基于力矩陀螺的拖拉机峰值驱动功率补偿试验研究  

Experimental Verification on Peak Driving Power Compensation of Tractors Employing Control Moment Gyro

作　　者：王龙龙 刘富豪 倪云龙 何志祝 周全 李臻 WANG Longlong;LIU Fuhao;NI Yunlong;HE Zhizhu;ZHOU Quan;LI Zhen(College of Engineering,China Agricultural University,Beijing 100083,China;State Key Laboratory of Intelligent Agricultural Power Equipment,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]智能农业动力装备全国重点实验室,北京100083

出　　处：《农业机械学报》2024年第S1期383-391,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52175259);拼多多-中国农业大学研究基金项目(PC2023B01005)

摘　　要：针对小型电动拖拉机突变环境载荷作用下牵引阻力激增、瞬时动力不足导致的降速及停车问题,基于单框架控制力矩陀螺防侧翻系统提出了峰值驱动功率补偿和陀螺卸载能量回收方法。根据陀螺进动效应和惯性储能潜力,设计拖拉机-力矩陀螺系统能量流动方式和功率转换模式,构建了拖拉机欠功率驱动工况下的时变牵引功率需求模型。考虑瞬时驱动功率补偿、卸载能量回收等工作模式,兼顾侧翻控制功能,采用基于规则的多源能量管理方法设计了力矩陀螺系统能量流动和功率输出调控策略。基于该策略,采用比例模型试验平台,在越障、爬坡工况下开展了拖拉机峰值驱动功率补偿试验。结果表明,与无补偿相比,力矩陀螺系统释放的能量可显著提升拖拉机直流母线电压,补偿瞬态驱动功率。同时,侧翻控制后的陀螺卸载能量回收试验表明,力矩陀螺系统理论上可实现拖拉机防侧翻控制、峰值驱动功率补偿和陀螺转子卸载能量回收等功能,有效提高系统的综合利用率和能量使用效率。Reduced speed and stalling in small electric tractors,caused by sudden increases in traction resistance and insufficient instantaneous power under complex environmental conditions,significantly impact operational quality and efficiency.A novel method for peak driving power compensation and gyro energy recovery was proposed based on a single gimbal control moment gyro(CMG)anti-rollover system.An energy flow and power conversion model for the tractor-CMG system was developed,incorporating the effects of gyroscopic precession and energy storage.Building on this model,a time-varying traction power demand model was created for scenarios with insufficient power.Subsequently,a rule-based multi-source energy management strategy was designed to regulate the CMG system’s energy flow and power output,addressing instantaneous power compensation,energy recovery,and rollover control.By combining the state of charge of the tractor’s power battery pack and the gyro system,the overall energy management was optimized.When the basic output power of the battery pack was insufficient to meet the instantaneous power demand caused by traction resistance,the gyro rotor decelerated to release energy,compensating for the tractor’s peak driving power.Experiments on a scaled model platform,focusing on obstacle disturbances and climbing,demonstrated that the CMG system significantly improved the tractor’s direct current bus voltage and compensated for transient power deficits.Furthermore,gyro energy recovery tests following rollover control indicated that the CMG system can effectively perform multiple functions.These included rollover prevention,peak power compensation,and energy recovery from gyro rotor unloading,thus improving overall system utilization and energy efficiency.

关 键 词：电动拖拉机 控制力矩陀螺 功率补偿 能量管理 

分 类 号：S219.4[农业科学—农业机械化工程]