电动拖拉机双电机驱动单元控制系统设计与实验  

Design and Experiment of an Electric Tractor Dual Motor Drive Unit Control System

作　　者：谢斌[1] 张楠[1] 李明生[2] 武仲斌 宋正河[1] XIE Bin;ZHANG Nan;LI Ming-sheng;WU Zhong-bin;SONG Zheng-he(Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment, China Agricultural University, Beijing 100083, China;School of Engineering and Technology, Southwest University, Chongqing 400715, China)

机构地区：[1]中国农业大学现代农业装备优化设计北京市重点实验室,北京100083 [2]西南大学工程技术学院,重庆400715

出　　处：《西南大学学报（自然科学版）》2019年第4期64-71,共8页Journal of Southwest University(Natural Science Edition)

基　　金：国家重点研发计划项目(2016YFD0701001)

摘　　要：针对电动拖拉机双电机驱动系统的模式管理需求,设计了一种双电机驱动单元的控制系统及其控制器DMU(Drive Manage Unit).基于ISO 11783协议制定了整车控制网路结构,并以此确定了DMU子CAN总线各节点,设计各节点传输报文ID和PGN.在驱动单元中,通过控制驱动箱齿轮啮合状态和电磁离合器通断电来实现双电机动力分离和耦合,完成工作模式配置. DMU采用MC9S12XEP100为核心,完成硬件电路设计和软件编程.搭建双电机驱动系统实验平台,进行了犁耕作业、旋耕作业和子CAN总线数据分析实验.实验结果表明,驱动管理单元可以实现控制电机1和电机2的转速转矩模式,电机1在46.5 N·m恒转矩模式下,随转速变化的最大偏差为0.7 N·m,符合犁耕作业要求;电机2收到540 r/min指令后,随负载变化输出转速范围在540±62 r/min,满足PTO在恒转速下工作;总线上传输信息正确.In view of the mode management requirements for the dual motor electric tractor drive system, a dual motor drive unit control system and its controller DMU(Drive Manage Unit) are designed in this paper. Based on the ISO 11783 protocol, the vehicle control network structure is established;in addition, the nodes of the DMU sub CAN bus are determined. The transmission messages ID and PGN are designed at each node. The two-motor power separation and coupling are realized by controlling the drive box, and the working mode configuration is completed. DMU uses MC9 S12 XEP100 as the core to complete the hardware circuit design and software programming. An experimental platform of the dual motor drive system is built, and the plowing, rotary tillage and sub CAN bus data analysis experiments are carried out. The experimental results show that the drive management unit can control the speed and torque mode of motor A and motor B. In the constant torque mode of 46.5 N·m, the maximum deviation of motor A with the speed change is 0.7 N·m, which meets the requirements of plowing operation. Motor B receives the 540 r/min command, and it fluctuates in the range of 540±62 r/min with the load change, which satisfies the PTO working at constant speed. Transmission of information on the bus is correct.

关 键 词：双电机驱动 电动拖拉机 ISO 11783 CAN总线 

分 类 号：S219.4[农业科学—农业机械化工程]