Abstract
This paper proposes a control strategy of dual-motor independent drive electric tractor with cooperative control power take-off (PTO) and driving systems by investigating its structural characteristics to meet the field operation requirements. In the following operation mode, the vehicle speed is taken as the input signal, and the PTO motor speed is followed by the vehicle speed at a proportional ratio. Four different principles of collaborative control strategy-based stability control, namely, general closed-loop, conventional PID, adaptive fuzzy PID, and fuzzy neural network adaptive PID controls, are proposed to meet the requirements during speed change. Hardware design is divided into modules in accordance with circuit function. Software design is divided into application layer and underlying software, where the application software realizes the control strategy of the entire machine. The underlying software is based on the hardware driver of MC9S12XEP100 that connects the application layer software and hardware. A hardware-in-the-loop test platform based on dSPACE/DS1007 is built to test the function of the collaborative controller. Results show that the stabilization time of fuzzy neural network adaptive PID control is 0.024 s. Compared with the three other control modes, the settling time decreases by 0.256, 0.034, and 0.028, respectively, and the overshoot decreases to 1.6%. Root locus analysis results show that the stability of the system is the best. Under the entire machine cooperative operation mode hardware in the loop test, the PTO motor maintains the fixed target speed under the fixed speed output mode, and the PTO speed in the following mode has a good follow-up to the vehicle speed. The controller realizes the control of the power output shaft to cut between the following and standard speeds. It also meets the requirement of cooperative control in the operation of dual-motor independent drive electric tractor.
Highlights
Compared with traditional tractors, pure electric tractors have compact structure, large power density, strong overload capacity, and high work efficiency [1,2,3,4]. e structures of pure electric tractors include single-motor, dual-motor coupled, and dual-motor independent drives [5,6,7]. e driving and power take-off (PTO) motors of dual-motor independent driving electric tractor independently provide mechanical power for the traction travel of the entire machine and the operation of agricultural implementation, and the control processes are independent of each other, which is beneficial to the speed control of the PTO
A fuzzy neural network adaptive Proportional integral derivative PTO (PID) control method based on deviation e of the actual and expected speeds of the PTO motor is adopted to realize the cooperative control between the drive and PTO motors for outputting the desired speed
Time ts is adjusted to 0.024 s with the fuzzy neural network adaptive PID control, and the overshoot is reduced to 1.6%
Summary
Pure electric tractors have compact structure, large power density, strong overload capacity, and high work efficiency [1,2,3,4]. e structures of pure electric tractors include single-motor, dual-motor coupled, and dual-motor independent drives [5,6,7]. e driving and power take-off (PTO) motors of dual-motor independent driving electric tractor independently provide mechanical power for the traction travel of the entire machine and the operation of agricultural implementation, and the control processes are independent of each other, which is beneficial to the speed control of the PTO. Shang Gaogao of Jiangsu University used fuzzy adaptive PID to construct a drive system control strategy for the operating mode of an electric tractor and achieved good target speed tracking results [15]. Chen Yanni et al of China Agricultural University used a fuzzy PID algorithm to identify the required torque of a dual-motor coupled electric tractor at a fixed speed that effectively improves the response speed and accuracy of the target vehicle speed and traction resistance [16]. Is paper aims to investigate the dual-motor independent drive electric tractor cooperative control strategy and the speed and stability control between the drive and PTO motors, design and develop the entire machine cooperative controller, and conduct hardware-in-the-loop testing to provide technical reference for the subsequent design and drive system control of electric tractors
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