating characteristics of the electric tractor,research and design the drive scheme suitable for the electric tractor,analyze and establish the power and economic indicators of the electric tractor,study the matching design of key component parameters,and complete the selection of key components,mainly including selecting a DC motor and determining the rated speed,selecting a lithium battery and determining the battery capacity.(2)Based on the power performance simulation software AVL CRUISE of the whole machine,build the simulation model of the main components,including the whole machine module part,the brake module part,the motor module part,the main reducer module part,the power battery module part,the differential gear The module part,the driving wheel module part,the monitoring module part,etc.,complete the mechanical,electrical and signal connections between the various components in the software,and realize the dynamic simulation of the whole machine.The simulation results show that the maximum deviation between the actual speed of the whole machine and the target speed is 1.52km/h,and the maximum torque reaches 184.3Nm;when the electric tractor works at a speed of 2km/h in low gear,the maximum tractive force reaches 8955 N.The maximum endurance time of the whole machine is 4.5h,which meets the requirements of electric tractor power and economy.(3)According to the drive control objective of the electric tractor,the control strategy of the drive system of the whole machine is formulated,mainly including the calculation strategy of the demand torque of the whole machine and the optimal distribution strategy of the torque of the two motors.Among them,for the demand torque calculation strategy,the method of basic torque plus compensation torque is adopted,the basic torque is obtained by looking up the table,and the compensation torque is used to identify the demand torque under different working conditions by using the fuzzy neural network algorithm.For the optimal torque distribution strategy,the core is to optimize the efficiency of the dual motors.The drive control strategy model of the whole machine including the demand torque calculation strategy and the torque distribution strategy is built in SIMULINK,the interaction signal between the whole machine model and the control strategy is configured,and the co-simulation between AVL CRUISE and MATLAB platform is realized.The simulation results show that the compensation torque based on ANFIS control responds faster and smoother with the speed and the change rate of the accelerator pedal opening,which proves the reasonable effectiveness of the torque compensation strategy.(4)Finally,a dual-motor coupling drive test system is established to verify the power and economy of the whole machine.Under the constant load test,the maximum speed of the main motor is 4982.3r/min,and the maximum speed of the auxiliary motor is 4257.7r/min.Under the variable load test,when the load torque is 387 N m,the power of the main motor is 3.5k W,the power of the auxiliary motor is 1.88 k W,and the maximum efficiency of the whole machine is 82%.Under the battery energy consumption test,the SOC of the battery decreased from 100% to 97.4% under the 500 s cycle test when simulating normal road low-load driving,and the battery SOC decreased from 100% to 100% under the 500 s cycle test when simulating high-load ploughing operations.It dropped to 91.6%,which is in line with the working characteristics of the motor and battery.