| 电动拖拉机快速原型平台测控系统设计与试验 |
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| 引用本文： | 汪珍珍,周俊,杨杭旭,王旭.电动拖拉机快速原型平台测控系统设计与试验[J].农业机械学报,2022,53(2):412-420. |
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| 作者姓名： | 汪珍珍 周俊 杨杭旭 王旭 |
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| 作者单位： | 南京农业大学;南京农业大学；金华职业技术学院 |
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| 基金项目： | 国家重点研发计划项目（2016YFD0701003）和江苏省现代农机装备与技术示范与推广项目（NJ2019-29） |
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| 摘 要： | 针对目前对电动拖拉机试验平台测控系统的设计方法较少的问题，提出了一种可重构测控系统的设计方法。根据拖拉机旋耕机组的工作特性要求，搭建了一种串联式混合电动拖拉机快速原型试验平台。该平台采用双电机独立驱动结构，结合dSPACE和Matlab/Simulink建立了实时测量控制系统，提出了通信模块化和控制策略模块化的设计方法。基于规则控制策略，分别对该快速原型试验平台进行了纯电动模式和混合动力模式下的旋耕作业试验，结果表明，当旋耕负载转矩变化范围为31～64 N·m,其转速范围为529～550 r/min,与设定值的最大相对误差约为2.037%,在控制允许范围内，表明试验平台各测控系统响应速度和控制效果良好；在混合动力模式下，启动发动机发电机组，电池电压和SOC随时间推移逐渐增大，表明串联式混合动力系统运转正常，验证了该平台通信模块化和控制策略模块化设计方法的可行性。
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| 关 键 词： | 电动拖拉机 可重构设计方法 快速原型试验平台 通信模块化 控制策略模块化 |
| 收稿时间： | 2021/3/11 0:00:00 |
Design and Test of Measurement and Control System for Rapid Prototype Platform Used in Electric Tractors |
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| WANG Zhenzhen,ZHOU Jun,YANG Hangxu,WANG Xu.Design and Test of Measurement and Control System for Rapid Prototype Platform Used in Electric Tractors[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(2):412-420. |
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| Authors: | WANG Zhenzhen ZHOU Jun YANG Hangxu WANG Xu |
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| Institution: | (School of Engineering,Nanjing Agricultural University,Nanjing 210031,China;Jinhua Polytechnic,Jinhua 321017,China) |
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| Abstract: | Electric tractors get more and more attention due to increasingly stringent exhaust emission policies around the world, which makes more and more test benches for electric tractors have been developed. However, in these studies the focus is primarily on the two problems of matching parameters and energy management of the powertrain architectures performing transportation or ploughing operations, and little attention is paid to the design of measurement and control system for electric tractors. The objective was to develope the design method for a reconfigurable measurement and control system. More specifically, a rapid prototype test platform for a series hybrid electric tractor with a dual motor independent drive structure was selected to implement the rotary tillage operation. A diesel engine and two permanent magnet synchronous motors were taken as the power source, which can meet the development test of electric tractors with power below 80.8kW. A rapid prototyping real-time control system was designed by the combination of dSPACE and Matlab/Simulink. Design methods of communication modularization and control strategy modularization were proposed to improve the utilization efficiency of the test bench and reduce the costs. The experiments of rotary tillage operation in the terms of pure electric mode and hybrid electric mode were carried out by the Rule-based control strategy. The results showed that when the load torque of rotary tillage varied from 31N·m to 64N·m, the speed fluctuation of power take-off (PTO) motor was 529~550r/min, the maximum relative error compared with the set value was about 2.037%. In addition, the maximum relative errors of the speed of the drive motor 2, the left and right load motor, and the engine generator set were 0.396%, 0.889%, 1.333%, and 0.625%, respectively, which were all within the control allowable range. It was demonstrated that the response speed and control effect of the measurement and control systems of the test platform was good. In the hybrid mode, the battery voltage and SOC were gradually increased over time by starting the engine generator set, because the charging current of the engine generator set subsystem was greater than the discharging current of whole system, indicating that the series hybrid electric mode operated normally, which verified that the design method of the communication modularity and control strategy modularization for the test bench was reasonable and feasible. The design method proposed for developing the measurement and control system of the platform was general and can be extended to other engineering applications, which had a certain reference value and guiding significance for engineers and researchers to develop similar platforms. |
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| Keywords: | electric tractor reconfigurable design method rapid prototyping test platform communication modularization control strategy modularization |
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